ROBOTIC ARM HAVING HYBRID ACTUATION ASSEMBLY AND ASSOCIATED DEVICES, SYSTEMS, AND METHODS - Patent application

Abstract

Robotic arms having any combination of gear-driven and cable-driven actuator assemblies, and devices having such arms, with some arm or device embodiments having only gear-driven assemblies, some having only cable-driven assemblies, and others having a combination of at least one of each. Further embodiments relate to arms or devices having one or more actuation assemblies that are disposed remotely (within a different component of the device, or even external to the device) relative to the actuatable component to which the actuators are coupled.

Description

[Technical field]

[0001] The embodiments disclosed herein relate to various medical devices and associated components that can comprise a surgical system, including robotic and / or in vivo medical devices and associated components. Certain embodiments include various robotic medical devices, including robotic devices disposed within a body cavity and positioned using a body or support component disposed through a hole or opening within the body cavity. Other embodiments relate to various systems having robotic surgical devices and controllers. [Background technology]

[0002] Invasive surgical procedures are essential to address a variety of medical conditions. When possible, minimally invasive procedures such as laparoscopy are preferred. However, known minimally invasive techniques such as laparoscopy are limited in scope and complexity due in part to 1) the limited mobility imposed by the use of rigid tools inserted through the access ports, and 2) limited visual feedback. Known robotic systems such as the da Vinci® Surgical System (available from Intuitive Surgical, Inc., Sunnyvale, Calif.) are also limited by access ports, but also have the additional disadvantages of being very large, very expensive, unavailable in most hospitals, and having limited sensory and mobility capabilities. Summary of the Invention [Problem to be solved by the invention]

[0003] There is a need in the art for improved surgical methods, systems, and devices. [Means for solving the problem]

[0004] Contemplated herein are various robotic arms that may be actuated by any combination of gear-driven actuator assemblies and cable-driven actuator assemblies, with some embodiments having only gear-driven assemblies, some having only cable-driven assemblies, and others having at least one combination of each. Further implementations herein relate to various such actuation assemblies in which the actuator is remotely disposed (relative to the actuatable component to which it is coupled, in a different component of the device, or at an event external to the device), and devices having at least one such remotely located actuation assembly. Other embodiments relate to robotic devices and / or robotic surgical systems having any of the various actuation assembly implementations described herein.

[0005] In Example 1, a robotic device includes an elongated body and a robotic arm operably coupled to the elongated body. The robotic arm includes an upper arm segment, a forearm segment operably coupled to the upper arm segment, and at least two actuatable components associated with the robotic arm. The device further includes a first cable-driven actuation assembly including a first actuator disposed within one of the elongated body, the upper arm segment, and the forearm segment or external to the device, and a power transmission cable operably coupled to the first actuator and a first component of the at least two actuatable components. In addition, the device includes a first gear-driven actuation assembly including a second actuator disposed within one of the elongated body, the upper arm segment, and the forearm segment or external to the device, and at least one gear operably coupled to the second actuator and a second component of the at least two actuatable components.

[0006] Example 2 relates to the robot device according to example 1, in which the power transmission cable is a rotational force transmission cable. Example 3 relates to the robotic device according to example 1, in which the power transmission cable is a lateral force transmission cable.

[0007] Example 4 relates to the robotic device according to example 3, in which the lateral force transmission cable comprises a single lateral push / pull cable or two lateral pull cables. Example 5 relates to a robotic device according to Example 1, wherein a first component of the at least two actuatable components includes an actuatable end effector grasper arm and a second component of the at least two actuatable components includes a rotatable end effector grasper body.

[0008] Example 6 relates to the robotic device according to example 1, wherein the first actuator and the second actuator are disposed in the forearm segment. Example 7 relates to a robotic device according to Example 1, wherein the first actuator is disposed in the upper arm segment and the second actuator is disposed in the forearm segment.

[0009] Example 8 relates to the robotic device according to example 1, wherein the first actuator is disposed within the elongate body and the second actuator is disposed within the forearm segment. Example 9 relates to a robotic device according to Example 1, wherein a first actuator is disposed external to the device and a second actuator is disposed within the forearm segment.

[0010] In Example 10, a robotic device comprises an elongated body and a robotic arm operably coupled to the elongated body. The robotic arm comprises an upper arm segment, a forearm segment operably coupled to the upper arm segment, and at least two actuatable components associated with the robotic arm. The device also comprises a first cable-driven actuation assembly comprising a first actuator disposed within one of the elongated body, the upper arm segment, and the forearm segment or external to the device, and a first power transmission cable operably coupled to the first actuator and a first component of the at least two actuatable components. Furthermore, the device also comprises a second cable-driven actuation assembly comprising a second actuator disposed within one of the elongated body, the upper arm segment, and the forearm segment or external to the device, and a second power transmission cable operably coupled to the second actuator and a second component of the at least two actuatable components.

[0011] Example 11 relates to the robotic device according to example 10, wherein the device further comprises a first gear-driven actuation assembly comprising a third actuator disposed within one of the elongate body, the upper arm segment, and the forearm segment or external to the device, and at least one gear operably coupled to the third actuator and a third component of the at least two actuatable components.

[0012] Example 12 relates to the robotic device according to example 10, in which at least one of the first power transmission cable and the second power transmission cable is a rotational force transmission cable. Example 13 relates to the robotic device according to example 10, in which at least one of the first power transmission cable and the second power transmission cable is a lateral force transmission cable.

[0013] Example 14 relates to the robotic device according to example 10, wherein a first component of the at least two actuatable components includes an actuatable end effector grasper arm and a second component of the at least two actuatable components includes a rotatable end effector grasper body.

[0014] Example 15 relates to the robotic device according to example 10, wherein the first actuator and the second actuator are disposed in the forearm segment. Example 16 relates to the robotic device according to example 10, wherein the first actuator and the second actuator are arranged outside the device.

[0015] In Example 17, a robotic device includes an elongated body, an actuation unit coupled to the elongated body, the actuation unit including at least two actuators, and a robotic arm operably coupled to the elongated body. The robotic arm includes an upper arm segment, a forearm segment operably coupled to the upper arm segment, and at least two actuatable components associated with the robotic arm. The device also includes a first cable-driven actuation assembly including a first actuator disposed within the actuation unit and a first rotational force transmission cable operably coupled to the first actuator and a first component of the at least two actuatable components. Furthermore, the device also includes a second cable-driven actuation assembly including a second actuator disposed within the actuation unit and a second rotational force transmission cable operably coupled to the second actuator and a second component of the at least two actuatable components.

[0016] Example 18 relates to the robotic device according to example 17, in which the first rotational force transmission cable and the second rotational force transmission cable are arranged through the elongated body. Example 19 relates to the robotic device according to example 18, further comprising a cable positioning block movably disposed within the elongated body, the cable positioning block operably coupled to the first rotational force transmission cable, and the second rotational force transmission cable attached to the cable positioning block.

[0017] Example 20 relates to the robotic device according to example 17, wherein a first rotational force transmission cable is arranged through an opening in the cable positioning block such that the first rotational force transmission cable is rotatably coupled to the cable positioning block such that rotation of the first rotational force transmission cable results in axial movement of the cable positioning block within the elongated body.

[0018] While multiple embodiments are disclosed, still other embodiments will become apparent to those skilled in the art from the following detailed description, which shows and describes illustrative embodiments. As realized, various implementations can be modified in various obvious aspects without departing from the spirit and scope thereof. Accordingly, the drawings and detailed description are to be regarded as illustrative in nature and not restrictive. [Brief description of the drawings]

[0019] [Figure 1] FIG. 1 illustrates a perspective view of a robotic surgical system in an operating room, according to one embodiment. [Diagram 2] FIG. 1 illustrates a perspective view of a robotic device, according to one embodiment. [Figure 3A] FIG. 3 is another perspective view of the robotic device of FIG. 2, according to one embodiment. [Figure 3B] FIG. 3B is a perspective view of a camera insertable into the robotic device of FIG. 3A, according to one embodiment. [Figure 4A] FIG. 3 is an enlarged perspective view of the distal end and robotic arm of the robotic device of FIG. 2, according to one embodiment. [Figure 4B]FIG. 3 is an enlarged perspective view of the distal end and robotic arm of the robotic device of FIG. 2, showing various axes of rotation, according to another embodiment. [Figure 5A] FIG. 4B is another enlarged perspective view of the distal end and robotic arm of the robotic device of FIG. 4A, according to one embodiment. [Figure 5B] FIG. 4B is an enlarged side view of the distal end and robotic arm of the robotic device of FIG. 4A, according to one embodiment. [Figure 6] FIG. 1 is a schematic perspective view of a robotic device and a camera component that is not located within the device but instead operates through a separate port on the patient, according to one embodiment. [Figure 7] FIG. 1 is a perspective view of a surgical robotic device showing internal components, according to one implementation. [Figure 8] FIG. 13 is a front view showing the internal components of the body and shoulder according to one embodiment. [Figure 9] FIG. 2 is a perspective view showing the internal components of the body according to one embodiment. [Figure 10] FIG. 1 is a perspective view showing internal components of a shoulder according to one embodiment. [Figure 11] FIG. 1 is a side view showing internal components of the shoulder, according to one embodiment. [Figure 12] FIG. 13 is a reverse perspective view showing the internal components of the body and shoulder according to one embodiment. [Figure 13] FIG. 13 is a perspective view showing the internal components of the upper arm, according to one embodiment. [Figure 14] FIG. 13 is a perspective view showing further internal components of the upper arm, according to one embodiment. [Figure 15] FIG. 13 is a front view showing further internal components of the upper arm, according to one embodiment. [Figure 16] FIG. 13 is a perspective view showing further internal components of the upper arm, according to one embodiment. [Figure 17] FIG. 13 is a perspective view showing the internal components of the lower arm, according to one embodiment. [Figure 18] FIG. 13 is a perspective view showing further internal components of the upper arm, according to one embodiment. [Figure 19]FIG. 13 is a perspective view showing further internal components of the upper arm, according to one embodiment. [Figure 20] FIG. 13 is a perspective view showing yet another internal component of the upper arm, according to one embodiment. [Figure 21A-21B] FIG. 21A is an enlarged schematic view of a robotic right arm of a robotic device having two actuation assemblies therein, according to one embodiment, and FIG. 21B is a schematic view of a robotic device whose right arm is shown in FIG. 21A, according to one embodiment. [Figure 22A] FIG. 13 is a perspective view of some of the internal components of the forearm with a distal portion detached from a proximal portion of the forearm, according to one embodiment. [Figure 22B] FIG. 22B is another perspective view of the forearm of FIG. 22A with two portions attached, according to one embodiment. [Diagram 23] FIG. 2 illustrates a perspective view of a distal portion of a forearm, according to one embodiment. [Figure 24A] FIG. 24 is a perspective view of a distal portion of the forearm as shown in FIG. 23 with the graspers depicted in one position about the open / close axis, according to one embodiment. [Figure 24B] 24 is a perspective view of a distal portion of the forearm as shown in FIG. 23 with the graspers depicted in different positions about the open / close axis, according to one embodiment. [Figure 24C] FIG. 24 is a perspective view of the distal portion of the forearm as shown in FIG. 23 with the graspers depicted in yet another position about the open / close axis, according to one embodiment. [Figure 25A] FIG. 24 is a perspective view of a distal portion of the forearm as shown in FIG. 23 with the grasper depicted in one position about the wrist yaw axis, according to one embodiment. [Figure 25B] FIG. 24 is a perspective view of a distal portion of the forearm as shown in FIG. 23 with the grasper depicted in another position about the wrist yaw axis, according to one embodiment. [Figure 25C] FIG. 24 is a perspective view of the distal portion of the forearm as shown in FIG. 23 with the grasper depicted in yet another position about the wrist yaw axis, according to one embodiment. [Figure 26A]FIG. 13 is a perspective view of a distal portion of the forearm depicting the internal mechanisms of an actuation assembly for actuating rotation of one of the paddles about axis A1, according to one embodiment. [Figure 26B] 26B is a different perspective view of the distal portion of the forearm of FIG. 26A depicting the internal workings of the same actuation assembly, according to one embodiment. [Figure 27A] FIG. 13 is a perspective view of a distal portion of the forearm depicting the internal mechanisms of an actuation assembly for actuating rotation of the other of the paddles about axis A1, according to one embodiment. [Figure 27B] 27B is a different perspective view of the distal portion of the forearm of FIG. 27A depicting the internal workings of the same actuation assembly, according to one embodiment. [Figure 28A] FIG. 13 is a perspective view of a distal portion of the forearm depicting the internal mechanism of an actuation assembly for actuating rotation of the gripper assembly about axis B1, according to one embodiment. [Figure 28B] 27B is a different perspective view of the distal portion of the forearm of FIG. 27A depicting the internal workings of the same actuation assembly, according to one embodiment. [Figure 29A] FIG. 1 is a schematic diagram of a robotic device having two cable-driven actuation assemblies disposed in the right forearm, according to one embodiment. [Figure 29B] FIG. 1 is a schematic diagram of a robotic device having a cable-driven actuation assembly with an actuator disposed in an upper arm, according to one embodiment. [Figure 29C] FIG. 1 is a schematic diagram of a robotic device having a cable-driven actuation assembly with an actuator disposed within an elongate body, according to one embodiment. [Figure 29D] FIG. 1 is a schematic diagram of a robotic device having a cable-driven actuation assembly with an actuator disposed external to the device, according to one embodiment. [Fig. 30A-30B] FIG. 30A is a close-up schematic view of a right robotic arm of a robotic device having one gear-driven actuation assembly and one cable-driven actuation assembly therein, according to one embodiment, and FIG. 30B is a schematic view of a robotic device whose right arm is shown in FIG. 21A, according to one embodiment. [Figure 31A] FIG. 1 is a schematic diagram of a robotic device having a gear-driven actuation assembly disposed in a right forearm, according to one embodiment. [Figure 31B] FIG. 1 is a schematic diagram of a robotic device having a cable-driven actuation assembly disposed in the right forearm, according to one embodiment. [Figure 31C] FIG. 1 is a schematic diagram of a robotic device having a cable-driven actuation assembly with an actuator disposed in an upper arm, according to one embodiment. [Figure 31D] FIG. 1 is a schematic diagram of a robotic device having a cable-driven actuation assembly with an actuator disposed within an elongate body, according to one embodiment. [Diagram 32] FIG. 3 is a front view of a robotic device (such as the device depicted in FIG. 2) being held by a medical professional, according to one embodiment. [Figure 33A] FIG. 13 is a top schematic view of a robotic device with an arm positioned to access a patient's rectum, according to one embodiment. [Figure 33B] FIG. 33B is a top schematic diagram of the robotic device of FIG. 33A with the arm positioned to access the patient's colon, according to one embodiment. [Figure 33C] FIG. 33B is a top schematic diagram of the robotic device of FIG. 33A with the arm positioned to access the transverse colon of a patient, according to one embodiment. [Figure 34A] FIG. 1 is a schematic diagram of a prior art system having a drive unit mounted on a floor cart. [Figure 34B] FIG. 1 is a schematic diagram of a prior art system having a drive unit on the floor. [Figure 35A] FIG. 1 is a perspective view of a robotic device having an external actuation unit, according to one embodiment. [Figure 35B] FIG. 35B is a front view of the robotic device of FIG. 35A, according to one embodiment. [Figure 35C] FIG. 35B is another front view of the robotic device of FIG. 35A with the arms in their extended (straight) position, according to one embodiment. [Figure 35D]FIG. 35B is a side view of the robotic device of FIG. 35A with the arms in their deployed or bent positions, according to one embodiment. [Figure 35E] FIG. 35B is a side view of the robotic device of FIG. 35A with the arms in their extended (straight) position, according to one embodiment. [Figure 36A] FIG. 35B is a close-up perspective view of a proximal portion of the device of FIG. 35A with an actuation unit attached, according to one embodiment. [Figure 36B] FIG. 36B is another enlarged perspective view of the proximal portion and actuation unit of FIG. 36A according to one embodiment. [Figure 36C] FIG. 36B is another enlarged perspective cutaway view of the proximal portion and actuation unit of FIG. 36A according to one embodiment. [Figure 36D] FIG. 36B is another enlarged perspective cutaway view of the proximal portion and actuation unit of FIG. 36A according to one embodiment. [Figure 37A] FIG. 2 is an enlarged perspective view of an actuation unit according to one embodiment. [Figure 37B] FIG. 37B is another enlarged perspective view of the actuation unit of FIG. 37A according to one embodiment. [Figure 37C] FIG. 37B is an enlarged top view of the actuation unit of FIG. 37A, according to one embodiment. [Figure 38A] FIG. 2 is a perspective view of the internal components of the elongate body, according to one embodiment. [Figure 38B] FIG. 38B is another perspective view of the internal components of the elongate body of FIG. 38A with the cable actuation block moved, according to one embodiment. [Figure 38C] FIG. 38B is a close-up perspective view of the internal components of the elongate body of FIG. 38A, according to one embodiment. [Figure 38D] FIG. 38B is another enlarged perspective view of the internal components of the elongate body of FIG. 38A with the cable actuation block moved, according to one embodiment. [Figure 39] FIG. 35B is an enlarged perspective view of a distal portion and robotic arm of the robotic device of FIG. 35A, according to one embodiment. [Figure 40A] FIG. 35B is an enlarged perspective view of a distal portion of the robotic device of FIG. 35A with the right arm in its extended or straight configuration, according to one embodiment. [Figure 40B] FIG. 40B is a close-up perspective view of the right arm of FIG. 40A, with the forearm disposed at an angle to the upper arm, according to one embodiment. [Figure 40C] FIG. 40B is a close-up perspective view of the right arm of FIG. 40A, with the upper arm disposed at an angle relative to the elongated body and the forearm disposed at an angle relative to the upper arm, according to one embodiment. [Figure 40D] FIG. 40B is a close-up perspective view of the right arm of FIG. 40A, with the upper arm disposed at an angle relative to the elongated body, according to one embodiment. [Figure 41A] 1 is a perspective view depicting an actuation assembly disposed within an elongate body and attached to a shoulder housing according to one embodiment. FIG. [Figure 41B] FIG. 41B is another perspective view of the actuation assembly of FIG. 41A, according to one embodiment. [Figure 41C] FIG. 41B is another perspective view of the actuation assembly of FIG. 41A, according to one embodiment. [Figure 42A] 13 is a perspective view depicting an elongated body and another actuation assembly disposed within a shoulder housing and attached to an upper arm in accordance with one embodiment; FIG. [Figure 42B] FIG. 42B is another perspective view of the actuation assembly of FIG. 42A, according to one embodiment. [Figure 43A] FIG. 42B is an enlarged side view of the right arm of FIG. 42A, with the upper arm substantially straight relative to the elongated body, according to one embodiment. [Figure 43B] FIG. 42B is an enlarged side view of the right arm of FIG. 42A, with the upper arm disposed at an angle relative to the elongated body, according to one embodiment. [Figure 43C] 42B is a close-up side view of the right arm of FIG. 42A, with the upper arm disposed at a different angle relative to the elongate body, according to one embodiment. [Figure 44A] FIG. 13 is a perspective view depicting another actuation assembly disposed within an upper arm according to one embodiment. [Figure 44B] FIG. 44B is another perspective view of the actuation assembly of FIG. 44A, according to one embodiment. [Figure 44C] FIG. 44B is another perspective view of the actuation assembly of FIG. 44A, according to one embodiment. [Fig.44D] FIG. 44B is another perspective view of the actuation assembly of FIG. 44A, according to one embodiment. [Figure 44E] FIG. 44B is another perspective view of the actuation assembly of FIG. 44A, according to one embodiment. [Figure 45A] FIG. 13 is a perspective view depicting another actuation assembly disposed within an upper arm and attached to a forearm in accordance with one embodiment. [Figure 45B] FIG. 45B is another perspective cutaway view of the actuation assembly of FIG. 45A, according to one embodiment. [Figure 45C] FIG. 45B is another perspective cutaway view of the actuation assembly of FIG. 45A, according to one embodiment. [Figure 45D] FIG. 45B is another perspective cutaway view of the actuation assembly of FIG. 45A, according to one embodiment. [Figure 45E] FIG. 45B is another perspective cutaway view of the actuation assembly of FIG. 45A, according to one embodiment. [Figure 46A] FIG. 13 is a perspective view depicting another actuation assembly disposed within a forearm and attached to an end effector in accordance with one embodiment. [Figure 46B] FIG. 46B is another perspective view of the actuation assembly of FIG. 46A, according to one embodiment. [Figure 46C] FIG. 46B is another perspective view of the actuation assembly of FIG. 46A, according to one embodiment. [Figure 47] FIG. 1 illustrates a perspective view of a grasper end effector according to one embodiment. [Figure 48A] FIG. 13 is a perspective view depicting another actuation assembly disposed within a forearm and attached to an end effector in accordance with one embodiment. [Figure 48B] FIG. 48B is another perspective view of the actuation assembly of FIG. 48A, according to one embodiment. [Figure 48C] FIG. 48B is another perspective view of the actuation assembly of FIG. 48A, according to one embodiment. [Figure 49A] FIG. 48B is a side view depicting a distal portion of the actuation assembly of FIG. 48A coupled to a grasper, according to one embodiment. [Figure 49B]FIG. 48B is another side view depicting a distal portion of the actuation assembly of FIG. 48A coupled to a grasper, according to one embodiment. [Figure 49C] FIG. 48B is another side view depicting a distal portion of the actuation assembly of FIG. 48A coupled to a grasper, according to one embodiment. [Figure 50A] FIG. 35B is a perspective view of the robotic device of FIG. 35A with a camera positioned for insertion into or removal from the device body, according to one embodiment. [Figure 50B] FIG. 50B is a perspective view of the device and camera of FIG. 50A, with the camera inserted into or removed from the device body, according to one embodiment. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0020] Various systems and devices disclosed herein relate to devices for use in medical procedures and systems. More specifically, various embodiments relate to various medical devices, including robotic devices and related methods and systems, having at least one robotic arm that can be actuated by one or more motors and associated gears disposed within the arm, one or more motors, associated cables extending from the motor such that the motor can be disposed within the arm, the device body, or any portion external to the device, or combinations of motors / gears and motors / cables. Although various embodiments herein are generally described in the context of a robotic device having two arms, it is understood that various actuation assembly embodiments may be incorporated into any arm of any robotic device or system, including devices having only one arm, three arms, four arms, or more arms. Furthermore, any of the implementations herein may be incorporated into any type of robotic device or system, including non-surgical devices and systems.

[0021] It is understood that the various embodiments of the robotic devices and related methods and systems disclosed herein can be incorporated into or used in conjunction with any other known medical devices, systems, and methods.

[0022] It is understood that various embodiments of the robotic devices and related methods and systems disclosed herein can be incorporated into or used in conjunction with any other known medical devices, systems, and methods. 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Degree of Freedom and Related Systems and Methods"), U.S. Patent Application No. 16 / 921,073 (filed July 6, 2020, entitled "Robotic Device with Compact Joint Design and an Additional Degree of Freedom and Related Systems and Methods"), U.S. Patent Application No. 15 / 821,169 (filed November 22, 2017, entitled "Gross Positioning Device and Related Systems and Methods"), U.S. Patent Application No. 10,675,110 (issued June 9, 2020, entitled "User Controller with User Presence Detection and Related Systems and Methods"), U.S. Patent Application No. 16 / 896,No. 678 (filed June 9, 2020, entitled "User Controller with User Presence Detection and Related Systems and Methods"), U.S. Patent No. 10,722,319 (issued July 28, 2020, entitled "Releasable Attachment Device for Coupling to Medical Devices and Related Systems and Methods"), U.S. Patent Application No. 16 / 904,101 (filed June 17, 2020, entitled "Releasable Attachment Device for Coupling to Medical Devices and Related Systems and Methods"), U.S. Patent No. 11,051,894 (issued July 6, 2021, entitled "Robotic Surgical Devices with Tracking Camera Technology and Related Systems and Methods"), and U.S. Patent Application No. 17 / 367,915 (filed July 6, 2021, entitled "Robotic Surgical Devices with Tracking Camera Technology and Related Systems and Methods") No. 11,013,564 (issued May 25, 2021, entitled "Single-Manipulator Robotic Device With Compact Joint Design and Related Systems and Methods"), U.S. Patent Application No. 17 / 236,489 (filed April 21, 2021, entitled "Single-Manipulator Robotic Device With Compact Joint Design and Related Systems and Methods"), U.S. Patent Application No. 16 / 736,No. 329 (filed January 7, 2020, entitled "Robotically Assisted Surgical System and Related Devices and Methods"), U.S. Patent Application No. 17 / 368,255 (filed July 6, 2021, entitled "Surgical Robot Positioning System and Related Devices and Methods"), U.S. Patent No. 7,492,116 (filed October 31, 2007, entitled "Robot for Surgical Applications"), U.S. Patent No. 7,772,796 (filed April 3, 2007, entitled "Robot for Surgical Applications"), and U.S. Patent No. 8,179,073 (issued May 15, 2011, entitled "Robotic Devices with Agent Delivery Components and Related Methods"), all of which are incorporated herein by reference in their entireties.

[0023] Certain device and system implementations disclosed herein and in the applications listed above may be placed within a patient's body cavity, or portions of the device may be positioned within a body cavity in combination with an external support component. As used herein, "in vivo device" means any device that can be positioned, operated, or controlled at least in part by a user while placed within a patient's body cavity, including an incision and / or a port disposed within the incision, and further includes any device coupled to an external support component disposed outside the patient's body. It also includes any device placed substantially against or adjacent to the wall of a patient's body cavity, any device that is internally operated (has no external source of power), and any device that can be used laparoscopically or endoscopically during a surgical procedure. As used herein, the terms "robot" and "robotic device" refer to any device that can perform a task automatically or in response to a command.

[0024] Certain embodiments provide for insertion of device implementations as disclosed herein into the cavity while maintaining sufficient insufflation of the cavity. Further embodiments minimize the surgeon or surgical user's physical contact with the device during the insertion process. Other implementations improve the safety of the insertion process for the patient and the device. For example, some embodiments provide visualization of the device as it is being inserted into the patient's cavity to ensure that no damaging contact occurs between the system / device and the patient. Additionally, certain embodiments allow for the size / length of the incision to be minimized. Other implementations include devices that can be inserted into the body through an incision or natural orifice, including devices that can be placed through an incision during use. Further implementations reduce the complexity of the access / insertion procedure and / or the steps required for the procedure. Other embodiments relate to devices that have a minimal profile, minimal size, or generally minimal features and appearance to improve ease of handling and use.

[0025] As in manual laparoscopic procedures, a known insufflation system can be used to pump sterile carbon dioxide (or other gas) into the patient's abdominal cavity. This lifts the abdominal wall from the organs and creates space for the robot. In certain implementations, the system does not have a direct interface with an insufflation system. Alternatively, various system embodiments herein can have a direct interface to an insufflation system.

[0026] In certain implementations where the device is inserted through an insertion port, the insertion port is a known, commercially available, flexible membrane positioned transversely in the abdomen to seal and protect the abdominal incision. This off-the-shelf component is the same device or substantially the same device used in substantially the same manner as Hand-Assisted Laparoscopic Surgery (HALS). The only difference is that the arms of the robotic device according to various embodiments herein are inserted into the abdominal cavity through the insertion port instead of the surgeon's hands. When placed through the insertion port, the robotic device body is disposed within and seals against the insertion port, thereby maintaining the insufflation pressure. The port is single-use and disposable. Alternatively, any known port can be used. In a further alternative, the device can be inserted through an incision without a port or through a natural orifice.

[0027] Certain implementations disclosed herein relate to "combination" or "modular" medical devices that can be assembled in a variety of configurations. For purposes of this application, both "combination device" and "modular device" shall mean any medical device having modular or interchangeable components that can be arranged in a variety of different configurations.

[0028] Certain embodiments disclosed or contemplated herein can be used in colectomy, a surgical procedure performed to treat patients with lower gastrointestinal diseases such as diverticulitis, Crohn's disease, inflammatory bowel disease, and colon cancer. Approximately two-thirds of known colectomy procedures are performed via a fully open surgical procedure with an 8-12 inch incision and recovery time of up to six weeks. Due to the complex nature of the procedure, existing robotic assisted surgical devices are rarely used in colectomy surgery, with manual laparoscopic approaches being used in only one-third of cases. In contrast, various implementations disclosed herein can be used in minimally invasive approaches to a variety of procedures typically performed "open" by known techniques, with the potential to improve clinical outcomes and health care costs. Furthermore, various implementations disclosed herein can be used for any laparoscopic surgical procedure in place of known mainframe-like laparoscopic surgical robots that reach inside the patient from outside the patient. That is, the minimally invasive robotic systems, methods, and devices disclosed herein feature small, self-contained surgical devices that are inserted in their entirety through a single incision in the patient's abdomen. Designed to utilize existing tools and techniques familiar to surgeons, the devices disclosed herein do not require a dedicated operating room or dedicated infrastructure, and due to their much smaller size, are expected to be significantly less expensive than existing robotic alternatives for laparoscopic surgery. Because of these technological advances, various embodiments herein can enable minimally invasive approaches to procedures performed in open surgery today.

[0029] FIG. 1 depicts one embodiment of a robotic surgical system 10 having several components described in additional detail below. Components of various system implementations disclosed or contemplated herein may include an external control console 16 and a robotic device 12 having a removable camera 14, as described in additional detail below. According to the implementation of FIG. 1, the robotic device 12 is shown mounted to an operating table 18 via a known, commercially available support arm 20. The system 10 may be operated, in certain implementations, by a surgeon 22 at the console 16 and one surgical assistant 24 located at the operating table 18. Alternatively, one surgeon 22 may operate the entire system 10. In further alternatives, three or more people may be involved in the operation of the system 10. It is further understood that the surgeon (or user) 22 may be located in a remote location relative to the operating table 18, such that the surgeon 22 may be in a different city or country or a different continent than the patient on the operating table 18.

[0030] In this particular implementation, the robotic device 12 with the camera 14 are both connected to the surgeon console 16 via a device cable 24A and a camera cable 24B. Alternatively, any connection configuration can be used. In certain implementations, the system can also interact with other devices during use, such as an electrosurgical generator, an insertion port, and an auxiliary monitor.

[0031] 2 depicts one exemplary implementation of a robotic device 40 that may be incorporated into the exemplary system 10 discussed above or any other system disclosed or contemplated herein. The device 40 has a body (or "torso") 42 having a distal end 42A and a proximal end 42B, through which an imaging device (or "camera") 44 is disposed, as mentioned above and described in additional detail below. Briefly, the robotic device 40 has two anthropometric robotic arms 46, 48 operably coupled to a distal end of the body 42, and the camera 44 is removably positionable through the body 42 and disposed between the two arms 46, 48. That is, the device 40 has a first (or "right") arm 46 and a second (or "left") arm 48, both of which are operably coupled to the body 42, as discussed in additional detail below. In this embodiment, the body 42 of the illustrated device 40 has an enclosure (also referred to as a "cover" or "casing") 52 such that the internal components and lumens of the body 42 are disposed within the enclosure 52. The device body 42 has two rotatable cylindrical bodies (also referred to as "shoulders" or "turrets") 54A, 54B, a first (or "right") shoulder 54A and a second (or "left") shoulder 54B. Each arm 46, 48 in this implementation also has an upper arm (also referred to herein as an "inner arm", "inner arm assembly", "inner link", "inner link assembly", "upper arm assembly", "first link", or "first link assembly") 46A, 48A, and a forearm (also referred to herein as an "outer arm", "outer arm assembly", "outer link", "outer link assembly", "forearm assembly", "second link", or "second link assembly") 46B, 48B. The right upper arm 46A is operably coupled to the right shoulder 54A of the body 42 at a right shoulder joint 46C (such that the right shoulder 54A is considered a component of the right shoulder joint 46C), and the left upper arm 48A is operably coupled to the left shoulder 54B of the body 42 at a left shoulder joint 48C (such that the left shoulder 54B is considered a component of the left shoulder joint 48C). Additionally, for each arm 46, 48, a forearm 46B, 48B is rotatably coupled to the upper arm 46A, 48A at an elbow joint 46D, 48D.In various embodiments, the forearms 46B, 48B are configured to receive a variety of removable and interchangeable end effectors 56A, 56B.

[0032] The end effectors 56A, 56B at the distal ends of the arms 46, 48 can be various tools 56A, 56B (scissors, graspers, needle drivers, etc.), as described in additional detail below. In certain implementations, the tools 56A, 56B are designed to be removable, including in some cases by a small twist of a tool knob that couples the end effectors 56A, 56B to the arms 46, 48. In certain implementations, at least two single-use, replaceable, disposable surgical end effectors can be used with any of the robotic device embodiments herein (including device 40). Such end effectors can include, but are not limited to, fenestrated graspers that enable bipolar cauterization, scissors that deliver monopolar cauterization, hooks that deliver monopolar cauterization, and left / right needle driver sets. Tools can be selected for specific surgical tasks. Particular forearm and end effector configurations that allow for end effector removability and replaceability are disclosed in detail in U.S. Patent Application Nos. 16 / 504,793 and 15 / 687,113, both of which are incorporated herein by reference (and above). Further, it is understood that any known forearm and end effector combination can be used in any of the embodiments of the robotic devices disclosed or contemplated herein.

[0033] In various implementations, each of the links of the body 40 and the arms 46, 48 can include various actuators and / or motors, as described in additional details below. In certain implementations, the body 40 does not have a motor disposed therein, but there is at least one motor in each of the arms 46, 48. Alternatively, the body 40 can have at least one motor disposed therein, and each of the arms 46, 48 can have 0, 1, 2, 3, 4, or more motors disposed therein. In further alternatives, the various components of any device implementation herein can have any configuration of motors or no motors therein. In an embodiment, any of the motors discussed and depicted herein can be brushed or brushless motors. Furthermore, the motors can be, for example, 6 mm, 8 mm, or 10 mm diameter motors. Alternatively, any known size that can be incorporated into a medical device can be used. In further alternatives, the actuators can be any known actuators used in medical devices to actuate movement or action of components. Examples of motors that may be used for the motors described herein include an EC 10 BLDC+GP10A planetary gearhead, an EC 8 BLDC+GP8A planetary gearhead, or an EC 6 BLDC+GP6A planetary gearhead, all available from Maxon Motors, Fall River, Massachusetts. There are many ways to actuate these movements, such as DC motors, AC motors, permanent magnet DC motors, brushless motors, air pressure, cables coupled to a motor, hydraulics, etc. Thus, the actuation source can be at least one motor, hydraulic source, pneumatic source, or any other actuation source disposed remotely or proximally from device 40 such that a suitable coupling or transmission mechanism (such as at least one cable, at least one hydraulic transmission hose, at least one pneumatic transmission hose, or any other transmission mechanism) is disposed through body 42.

[0034] In one embodiment, the various joints discussed above according to any of the embodiments disclosed or contemplated herein may be driven by electric motors disposed within the device and, in some implementations, disposed near each joint. Other embodiments include incorporating pneumatic or hydraulic actuators into any of the device implementations herein. In additional alternative embodiments, the drive actuators are disposed within the device body or external to the device, and / or a body cavity and power transmission mechanism is provided to transmit energy from an external source to the various joints of any of the devices herein. Such transmission mechanisms may take the form of, for example, gears, drive shafts, cables, pulleys, or other known mechanisms, or any combination thereof.

[0035] 3A and 3B depict an embodiment of the robotic device 40 with the camera assembly 44 removed, according to one implementation. That is, FIG. 3A depicts the device 40 without a camera disposed through the body 42, and FIG. 3B depicts an embodiment of the camera 44. In a particular implementation, as best shown in FIG. 3B, the camera 44 has a handle (or "camera body") 60 to which an elongated shaft 62 is coupled, such that the shaft 62 extends distally from the distal end of the handle 60. In addition, the camera 44 has a steerable tip 64 coupled to the distal end of the shaft 62 via a flexible section 68, such that steerability allows a user to adjust the viewing direction, as will be discussed in more detail below. Furthermore, the tip 64 also includes a camera imager 66 at a distal end of the tip 64 configured to capture a desired image. Furthermore, the tip 64 in a particular implementation has an illumination light (not shown) disposed thereon, so that light can illuminate objects within the field of view. In one specific implementation, the camera 44 provides 1080p 60Hz digital video. Alternatively, the camera 44 can provide any known video quality.

[0036] As best shown in FIGS. 3A and 4A , the camera assembly 44 may be inserted into the body 42 of the robotic device 40 by placing the distal end of the shaft 62 through a lumen (not shown) defined through the body 42 of the robotic device 40, as indicated by arrow A in FIG. 3A . As described in further detail below, certain implementations of the device 40 include a removable nest (or “dock”) 57 disposed near the proximal end of the body 42, which includes a seal (not shown) that operates to ensure that the patient's cavity remains insufflated. That is, the seal (not shown) allows the camera 44 to be removed from the body 42 while maintaining insufflation (similar to a manual laparoscopic port). The nest 57 may also include a connection or locking mechanism (not shown) that locks the camera 44 within the device body 42 until a camera latch button 59 is pressed to release the locking mechanism, thereby allowing removal of the camera 44.

[0037] According to certain embodiments, at least one or both of the nest 57 and the device body 42 include a sensor (not shown) configured to indicate when the camera assembly 44 is properly disposed within the nest 57 and the device body 42 and locked into place. In such implementations, the device 40 is inoperable unless the camera 44 is properly locked into place. In such implementations and some alternative embodiments, the device 40 is also inoperable for insertion or extraction purposes unless the camera 44 is removed (so that it may be located in an auxiliary port, such as port 92, as shown in FIG. 6 and discussed in additional detail below). Easy camera 44 removal also facilitates cleaning of the lens and other portions of the camera 44 to remove any debris that may be generated during surgery.

[0038] According to some implementations, the nest 57, and in particular the locking mechanism, allows the device 40 and the camera 44 locked thereon to move together, thereby causing the camera 44 to be positioned to provide constant visualization of the arms 46, 48 / end effectors 56A, 56B while always maintaining proper triangulation between the device 40, the camera 44, and the arms 46, 48 / end effectors 56A, 56B. That is, it is ensured that the camera 44 is always properly positioned relative to the arms 46, 48 and end effectors 56A, 56B, and that the configuration does not change during operation of the device 40.

[0039] When the shaft 62 is inserted through the lumen of the body 42 as desired, according to a particular embodiment best shown in FIGS. 2 and 4A, the distal end of the shaft 62, including the flexible section 68 and the steerable tip 64 (including the imager 66), extends from an opening at the distal end of the body 42 such that the tip 64 is disposed between the two arms 46, 48 as shown. The imager 66 is thus positioned to capture a view between the two arms 46, 48, and the steerable tip 64 can be actuated to provide a view of the surgical tool and surgical target. That is, the tip 64 can be moved such that the surgical tool and / or surgical target are captured within the field of view of the imager 66. It is understood that this embodiment of the camera 44 and any other such camera embodiments disclosed or contemplated herein can be used with any similar robotic device having a camera lumen defined therethrough.

[0040] In various implementations, as best shown in FIG. 4A , the steerable tip 64, and therefore the camera imager 66, can be steered or otherwise moved in two independent directions relative to the shaft 62 at a flexible section 68 disposed between the shaft 62 and the steerable tip 64 to change the direction of view. That is, FIG. 4A shows that the steerable tip 64 can robotically articulate in a yaw direction (left and right relative to the device 40), as represented by arrow B, or in a pitch direction (up and down relative to the device 40), as represented by arrow C. In various implementations, the camera 44 can be controlled via a console (such as, for example, the console 16 discussed above) or via a control button (not shown), as discussed in additional detail below. In one embodiment, the features and operation (including articulation) of the steerable tip are substantially similar to the steerable tips described in U.S. Patent Nos. 14,334,383 and 15 / 227,813, both of which are incorporated by reference above, and any other applications incorporated by reference above that disclose such steerable tips. Alternatively, any known robotic articulation mechanism for cameras or similar devices may be incorporated into any camera embodiment utilized in any device or system disclosed or contemplated herein.

[0041] In various implementations, the camera 44 can be resterilized for multiple uses. In one specific embodiment, the camera 44 can be reused up to 100 times or more. Alternatively, it is understood that any known endoscopic camera that can fit through a device body according to any implementation herein can be utilized.

[0042] Focusing now on the robotic arms 46, 48 of the robotic device 40 according to one embodiment shown in Figures 4A-4B, each robotic arm 46, 48 in this implementation has six degrees of freedom, including the ability to open and close a tool, as best shown in Figure 4B. For purposes of this discussion, the various degrees of freedom will be discussed in the context of the right arm 46 as shown in Figure 4B, but it will be understood that both arms have the same degrees of freedom. The right shoulder joint 46C is a generally spherical joint similar to a human shoulder. The upper arm 46A can yaw (J1), pitch (J2), and roll (J3) about the shoulder joint 46C. These first three rotational axes roughly intersect at the shoulder joint 46C. The robotic elbow 46D (J4) allows for rotation of the forearm 46B relative to the upper arm 46A. Finally, the end effector 56A can roll (J5) about its long axis, and some tools that may be interchangeably attached to the forearm 46B have open and close actuation capabilities, while it is understood that, for example, a hook cauterization tool does not open and close.

[0043] As seen in FIG. 4B, the arms 46, 48 in this exemplary implementation have molded silicone protective sleeves 58 disposed over the arms 46, 48 and shoulder turrets 54A, 54B. In one embodiment, the sleeves 58 are fluidly sealed to protect the arms 46, 48 and robotic device 40 from fluid ingress and also to help simplify post-operative cleaning and sterilization. The fluidly sealed sleeves 58 are substantially similar to any of the sleeve embodiments disclosed or contemplated in U.S. patent application Ser. Nos. 14 / 334,383, 15 / 227,813, and 16 / 144,807, all of which are incorporated by reference above, and any other applications incorporated by reference above may have other sleeve implementations.

[0044] According to one embodiment, sleeve 58 and other fluidly sealed components of device 40 allow device 40 to be submerged in one meter of water. The robotic arms 46, 48 in this implementation have significant dexterity that allows the arms 46, 48 to reach limited spaces within a target cavity of a patient, such as the abdominal cavity. As shown in FIG. 5A and FIG. 5B, the six degrees of freedom described above allow the arms 46, 48 to reach limited spaces in the abdominal cavity. More specifically, FIG. 5A and FIG. 5B diagrammatically depict the entire workspace 70 of the arms 46, 48 of the robotic device 40 according to certain implementations. In these implementations, the "workspace" 70 refers to the space 70 around the robotic device 40 in which any of the arms 46, 48 (and / or their end effectors) can move, access, and perform their functions within that space 70. In other words, the workspace 110 is the volume that can be reached by at least one of the right arm 46 and the left arm 48. The bimanual workspace 110 is approximated by an ellipse rotated 180 degrees around the shoulder pitch joint (J2 in FIG. 4B). According to one embodiment, the arms 46, 48 herein are substantially the same or similar in arms, degrees of freedom, and overall workspace and individual workspace of each arm as disclosed in U.S. patent application Ser. No. 17 / 367,915 and / or U.S. patent application Ser. No. 16,736,329, both of which are incorporated by reference above.

[0045] FIG. 5A depicts a perspective view of the device 40 and further generally illustrates a collective workspace 70 of the first arm 46 and the second arm 48 as well as a cross section 72 thereof, and FIG. 5B depicts a side view of the device 40 and workspace 70. It should be noted that each arm 46, 48 has a range of motion and corresponding workspace extending from a front 74 of the device 40 to a rear 76 of the device 40. Thus, the first arm 46 moves equally to the front 74 and rear 76 through a space of approximately 180° relative to the axis of the device body 42 for each arm 46, 48. This overall workspace 70, which intersects or constitutes a collective workspace 70 based on the separate workspaces of the two arms 46, 48, allows the robotic device 40 to work equally well to the front 74 and rear 76 without having to reposition the body 42. That is, the bimanual workspace 70 extends from the front 74 of the robotic device 40, underneath the device 40, and behind the rear 76 of the device 40, as shown. The workspace 70 thus represents the area that is reachable by both the left arm 46 and the right arm 48 and is defined as the bimanual robot workspace 70. The arms 46, 48 function equally well at any sweep angle from +90° to −90°, as shown in FIG. 5B, and the workspace 70 represents the full range of sweep angles. In other words, the surgeon will have full robotic dexterity when working in this bimanual area 70.

[0046] As best seen in FIG. 5A, the workspace cross section 72 is rectangular with an arched top. As can be seen, this cross section 72 extends 180 degrees around the shoulder pitch (J2 in FIG. 4B). According to one specific, non-limiting embodiment, the workspace cross section 72 may be approximately 5 inches (13 cm) wide and approximately 2.5 inches (6.75 cm) deep. Alternatively, the specific dimensions may vary according to the size of the device (and its components) and the size of the target space.

[0047] In contrast, the camera sweep angle range 78 (the range over which the camera 44 can move along the same path as the workspace sweep angle, as shown in FIG. 5B) is more limited compared to the sweep angle range of the robotic arms 46, 48 (as represented by the workspace 70). More specifically, the camera 44 can sweep between +75° and −75°, a range sufficient to ensure that the camera can capture the arms 46, 48 and their end effectors 56A, 56B at any position throughout the workspace 70, thereby ensuring that the user can visualize the instruments. The camera sweep defines a working camera plane 80 (the horizontal midline of the surgical view), as shown in FIG. 5A.

[0048] During a procedure, the device 40 can be easily repositioned by moving the device body 42, thus allowing access to different portions of the target cavity (such as the abdominal cavity). In certain implementations, the device body 42 can be quickly (in some embodiments less than 10 seconds) and easily moved by adjusting an external support arm (such as arm 20, discussed above). The ability to change the overall position of the device 40 combined with the reach and dexterity of the arms 46, 48 allows the surgeon to work anywhere within the target cavity.

[0049] Additional features and components of the robotic device include those disclosed in U.S. Patent Application Nos. 17 / 147,172, 17 / 075,122, 17,367,915, 17 / 236,489, and 16 / 736,329, all of which are incorporated by reference above, along with all other patents and applications incorporated by reference above. It is understood that any robotic device embodiment disclosed or contemplated herein (including, for example, robotic devices 12, 40, 80 discussed above) can be incorporated into any other known robotic surgical system, as well as the system embodiments disclosed herein. It is further understood that, according to a particular implementation, any robotic device disclosed or contemplated herein can be configured such that it can be cleaned and sterilized for multiple uses. In some embodiments, the device can be reused up to 10 times or more.

[0050] In certain alternative implementations, such as shown in FIG. 6, the camera 44 may be removed from the robotic device 40 and placed through another known laparoscopic port 92, typically used in standard manual laparoscopes. Thus, in this embodiment, the device 40 is disposed through a main port (also known as an "insertion port") 90, and the camera 44 is placed through a known laparoscopic port 92, as shown. It is understood that this arrangement may be useful for visualizing the robotic device 40 to ensure safe insertion and extraction through the main port 90. According to various embodiments, the camera 44 may also be removed from the robotic device 40 so that the optics may be cleaned, the camera 44 may be repaired, or for any other reason for which it is beneficial to remove the camera 44. Although the device 40 and camera 44 are depicted and discussed herein, it is understood that any device or camera according to any implementation disclosed or contemplated herein may be used in a similar arrangement, and any such camera may also be removed from the device for any reason as discussed herein.

[0051] It is understood that the insertion port 90 can also represent a port 90 through which any robotic device embodiment disclosed or contemplated herein is placed for any procedure contemplated herein, including those procedures in which the camera 44 is disposed through the device 40. In one embodiment, the insertion port 90 can be a one-time use, commercially available flexible membrane disposed transversely across the abdomen to seal and protect the abdominal incision and allow the body 42 of the device 40 to be placed therethrough. In a specific implementation, the insertion port 90 is the same device used in Hand-Assisted Laparoscopic Surgery (HALS), including the exemplary port 90 depicted in FIG. 6, which is a GelPort™ 90, according to one embodiment. The device body 42 seals against the insertion port 90, thereby establishing a fluid seal and thus maintaining the insufflation pressure. Alternatively, any known insertion port (or incision) configured to receive a device similar to those disclosed herein can be used.

[0052] Various implementations herein are devices having one or more robotic arms with specific actuation configurations. More specifically, some of the embodiments relate to one or more robotic arms actuated by motors and gears that convert power from the motors to the movable arm components, while other implementations have one or more arms actuated by motors and cables that convert power from the motors to the movable arm components. Furthermore, additional embodiments relate to devices having one or more arms actuated by a combination of (1) motors and gears, and (2) motors and cables. In various implementations having at least one or more motor and cable configurations, the motors can be disposed anywhere relative to the movable components. That is, the motors can be disposed in the same arm component as the movable component (such as the forearm), in an adjacent component (such as the upper arm), in the device body, or in a location external to the device. Further details regarding these various embodiments are described in more detail below.

[0053] In any of the embodiments disclosed in additional detail below in which one or more cables are used, the cable(s) may be a standard pull cable using an opposing cable for a restoring force (or a spring or other method for a restoring force), a push / pull cable, a Bowden cable, a rotational torque transmission cable, or any other known cable for use in medical or robotic devices.

[0054] Additionally, there are many ways to actuate these movements, pneumatically, hydraulically, etc. As mentioned above, certain device embodiments have at least one robotic arm actuated by a motor that uses gear drives to create motion at each joint. One such implementation is shown in Figures 7-20 herein, which shows the internal components of the body 110A and arms 114, 116 of device 100, which are shown in these figures without their casing or housing. It is understood that in use, these implementations are covered by a housing in a manner similar to the embodiment depicted in Figures 2-6. Figures 7-20 include the internal structural / support components and actuation (motor and gear) components of device 100. Additionally, it is understood that any of the motor and gear configurations shown in U.S. Patent Application Nos. 16 / 890,424, 17 / 147,172, 17 / 075,122, 16 / 926,025, 17 / 367,915, 17 / 236,489, and 16 / 736,329, which are incorporated by reference above, may be incorporated into any of the devices herein. In use, the various motors used to actuate the robot 100 and its associated components may include, but are not limited to, DC motors, AC motors, permanent magnet DC motors, brushless motors, and the like. In an embodiment, any of the motors discussed and depicted herein may be brushed or brushless motors. Additionally, the motors may be, for example, 6 mm, 8 mm, or 10 mm diameter motors. Alternatively, any known size that may be incorporated into a medical device may be used. In a further alternative, the actuator can be any known actuator used in medical devices to actuate movement or action of a component. Examples of motors that can be used with the motors described herein include an EC 10 BLDC+GP10A planetary gearhead, an EC 8 BLDC+GP8A planetary gearhead, or an EC 6 BLDC+GP6A planetary gearhead, all available from Maxon Motors, located in Fall River, Massachusetts.

[0055] 7 shows an implementation of the robot 100 and each joint of one arm, here the left arm 116, according to one embodiment. The right arm 114 of this implementation is a mirror image of the left 116, and it is understood that the internal components within the left arm 116 that move / control / actuate the left arm 116 are substantially the same as depicted and described herein, and the description provided below applies equally to those components. Alternatively, the device 100 can have only one arm.

[0056] 7, shoulder joints 114A, 116A have a shoulder yaw joint 101 and a shoulder pitch joint 102. In these implementations, an upper arm roll joint 104, an elbow joint 106, and a tool roll joint 108 are also provided that allow for a substantial range of motion. In various implementations, a tool actuation joint (not shown) interfaces with a tool (not shown) to actuate the opening and closing of the tool, as previously described.

[0057] In various implementations, these joints 101, 102, 104, 106, along with the robot shape, have practically defined ranges of motion that lead to a final workspace of the robot 100, similar to the workspace discussed above. In the examples given herein, the joint limits allow for a significant robot workspace, as explained above. This workspace allows various implementations of the robot to effectively use both arms and hands at several locations within the patient's body cavity.

[0058] In the implementation of FIG. 7, the body 110A and each link (meaning the upper arm 116B and the forearm 116C) include Printed Circuit Boards (PCBs) 110, 112, 114 with embedded sensor, amplification, and control electronics. There is one PCB in each forearm and upper arm, and two PCBs in the body. Each PCB also has a full 6-axis accelerometer-based inertial measurement unit and a temperature sensor that can be used to monitor the temperature of the motor. Alternatively, any known processor can be used. Each joint can also have either an absolute position sensor or an incremental position sensor, or both. In certain implementations, some joints include both absolute position sensors (magnetic encoders) and incremental sensors (Hall effect). In other implementations, certain joints only have incremental sensors. These sensors are used for motor control. The joints can also include many other types of sensors. A more detailed description of one possible method is included here.

[0059] In this implementation, a larger PCB 110 is mounted on the rear of the body 110A. This body PCB 110 controls the motors 116 in the base links, i.e., body 110A (shoulder yaw joint 101 and shoulder pitch joint 102 for the left and right arms, respectively). Each upper arm has a PCB 112 for controlling the upper arm roll joint 104 and elbow joint 106. Each forearm has a PCB 114 for controlling the tool roll joint 108 and tool actuation joint (not shown). In the implementation of FIG. 14, each PCB 110, 112, 114 also has a full 6-axis accelerometer-based inertial measurement unit and several temperature sensors that can be used to monitor the temperature of the various motors described herein.

[0060] In these embodiments, each joint 101, 102, 104, 106, 108 may also have either an absolute or incremental position sensor, or both, as described and otherwise disclosed in U.S. Patent Application Nos. 17 / 368,023 and 16 / 814,223, incorporated by reference above, as well as any other such sensors described in any other application incorporated by reference above. Additionally, in certain implementations, as shown in FIG. 8 and elsewhere, any of the various actuators or motors 115, 130, 154, 178 in any of the embodiments described herein may have at least one temperature sensor 103 disposed on a surface of the motor, for example, by a temperature sensitive epoxy, so that the temperature sensor 103 (as shown in FIG. 15) can collect temperature information from each actuator for transmission to a control unit, as discussed below.

[0061] In this implementation, joints 1-4 have both absolute position sensors (magnetic encoders) and incremental sensors (Hall effect). According to one embodiment, joints 5 and 6 have only incremental sensors. These sensors are used for motor control. It is understood that the joints can also include many other types of sensors, as described in detail in the incorporated applications and references. In further alternatives, any combination of these sensors or no sensors can be used.

[0062] According to one implementation, certain other internal components depicted in the implementation of Figures 8 and 9 are configured to actuate rotation of the shoulder-yaw joint 101 of the body 110A about axis 1, as shown in Figure 7. As mentioned above, it is understood that two of each of the described components are used, i.e., one for each arm, but for ease of explanation, only one is used in the specific depiction and description.

[0063] As best shown in FIG. 9, the shoulder yaw joint 101 motor 115 and gear head combination drives a motor gear 117 first gear set 118, best shown in FIG. 16. The first gear set 118 drives a shaft supported by bearings 120 to drive a second gear set 122. This second gear set 122 in turn drives an output shaft 124, also supported by bearings 126. This output shaft 124 then drives the turrets 114A, 116A (representing the shoulders of the robot 100) such that the shoulder 116A rotates about axis 1, as best shown in FIG. 7. The various gears herein may be spur gears. Alternatively, any of the gears may be any known type of gear.

[0064] As discussed in more detail below, in certain alternative embodiments, motors 115, 130 (and all motors discussed elsewhere in this specification for various implementations) may be located in a more proximal location when various other shafts, pulleys, cables, and / or gears are included.

[0065] According to one implementation, certain internal components depicted in the implementation of Figures 10-12 are configured to actuate shoulder pitch joints 102 of the body 110A and / or shoulders 114A, 116A about axis 2, as shown in Figure 7. In these implementations, the pitch joints 102 are constructed and arranged to pivot output links 140 to move the upper arms (not shown) relative to the shoulders 114A, 116A.

[0066] In this particular implementation, as best shown in FIG. 12, a motor 130 and gear head combination drives a drive gear 131 and a driven gear 132, which drive a first shaft 134. This shaft 134 then drives a shoulder gear pair 136, 137 in the shoulder turret. The shoulder gear pair 136, 137 thus drives a driven shoulder gear set 138, 139 that is directly connected to an output link 140 of the shoulder pitch joint 102 such that the upper arm 116B rotates about axis 2, as best shown in FIG. 7. In this implementation, the shoulder yaw joint 101 and the shoulder pitch joint 102 therefore have coupled motion. In these implementations, as previously described, a number of bearings 141 support the various gears and other components. The various gears herein can be spur gears, miter gears, bevel gears, or any other known type of gears.

[0067] 13-16 depict various internal components of the upper arm 116B constructed and arranged for movement and operation of the arm 116. In various implementations, multiple actuators or motors 142, 154 are disposed within a housing (not shown) of the forearm 116C. FIGs. 17-20 depict various internal components of the forearm 116C constructed and arranged for movement and operation of the end effector. In various implementations, multiple actuators or motors 175, 178 are disposed within a housing (not shown) of the forearm 116C.

[0068] One implementation of the internal components of the upper arm 116B constructed and arranged to actuate the upper arm roll joint 104 is shown in Figures 13 and 14. In this implementation, a motor 142 and gear head combination controlled by the PCB 112 drives a drive gear 143 and corresponding driven gear 144, which is supported by a shaft 148 and bearings 150. The output shaft 152 and output spur gear 144 can have mating features 146 that mate with the output link 140 of the shoulder pitch joint 102 (shown in Figure 10).

[0069] One implementation of the internal components of the upper arm 116B configured to operate the elbow joint 106 is shown in Figures 15 and 16. In this implementation, a base motor 154 directly drives a gear set that includes three gears 156, 158, 160 (a drive gear 156, a driven gear 158, and a gear head gear 160). This gear set 156, 158, 160 translates the axis of rotation from the axis of the motor 154 to the axis of a worm gear 166. Alternatively, the worm gear 166 can be any other known type of gear.

[0070] As best shown in Figure 16, a gear head gear 160 from this set drives a motor gear head 162 which drives a shaft 164 having a worm gear 166 mounted on the shaft 164. This worm gear 166 then drives a worm wheel 168 (or other form of wheel) connected to the Joint 4 output shaft 170. Also note that the upper arm unit (as shown in Figure 15) shows a curved concave region 172 on the right side. It is understood that this region 172 is configured to allow for greater movement of Joint 4 as it allows the forearm to pass through region 172.

[0071] One implementation of the internal components of the forearm 116C configured or otherwise constructed and arranged to operate the tool roll joint 108 is shown in Figures 17 and 18. In these implementations, the tool roll joint 108 drives a tool lumen 174 that holds a tool (or end effector). The tool lumen 174 is designed to mate with a roll feature on the end effector and rotate the end effector about its axis, shown as axis 5 in Figure 7. In this implementation, a tool roll motor 175 with a gear head is used to drive a drive gear 176, which in turn drives two driven gears 177A, 177B. The second driven gear of this chain 177B is rigidly mounted to the tool lumen 174 and rotates the inner surface 174A of the tool lumen and correspondingly any inserted end effector.

[0072] One implementation of the tool actuation joint 109 is shown in Figures 19 and 20. In this implementation, the motor 178 of joint 6 does not visibly move the robot. Instead, this tool actuation joint 109 is configured to drive a female spline 184 (as best shown in Figure 20) that interfaces with the end effector to actuate the end effector to open and close (in those embodiments where the end effector is a gripper or other type of end effector that opens and closes). This rotation of the end effector arm such that the end effector opens and closes is also referred to as "tool actuation". Actuation is created in one aspect as follows: The actuator 178 is a motor assembly 178 in this implementation. The motor assembly 178 is operably coupled to a drive gear 180, which in this embodiment is a spur gear, but can be any type of gear. The drive gear 180 is coupled to a first driven gear 182 and a second driven gear 183 such that rotation of the drive gear 180 causes rotation of the two driven gears 182, 183. The driven gears 182, 183 are fixedly coupled to a female tool spline 184 that is supported by a bearing pair 186. The female tool spline 184 is configured to interface with a male tool spline feature on an end effector to open and close the tool as directed.

[0073] According to one implementation, the end effector can be quickly and easily coupled to and decoupled from the forearm 116C in the following manner: With both the roll shaft and the drive shaft fixed or held in place, the end effector (such as either end effector 56A, 56B) can be rotated, thereby coupling or decoupling the threads (not shown). That is, when the end effector is rotated in one direction, it is coupled to the forearm 116B, and when the end effector is rotated in the other direction, it is decoupled from the forearm 116B.

[0074] Various implementations of the system 10 are also designed to deliver energy to the end effector to cut and coagulate tissue during surgery. This is sometimes called cauterization and can come from many electrical forms, as well as thermal, ultrasonic, and RF energy, all of which are targeted to robots.

[0075] Alternatively, as noted above, certain device embodiments have one or more arms that are actuated by at least one motor coupled to a cable that converts power from the motor to a movable arm component. Such actuation configurations are also referred to herein as cable-driven actuation or cable actuation, and are intended to describe any actuation arrangement in which a cable is coupled to both a motor (or other type of actuator) and an actuable component of a robotic device.

[0076] 21A and 21B depict one exemplary implementation of a robotic device 200 having a forearm 208B with two cable-driven actuation assemblies 212, 214 disposed therein or associated therewith. More specifically, FIG. 21B shows a robotic device 200 having an elongated body 202 having two robotic arms 204, 206. For purposes of this application, the discussion will focus on the right arm 204, although it will be understood that the same or a similar cable-driven assembly may be incorporated into the left arm 206. The right arm 204 has an upper arm 208A, a forearm 208B, and an end effector 210.

[0077] 21B provides a close-up view of the right forearm 208B, including two cable driven actuation assemblies 212, 214. The first actuation assembly 212 is a tool roll actuation assembly 212, having a first actuator 216 coupled to a first cable 218 via a first rotational drive mechanism (also referred to herein as a "spool") 220. The cable 218 extends from the spool 220 to a first target actuatable component of the forearm 208B. More specifically, in this example, the cable 218 extends to a tool roll mechanism (not shown) and is operably coupled to the tool roll mechanism such that the actuation assembly 212 can be used to actuate the tool roll mechanism.

[0078] The second actuation assembly 214 is a tool opening and closing actuation assembly 214 and has a second actuator 222 coupled to a second cable 224 via a second rotational drive mechanism (also referred to herein as a "spool") 226. The cable 224 extends from the second spool 226 to a second target actuatable component of the forearm 208B. More specifically, in this example, the cable 224 extends to a tool opening and closing mechanism (not shown) and is operably coupled to the tool opening and closing mechanism such that the actuation assembly 214 can be used to actuate the tool roll mechanism.

[0079] In some embodiments, the actuators 216, 222 are motors 216, 222. For example, the motors 216, 222 can be brushless DC motors having gear heads. Alternatively, the actuators 216, 222 can be any motor as described elsewhere herein, or any other known motor for use in such devices. Alternatively, the actuators 216, 222 can be any known actuator.

[0080] The cables 218, 224 in this particular implementation, as well as any other embodiment, may require one or more pulleys to properly position the cables and / or tensioning mechanism to ensure proper tensioning of the cables. For example, a first pulley 228 is disposed within the forearm 208B as shown to route or otherwise control the position of the first cable 218. Similarly, a second pulley 230 and a third pulley 232 are disposed within the forearm 208B as shown to route or otherwise control the position of the second cable 224. It is understood that the specific number and placement of any pulleys will depend on the specific arm components and actuation assemblies.

[0081] According to other embodiments, any such cable driven actuation assembly can be used to actuate any actuatable component. More specifically, the cables of such assemblies are coupled to components that require power to move / function. In one specific alternative, the cables 218, 224 are rotary drive cables. In a further alternative, one of the two cables 218, 224 can be one type of drive cable (e.g., a push / pull cable, etc.) and the other is another type of drive cable (e.g., a rotary drive cable, etc.).

[0082] Any spool implementation herein may be sized to allow a length of cable to be wrapped around the spool. The size of the spool may be determined based on the dimensions of the actuation mechanism.

[0083] In this particular embodiment, both of the actuation mechanisms 212, 214 are locally actuated mechanisms 212, 214. That is, the actuators 216, 222 are locally located, meaning that they are disposed within the same component as the actuatable components that are actuated by the actuation mechanisms. In other words, both the actuators 216, 222 and the actuatable components are disposed within the forearm 208B. In various alternative implementations, as described in additional detail below, the actuators 216, 222 are not disposed within the same component as the actuatable components. That is, one or both of the actuators 216, 222 may be disposed within the forearm 208B, the upper arm 208A, the elongated body 202, or some location external to the device 200.

[0084] A more detailed exemplary embodiment of a locally actuated cable driven actuation assembly is shown in Figures 22A-28B. More specifically, as best shown in Figures 22A-22B, a forearm 250 is provided to which a grasper end effector 252 is removably coupleable. The forearm 250 has three actuators 254, 256, 258 disposed therein, each of the actuators 254, 256, 258 having a rotatable drive component 260, 262, 264, each of which has a matable female structure 260A, 262A, 264A at its distal end. Each of the compatible female structures 260A, 262A, 264A is matable with a corresponding matable male structure such that power can be transferred from each rotatable drive component 260, 262, 264 through the matable structures, as described in additional detail below.

[0085] 22A and 22B, the removable end effector 252 is shown having three matable male structures 266A, 268A, 270A (266A is not visible in the figures due to perspective) extending from a proximal end that are matable with matable female structures 260A, 262A, 264A. The three male structures 266A, 268A, 270A are rotatable and configured to mate with the female structures 260A, 262A, 264A. Additionally, the male structures 266A, 268A, 270A are fixedly coupled to rotatable driven components (also referred to herein as "spools") 296, 312, 330 disposed within the end effector 252, as will be discussed in additional detail below. Thus, the female (260A, 262A, 264A) and male (266A, 268A, 270A) structures allow for the transfer of power from the actuators 254, 256, 258 to the driven spools 296, 312, 330 when the end effector 252 is coupled to the forearm 250.

[0086] In one specific implementation, the female (260A, 262A, 264A) and male (266A, 268A, 270A) coupling / power transmission structures are matable torque transmitting drive interfaces. Alternatively, any known matable structure that allows for releasable coupling and transmission of rotational power can be used.

[0087] As described in further detail below, the three actuators 254, 256, 258 provide power for the articulation of movement of the three actuatable components of the end effector 252. In this embodiment, each of the actuation assemblies (each assembly is an actuator and a cable coupled thereto) is local (or locally disposed) in that both the actuation assembly and its coupled actuatable components are disposed within the same device component (in this case, the forearm 250 to which the end effector 252 is coupled).

[0088] As best shown in Figures 23-24C, according to certain embodiments, the end effector 252 is a gripper 252 (as mentioned above) having two independently moving paddles 280A, 280B. More specifically, both the first paddle 280A and the second paddle 280B rotate about the same axis A1 to produce both an open / close motion as shown in Figure 24C and a wrist pitch motion as shown in Figures 24A-24B. Additionally, both paddles 280A, 280B (and the entire gripper assembly 282 consisting of the paddles 280A, 280B and the gripper body 284 as discussed in detail below) can also rotate together about axis B1 to produce a wrist yaw motion as shown in Figures 25A-25C. Note that the third axis (C1) depicts the axis about which the end effector 252 and thus the entire forearm 250 can rotate as a result of the forearm 250 being able to rotate about its own axis ("roll"), a motion that is not produced by the actuators 254, 256, 258 discussed herein with respect to Figures 22A-28B.

[0089] Focusing on the independent rotation of the paddles 280A, 280B around the axis A1, two different movements can be achieved in the following manner. An opening and closing movement as shown in FIG. 24C can be achieved by rotating the two paddles 280A, 280B in different directions. More specifically, to open the two paddles 280A, 280B, they are urged to rotate away from each other as represented by the arrow BB in FIG. 24C. On the other hand, to close the two paddles 280A, 280B, they are urged to rotate towards each other and touch each other. Furthermore, a wrist-like movement as shown in FIG. 24A-FIG. 24B can be achieved by rotating the paddles 280A, 280B in the same direction. For example, to move the two paddles 280A, 280B from the position depicted in FIG. 24A to the position depicted in FIG. 24B, both paddles 280A, 280B are urged to rotate in the same direction as the direction indicated by the arrow AA.

[0090] Turning now to rotation of the gripper assembly 282, wrist yaw motion may be accomplished in the following manner. As shown in FIGS. 25A-C, the gripper assembly 282 includes a gripper body 284 and two grippers 280A, 280B, which are rotatably coupled to the gripper body 284 about axis A1 discussed above. The gripper body 284 is rotatably coupled to an end effector body 286 at a wrist joint 288. More specifically, according to one embodiment, the wrist joint 288 includes a pin 290 extending between two end effector body projections 292A, 292B (as best shown in FIG. 25A ) such that the gripper body 284 may be rotatably coupled to the pin 290. As such, the gripper body 284 can rotate about pin 290 on axis B1 (perpendicular to axis A1), thereby allowing the entire gripper assembly 282 to rotate about axis B1, resulting in wrist yaw motion as depicted in Figures 25A-25C.

[0091] The combination of the actuation assemblies produces three motions that provide three degrees of freedom, including two distinct wrist motions and an open / close motion. We now describe in detail the operation of the actuation assemblies to achieve each of these three motions.

[0092] Actuation of paddle 280A rotating about axis A1 is depicted in Figures 26A-26B according to one embodiment, where Figure 26A depicts a first perspective view of end effector 252 (the same perspective view provided in Figures 22A-24C) and Figure 26B depicts a second perspective view that is 180° to the first view (thereby providing an opposite view of end effector 252 compared to Figure 26A). Paddle 280A is fixedly coupled to a first driven wheel 294 such that rotation of wheel 294 causes rotation of paddle 280A about axis A1. 26A-B further depict a first driven spool (or "mandrel") 296 coupled to the male matable structure 270A as discussed above (so that the actuator 258 is rotatably coupled to the driven spool 296 when the end effector 252 is coupled to the forearm 250). A first cable 298 forms a closed loop such that the cable 298 is coupled to the first driven mandrel 296 and ultimately extends to and is coupled with the first driven wheel 294. More specifically, in this particular implementation, the cable 298 is ultimately routed through (or otherwise disposed within) the end effector 252 via a set of pulleys 300 such that the cable 298 extends from the driven mandrel 296 to the driven wheel 294 and back to the mandrel 296, such that rotation of the mandrel 296 causes translation of the cable 298, which in turn causes rotation of the wheel 294 (coupled to the first paddle 280A). It is understood that any number of pulleys 300 arranged in any configuration can be provided to ensure proper placement of the cable 298 and to remove any undesirable slack therein. Additionally, as best shown in FIG. 26A, a tension screw 302 coupled to a tension pulley 304 is provided to adjust the cable 298 to a desired tension. Thus, actuation of the actuator 258 can cause rotation of the first paddle 280A about axis A1.

[0093] Actuation of paddle 280B to rotate about axis A1 is depicted in Figures 27A-27B according to one embodiment, where Figure 27A depicts a first perspective view (the same perspective view as provided in Figure 26A) and Figure 27B depicts a second perspective view (the same view as provided in Figure 26B). Paddle 280B is fixedly coupled to a second driven wheel 310 such that rotation of wheel 310 causes rotation of paddle 280B about axis A1. Additionally, Figure 27B depicts a second driven spool (or "mandrel") 312 coupled to male matable structure 266A as discussed above (so that actuator 254 is rotatably coupled to driven spool 312 when end effector 252 is coupled to forearm 250). The second cable 314 forms a closed loop such that the cable 314 is coupled to the second driven mandrel 312 and ultimately extends to and is coupled with the second driven wheel 310. More specifically, in this particular implementation, the second cable 314 is ultimately routed through (or otherwise disposed within) the end effector 252 via a set of pulleys 316 such that the cable 314 extends from the driven mandrel 312 to the driven wheel 310 and back to the mandrel 312, such that rotation of the mandrel 312 causes translation of the cable 314, which in turn causes rotation of the wheel 310 (coupled to the second paddle 280B). It is understood that any number of pulleys 316 arranged in any configuration can be provided to ensure proper alignment of the cable 314 and to remove any undesirable slack therein. Additionally, a tension screw 318 coupled to a tension pulley 320 is provided to adjust the desired tension on the cable 314. Thus, actuation of the actuator 254 can cause rotation of the second paddle 280B about the axis A1.

[0094] Actuation of the gripper assembly 282 to rotate about axis B1 is depicted in Figures 28A-B, where Figure 28A depicts a first perspective view (the same perspective view provided in Figures 26A and 27A) and Figure 28B depicts a second perspective view (the same view provided in Figures 26B and 27B), according to one embodiment. As discussed above, gripper assembly 282 has a gripper body 284 with paddles 280A, 280B such that rotation of body 284 at wrist joint 288 causes rotation of assembly 282 about axis B1. 28A-B further depict a third driven spool (or "mandrel") 330 coupled to the male matable structure 268A as discussed above (so that the actuator 256 is rotatably coupled to the driven spool 330 when the end effector 252 is coupled to the forearm 250). The third cable 332 forms a closed loop such that the cable 332 is coupled to the third driven mandrel 330 and ultimately extends to and is coupled with the gripper body 284. More specifically, in this particular implementation, the third cable 332 is ultimately routed through (or otherwise disposed within) the end effector 252 via a set of pulleys 334 such that the cable 332 extends from the driven mandrel 330 to the gripper body 284 and back to the mandrel 330, such that rotation of the mandrel 330 causes translation of the cable 332, which in turn causes rotation of the gripper body 284 and, therefore, the gripper assembly 282. It is understood that any number of pulleys 334 arranged in any configuration can be provided to ensure proper alignment of the cable 332 and to remove any undesirable slack therein. Additionally, a tension screw 336 coupled to a tension pulley 338 is provided to adjust the cable 332 to the desired tension. Thus, actuation of the actuator 256 can cause rotation of the gripper assembly 282 about axis B1, which results in a wrist yaw motion.

[0095] As mentioned above, the various actuator / cable actuation assemblies disclosed or contemplated according to any of the embodiments herein allow for actuators to be located in any number of different locations within or external to a robotic device. In one specific example, FIGS. 29A-D depict a variety of different implementations in which the actuators of an actuator / cable actuation assembly may be located in a variety of locations while still providing actuation of the same actuatable component (in this case, an opening and closing action of an end effector). Alternatively, the actuatable component may be any such actuatable component within an embodiment of a robotic device.

[0096] In one specific exemplary embodiment as shown in FIG. 29A (similar to the implementation depicted in FIGS. 21A-21B and discussed above), a robotic device 350 has a device body 352 and at least one arm (in this case, a right arm) 354 having an upper arm 354A, a forearm 354B, and an end effector 354C attached to the forearm 354B. Two actuation assemblies 356, 358 are disposed within or otherwise associated with the forearm 354B. More specifically, a first actuation assembly (tool roll actuation assembly) 356 is an actuator / cable assembly 356 having an actuator 356A and an attached cable 356B coupled to an actuatable tool roll mechanism (not shown) and disposed between the actuator 356A and the tool roll mechanism via one or more pulleys 359. Thus, actuation of the assembly 356 causes actuation of the tool roll mechanism, thereby rotating the end effector 354C about its axis. In addition, a second actuation assembly (opening / closing actuation assembly) 358 is an actuator / cable assembly 358 having an actuator 358A and an attached cable 358B coupled to the actuatable end effector 354C and disposed between the actuator 358A and the end effector 354C via one or more pulleys 360. Thus, actuation of the assembly 358 causes actuation of the end effector 354C for opening and closing. In this specific implementation, the actuators 356A, 358A of both assemblies are disposed within or associated with the forearm 354B such that the actuators 356A, 358A are disposed "locally" relative to the actuatable components to which they are coupled. The specific number and arrangement of pulleys (pulleys 359, 360, etc.) in this embodiment, and in additional embodiments disclosed or contemplated below and elsewhere in this application, can be varied as necessary depending on various parameters associated with the arms, actuation assemblies, and other known variables in any known device in which such actuation assemblies may be incorporated.Additionally, it is understood that other mechanisms and / or structures can be used in addition to or in place of pulleys to position the cables (eg, cables 356B, 358B) as desired / needed.

[0097] Alternatively, as shown in FIG. 29B, one or both of the actuation assemblies discussed above may be configured such that an actuator is disposed within or otherwise associated with the upper arm 354A (instead of the forearm 354B). More specifically, in this exemplary embodiment, the open / close actuation assembly 358 is configured such that an actuator 258A is disposed within or otherwise associated with the upper arm 354A, and a cable 358B extends from the actuator 258A within the upper arm 354A through the forearm 354B to an end effector 354C attached to the forearm 354B. More specifically, the cable 358B is disposed within the upper arm 354A and forearm 354B as desired, via an appropriately positioned pulley 360. The specific number and location of the pulleys 360 and / or other mechanisms may be varied as noted above. In this embodiment, although not shown in FIG. 29B, the tool roll actuation assembly 356 is disposed within the forearm 354B, as described above with respect to FIG. 29A.

[0098] Alternatively, as shown in FIG. 29C, one or both of the actuation assemblies discussed above may be configured such that an actuator is disposed within or otherwise associated with the device body 352 (instead of the upper arm 354A or forearm 354B). More specifically, in this exemplary embodiment, the open / close actuation assembly 358 is configured such that an actuator 358A is disposed within or otherwise associated with the device body 352 as shown, and a cable 358B extends from the actuator 358A within the device body 352, through the upper arm 354A and forearm 354B, to an end effector 354C attached to the forearm 354B. More specifically, the cable 358B is disposed within the device body, upper arm 354A, and forearm 354B, as desired, via an appropriately positioned pulley 360. The specific number and location of the pulleys 360 and / or other mechanisms may vary as noted above. In this embodiment, although not shown in FIG. 29C, the tool roll actuation assembly 356 is disposed within the forearm 354B, as described above with respect to FIG. 29A.

[0099] 29D, one or both of the actuation assemblies discussed above may be configured such that the actuator is disposed at a location external to the device body 352. More specifically, the actuator 358A may be located at an external controller, a separate actuation component (including, for example, a detachable actuation component that may be removably attached to the device body 352), or any other location where a cable 358B coupled thereto may extend within the device 350. In this exemplary embodiment as shown, the open / close actuation assembly 358 is configured such that the actuator 358A is disposed within the external controller 362, and the cable 358B extends from the actuator 358A to the device body 352, through the device body 352, the upper arm 354A, and the forearm 354B, to an end effector 354C attached to the forearm 354B. More specifically, cable 358B is disposed external to device 350 and routed through device body 352, upper arm 354A, and forearm 354B, as desired, via appropriately positioned pulleys 360. The specific number and location of pulleys 360 and / or other mechanisms can vary as noted above. In this embodiment, although not shown in FIG. 29D, tool roll actuation assembly 356 is disposed within forearm 354B, as described above with respect to FIG. 29A.

[0100] In some embodiments, the actuators 356A, 358A of Figures 29A-29D are motors. For example, the motors can be brushless DC motors with gear heads. Alternatively, the actuators 356A, 358A can be any motor as described elsewhere herein, or any other known motor for use in such devices. Alternatively, the actuators 356A, 358A can be any known actuator.

[0101] Although each of the implementations of Figures 29A-29D as discussed above are described as having a known push / pull cable or a known pull cable and an opposing cable, according to other embodiments, the cables 356B, 358B can be rotary drive cables. In a further alternative, one of the two cables 356B, 358B can be one type of drive cable (e.g., a push / pull cable or an opposing pull cable, etc.) and the other is another type of drive cable (e.g., a rotary drive cable, etc.). Thus, in various embodiments utilizing at least one rotary drive cable, a pulley is not required on that cable and therefore need not be included in the device.

[0102] The specific embodiments discussed above and depicted in Figures 29A-29D are provided as non-limiting examples. Any actuatable component may be actuated by an actuator disposed within or associated with any component of the device (or external to such device) through the routing of cables through various lumens and / or pulleys. That is, according to other embodiments, any such cable-driven actuation assembly having an actuator disposed in any of the locations described above may be used to actuate any actuatable component. More specifically, the cables of such an assembly are coupled to components that require power to operate / function. In one specific implementation, all actuators of all actuation assemblies may be disposed in external locations in a manner similar to that shown in Figure 29D.

[0103] As discussed above, the various actuator / cable actuation assemblies disclosed or contemplated according to any of the embodiments herein allow for combinations of different actuator assemblies within the same device and / or within the same component of the same device. That is, a robotic arm or one segment of such an arm (such as an upper arm or forearm) can include both an actuator / gear actuation assembly and an actuator / cable assembly. Furthermore, any device can include any combination of such assemblies.

[0104] One exemplary implementation of a robotic device 380 having a forearm 384B with two different actuation assemblies 388, 390 disposed therein or associated therewith is depicted in FIGS. 30A and 30B. More specifically, FIG. 30B shows a robotic device 380 having an elongated body 382 having two robotic arms 384, 386. For purposes of this application, the discussion will focus on the right arm 384, although it will be understood that the same or similar actuation assemblies may be incorporated into the left arm 386. The right arm 384 has an upper arm 384A, a forearm 384B, and an end effector 384C.

[0105] FIG. 30A provides a close-up view of the right forearm 384B, including two actuation assemblies 388, 390. The first actuation assembly 388 is a tool roll actuation assembly 388, having a first actuator 388A coupled to a driven gear set 388B via a first rotational drive mechanism 388C. The driven gear set 388B is coupled to a first target actuable component of the forearm 384B. More specifically, in this example, the drive gear set 388B is coupled to a tool roll mechanism (not shown). Alternatively, the tool roll actuation assembly 388 can be any known gear-driven actuation assembly having any configuration of actuators and at least one gear.

[0106] The second actuation assembly 390 is a tool opening / closing actuation assembly 390, which has a second actuator 390A coupled to a cable 390B via a second rotary drive mechanism 390C, which in some embodiments is a spool 390C. The cable 390B extends from the spool 390C to a second target actuatable component of the forearm 384B via two appropriately positioned pulleys 392. More specifically, in this example, the cable 390B extends to and is coupled to a tool opening / closing mechanism (not shown). The specific number and arrangement of the pulleys 392 and / or other mechanisms can be varied as mentioned above with respect to other embodiments. Alternatively, instead of the cable 290B being a lateral movement cable (such as a push / pull cable or a known pull and counter cable), the cable 290B can be a rotary drive cable. In such an embodiment, a pulley is not required for the cable 290B and is therefore not included in the device.

[0107] Thus, the forearm 384B in this particular implementation has a first actuation assembly 388 that is an actuator / gear assembly 388 and a second actuation assembly 390 that is an actuator / cable assembly 390. Each actuable component in a robotic device has specific torque and speed requirements, and each can use an appropriate actuation assembly that meets those requirements.

[0108] In some embodiments, the actuators 388A, 390A are motors. For example, the motors 388A, 390A can be brushless DC motors with gear heads. Alternatively, the actuators 388A, 390A can be any motor as described elsewhere herein, or any other known motor for use in such devices. Alternatively, the actuators 388A, 390A can be any known actuator.

[0109] According to other embodiments, any such cable-driven actuation assembly can be used to actuate any actuatable component in any configuration disclosed or contemplated in various embodiments herein, including in combination with one or more actuator / gear assemblies. For example, various alternative configurations of assembly combinations are shown in Figures 31A-31D, where both types of actuation assemblies can be combined within the same device, and the location of the actuators can also be varied. For purposes of this application, various device embodiments having at least one cable-driven actuation assembly and at least one gear-driven actuation assembly can be referred to as hybrid devices.

[0110] In one specific exemplary embodiment as shown in FIG. 31A, a robotic device 400 has a device body 402 and at least one arm (in this case, a right arm) 404 having an upper arm 404A, a forearm 404B, and an end effector 404C attached to the forearm 404B. In this implementation of the hybrid device 400, one of the actuation assemblies 406 disposed in or otherwise associated with the forearm 404B is an actuator / gear assembly for actuation of a tool roll mechanism, and at least one of the other actuation assemblies (not shown) in the device 400 is an actuator / cable assembly (not shown) according to any of the various embodiments herein. More specifically, the actuation assembly (tool roll actuation assembly) 406 is an actuator / gear assembly 406 having an actuator 406A and an attached gear set 406B coupled to an actuable tool roll mechanism (not shown). As such, actuation of assembly 406 causes actuation of the tool roll mechanism, thereby rotating end effector 404C about its axis. Further, in this embodiment, the tool opening and closing actuation assembly (not shown) is an actuator / cable assembly in a manner similar to assembly 390 depicted in FIG. 30A and described above, or any other actuator / cable assembly as described elsewhere herein. Additionally, according to various embodiments, any other actuation assembly in this device can be any combination of actuator / cable assemblies and / or actuator / gear assemblies.

[0111] Alternatively, as shown in FIG. 31B, the tool roll actuation assembly 408 in the forearm 404B is an actuator / cable assembly 408. More specifically, the actuation assembly 408 has an actuator 408A and an attached cable 408B coupled to an actuatable tool roll mechanism (not shown), such that the cable 408B extends from the actuator 408A to the mechanism and is disposed through a pulley 410. Alternatively, instead of the cable 408B being a lateral movement cable (such as a push / pull cable or a known pull and counter cable), the cable 408B can be a rotary drive cable. In such an embodiment, a pulley is not required for the cable 408B and therefore is not included in the device. Furthermore, in this embodiment, the tool opening and closing actuation assembly (not shown) can be an actuator / gear assembly, or alternatively, an actuator / cable assembly, in a manner similar to the assembly 390 depicted in FIG. 30A and described above. According to various embodiments, any other actuation assemblies in the device may be any combination of actuator / cable assemblies and / or actuator / gear assemblies.

[0112] Furthermore, various embodiments in which the device has a combination of both at least one actuator / gear assembly and at least one actuator / cable assembly (hybrid device) can also include at least one actuator that is not disposed on the same component as the actuatable component. For example, in FIG. 31C, according to one exemplary implementation, the tool roll actuation assembly 412 is configured such that an actuator 412A is disposed in or otherwise associated with the upper arm 404A, and a cable 412B extends from an actuator 412a in the upper arm 404A to a tool roll mechanism (not shown) in the forearm 404B. More specifically, the cable 412B is disposed in the upper arm 404A and forearm 404B as desired via an appropriately positioned pulley 414. The specific number and location of the pulleys 414 and / or other mechanisms can be varied as noted above. Alternatively, instead of the cable 412B being a lateral movement cable (such as a push / pull cable or a known pull and counter cable), the cable 412B can be a rotary drive cable. In such an embodiment, a pulley is not needed for the cable 412B and is therefore not included in the device. Furthermore, in this embodiment, the tool opening and closing actuation assembly (not shown) can be an actuator / gear assembly, or alternatively, an actuator / cable assembly, in a manner similar to the assembly 390 depicted in FIG. 30A and described above. Similar to the tool roll actuation assembly, the actuator in the tool opening and closing actuation assembly can have an actuator disposed in the forearm 404B, the upper arm 404A, or elsewhere in the device 400. According to various embodiments, any other actuation assembly in the device can be any combination of actuator / cable assembly and / or actuator / gear assembly, with the actuator disposed locally or with at least one component remote from the actuatable component (or external to the device) as described in various embodiments herein.

[0113] In another exemplary embodiment as shown in FIG. 31D, the tool roll actuation assembly 416 is configured with an actuator 416A disposed within or otherwise associated with the device body 402, and a cable 416B extending from the actuator 416A within the device body 402, through the upper arm 404A, and into the forearm 404B to a tool roll mechanism (not shown) within the forearm 404B. More specifically, the cable 416B is disposed within the device body 402, the upper arm 404A, and the forearm 404B as desired via appropriately positioned pulleys 418. The specific number and location of the pulleys 418 and / or other mechanisms can be varied as mentioned above. Alternatively, instead of the cable 416B being a lateral movement cable (such as a push / pull cable or a known pull and counter cable), the cable 416B can be a rotary drive cable. In such an embodiment, a pulley is not required for the cable 416B and therefore is not included in the device. Further, in this embodiment, the tool opening and closing actuation assembly (not shown) can be an actuator / gear assembly, or alternatively, an actuator / cable assembly, in a manner similar to the assembly 390 depicted in FIG. 30A and described above. As with the tool roll actuation assembly, the actuator in the tool opening and closing actuation assembly can have an actuator disposed in the forearm 404B, the upper arm 404A, the device body 402, or elsewhere in the device 400. According to other alternative embodiments, the actuator for one or both of the tool roll actuation assembly and / or the tool opening and closing actuation assembly can be disposed in some external location, as described elsewhere herein. According to various embodiments, any other actuation assembly in this device can be any combination of actuator / cable assembly and / or actuator / gear assembly, with the actuator disposed locally or with at least one component separate from the actuatable component (or external to the device), as described in various embodiments herein.

[0114] According to some exemplary implementations having a high power tool opening and closing mechanism (which may require more force than other such mechanisms), a local actuator / gear assembly is coupled to the opening and closing mechanism, and an actuator / cable assembly is provided for the tool roll, with the actuator being more "remotely" disposed (disposed on the upper arm, device body, or external to the device). Alternatively, the reverse may be true, such that the tool roll actuation assembly can be either cable-driven or gear-driven and have actuators that are local or remote, while a local actuator / cable assembly is coupled to the opening and closing mechanism. According to another embodiment, both the tool roll and the tool opening and closing mechanism in the forearm may be coupled to an actuation assembly with actuators disposed in the device body, with the remaining actuation assemblies being locally disposed. All combinations of actuation assemblies are contemplated herein.

[0115] According to other embodiments, any of the actuatable components in any robotic device disclosed or contemplated herein may be actuated in an assembly having an actuator disposed on at least one component remote from the actuatable component. More specifically, any of the rotatable joints in any such device may be actuated by an actuator disposed anywhere within the device or external to the device.

[0116] Additionally, any type of actuable component is contemplated for any of the embodiments herein. That is, the various actuable components contemplated herein include any end effector or other actuable component that may be incorporated into a robotic device, in addition to the specific grasper end effectors and other end effectors and actuable components described herein. For example, in some other exemplary embodiments, another actuable component that may be actuated by any of the assemblies disclosed or contemplated herein is an end effector having a linear drive for a cutting blade. Any of the actuating assemblies in any of the embodiments herein can be used to actuate such a linear drive, including a remote actuator having a linear push / pull cable.

[0117] As described elsewhere herein, any of the actuators disclosed or contemplated herein can be any known type of actuator, including but not limited to motors, muscle wire, hydraulics, pneumatics, etc.

[0118] According to various device embodiments herein, various actuation assembly configurations herein allow the device to be handheld (as shown in FIG. 32) or similarly sized, which provides various advantages during a surgical procedure. That is, the ability to place one or more actuators at a location that is at least one component away from the actuatable components allows the components to have smaller dimensions since such components do not need to include actuators. For example, if all of the actuators for the entire device are disposed within the device body, the arms can have smaller dimensions compared to arms that include actuators. In another example, if all of the actuators for the entire device are disposed outside the device, the arms and device body can have smaller dimensions compared to similar arms and device bodies that include actuators. More specifically, various devices herein (including the device body, camera, and any arms attached thereto) can have weights ranging from about 2 pounds to about 25 pounds. Alternatively, the weight can be any weight that is about 25 pounds or less, about 10 pounds or less, about 5 pounds or less, or about 2 pounds. Thus, the various device implementations herein are small enough that they can be easily deployed and rearranged during use, as well as easily stored, transported, and set up for use. An additional advantage of the device size is that the devices conserve space in the operating room, including, for example, the space above the patient and next to the operating table.

[0119] Yet another advantage of the device implementations herein, and specifically their size, is that the various devices herein are not so large that they require being mounted to or placed on the ground or a wall or ceiling (which is a common requirement of other such devices / systems as a result of their size). Instead, device embodiments herein are sized so that each can be mounted to and supported by a standard rail on the side of a surgical table (such as the setup in FIG. 1 above with the support arm attached to the surgical table) or similar mounting mechanism or method.

[0120] In addition, the size of the device embodiments herein allows such devices to be easily repositioned to different locations / positions within a target cavity of a patient, such as the peritoneal cavity. For example, as shown in FIGS. 33A-C, the distal end of the device (the portion of the device including the body and the distal end of the arms disposed within the patient cavity) can be easily positioned near the rectum (FIG. 33A), near the colon (FIG. 33B), and near the transverse colon (FIG. 33C). Repositioning of the device to move the device to any of these three positions is simple and easy as a result of the size of the device. For example, in certain embodiments, the mounting structure (such as the support arm) does not need to be moved from one side of the operating table to the other as a result of the small size of the device implementations herein, instead the device can simply be repositioned relative to the support arm.

[0121] In contrast, various prior art systems require larger components that are cumbersome and limit the use of such systems compared to various embodiments herein. For example, various known systems require actuators to be disposed in external proximal components, such as a drive unit that is connected to the device via a direct connection or a power transmission mechanism, etc. As shown in FIG. 34A, due to the size of the system, such a drive unit typically needs to be supported on an external attachment, such as an extension arm mounted on a cart, a wall or ceiling attachment. Other such systems have a drive unit that needs to be supported on a floor-based unit, as shown in FIG. 34B. In contrast, various device and system embodiments herein do not require such a cart, wall / ceiling attachment, or floor unit to support such a drive unit.

[0122] According to one exemplary embodiment, a robotic device 500 having an external actuation unit 512 having multiple external actuators is depicted in Figures 35A-35E. That is, as discussed in further detail below, the device 500 has multiple separate actuation assemblies each having an external actuator (in the external actuation unit 512) attached with a force transmission cable that extends within the device 500 and is coupled to an intended actuatable component of the device 500. Thus, the force generated by each actuator in the actuator unit 512 is transmitted to the intended actuatable component via the force transmission cable coupled thereto, as described in additional detail below. The device 500 may be incorporated into the exemplary system 10 discussed above, or any other system disclosed or contemplated herein.

[0123] The device 500 has an elongated body 502 having a distal section 502A and a proximal section 502B, two anthropometric robotic arms 504, 506 (a right arm 504 and a left arm 506) operably coupled to a distal end of the distal section 502A of the body 502, and an imaging device (or "camera") 508 removably disposed through the elongated body 502 such that the distal end of the camera 508 is disposed between the two arms 504, 506 as shown. As will be discussed in more detail below, a handle 510 at the proximal end of the camera 508 is coupled to the proximal end of the proximal section 502B. Except as expressly discussed below, the various components and features of device 500 may be substantially similar to any of the embodiments disclosed or contemplated herein, and may further be substantially similar to any of the components and / or features of the devices disclosed in U.S. patent application Ser. Nos. 16 / 736,329, 16 / 926,025, 17 / 075,122, and 17 / 367,915, all of which are incorporated herein by reference in their entireties.

[0124] Also provided is a mounting or stabilizing device 516 that can be removably coupled to the elongated device body 502 to maintain a desired position of the device 500 relative to the surgical space and the patient (not shown). Any known mounting device can be used.

[0125] In this exemplary implementation as shown in FIGS. 36A-36D, the actuation unit 512 is coupled to the elongated body 502 via an arm 514 that extends from the elongated body 502 to the actuation unit 512 as shown. The arm 514 in this embodiment has a radial link 520 attached to and extending radially from the body 502 and an extension link 522 attached to the radial link 520, with the actuation unit 512 attached to the extension link 522. More specifically, the extension link 522 in this exemplary embodiment is a curved extension link 522 that extends both radially and axially (relative to the elongated body 502) from the radial link 520 as shown. Alternatively, the arm 514 can be any structure that can couple the unit 512 to the body 502 and position the unit 512 relative to the body 502 as desired.

[0126] In one embodiment, the arm 514 (more specifically, the extension link 522) is coupled to the actuation unit 512 via the support plate 524. That is, the actuation unit 512 has the support plate 524 coupled to the arm 514 and has all of the actuators 534, 536 coupled thereto as shown. More specifically, each of the actuators 534, 536 is attached to the support plate 524 such that the actuators 534, 536 are disposed on one side of the plate 524 and the actuator gears extend through openings (not shown) in the plate 524 to the other side of the plate 524.

[0127] In some embodiments, the actuators 534, 536 are motors 534, 536. For example, the motors 534, 536 can be brushless DC motors with gear heads from Maxon. Alternatively, the actuators 534, 536 can be any motor as described elsewhere herein, or any other known motor for use in such devices. Alternatively, the actuators 534, 536 can be any known actuator.

[0128] As best seen in Figures 37A-37C, the actuation unit 512 includes twelve motors 534A-534F, 536A-536F, as shown. More specifically, the unit 512 includes six right arm actuators 534 and six left arm actuators 536. Thus, the unit 512 includes a number of right arm actuators 534 equal to the number of degrees of freedom of the right arm 504 (six in this case), and similarly includes a number of left arm actuators 536 equal to the number of degrees of freedom of the left arm 506 (again six). Alternatively, the actuation unit 512 includes any number of actuators that matches the number of degrees of freedom in the device 500.

[0129] According to one implementation, the actuation unit 512 is easily detachable from the elongated body 502 and / or the arm 514. For example, in those embodiments in which the device 500 is disposable, the unit 512 can be attached to the device 500 prior to use, and further, the unit 512 can be easily attachable and detachable such that the unit 512 can be easily removed after use such that the unit 512 is retained while the device 500 is discarded.

[0130] 36B-36D, the motors 534, 536 are coupled to the actuable components of the device 500 via power transmission cables 532. More specifically, each actuation assembly (described in further detail below) is made up of one of the motors 534, 536 and a cable 532 coupled thereto. Although not shown in the figures, each cable 532 is operably coupled at its proximal end to a separate one of the motors 534, 536, but as shown extends from the actuation unit 512 into the elongate body 502 through an opening 530 in the proximal section 502B.

[0131] 38A-38D, according to one embodiment, each cable 532 extends distally along the interior of the elongate body 502. More specifically, the elongate body 502 has three internal body supports 550A, 550B, 550C, each of which is disposed within the elongate body 502 at a different location along its length, as shown. Additionally, each body support 550A, 550B, 550C has an opening 552 defined therein to allow each of the cables 532 to pass therethrough, such that each separate cable 532 passes through a separate opening 552, as shown. As such, the supports 550A, 550B, 550C provide structural support to the elongate body 502 and the cables 532 disposed therethrough.

[0132] According to a particular implementation, each of the force transmission cables 532 is a flexible rotary torque transmission cable 532. More specifically, any known flexible rotary torque transmission cable 532 can be used. As such, each cable 532 has an outer sheath or casing with a rotatable shaft disposed within the outer sheath such that the rotatable shaft transmits power from a particular actuator to which the cable 532 is coupled at its proximal end to an intended actuable component to which the cable 532 is coupled at its distal end. In one particular implementation, the rotary torque transmission cables 532 and other rotary transmission cables disclosed or contemplated herein are flexible rotary shafts available from Suhner Manufacturing Co. In some embodiments, certain of the flexible rotary shafts are custom-made flexible cables with an internal rotary shaft rotatable within an outer sheath. Certain particular implementations include flexible rotary cables with an internal rotary shaft made of multiple layers of small diameter counter windings (thereby allowing bidirectional rotation without unwinding the rotary shaft). Alternatively, any force transmission cable can be used.

[0133] As discussed above, each of the cables 532 extends through the interior of the elongated body 502 and extends from the distal end of the body 502, as shown in FIG. 39 according to one embodiment. More specifically, several exemplary cables 532 are visible extending through and from the distal end of the body 502 in the figure. These particular cables 532 are coupled to intended actuatable components within the forearm of the left arm 506. However, the length of the cables 532 that extends along the exterior of the upper arm of the left arm 506 is not shown. Thus, a length of each of the cables 532 is visible extending distally from the body 502, as discussed above, and a corresponding length of each of the cables 532 is depicted extending proximally from the forearm.

[0134] The various actuation assemblies herein (each actuation assembly is comprised of actuators, cables, and actuatable components) are described in additional detail below. Both arms 504, 506 have six degrees of freedom, meaning that each arm 504, 506 has six actuation assemblies operably coupled thereto (as discussed above, six actuators are disposed within the actuation unit 512). As best shown in FIGS. 40A-40D, the right arm 504 in this particular implementation has a first link (or "upper arm") 540, a second link (or "forearm") 542 coupled to the upper arm 540 at an elbow joint (or "elbow") 544, and a removable end effector 546 operably coupled to the forearm 542. The right arm 504 is operably coupled to the elongated body 502 via a shoulder (or "shoulder joint" or "shoulder housing") 548. While the right arm 504 and the various actuation assemblies associated therewith are discussed in detail herein, it will be understood that the left arm 506 is substantially similar and has the same components, actuation assemblies, and features therein.

[0135] According to one embodiment, the first degree of freedom or axis of rotation of the right arm 504 is shoulder roll or "yaw". More specifically, as shown in FIGS. 41A-41C according to one embodiment, shoulder roll actuation assembly 560 includes an actuator (not shown), a rotational transmission cable 562, a cable gear 564, a driven gear 566, and an actuatable component coupled thereto, which in this case is shoulder housing 548. As discussed above, cable 562 is coupled at its proximal end to an actuator (not shown) in actuation unit 512 and extends from actuation unit 512 through opening 530 in elongated body 502 along the length of elongated body 502 toward the distal end of body 502, as best shown in FIG. 41A. Cable gear 564 is fixedly attached (or rotationally constrained) to the distal end of cable 562 such that rotation of cable 562 causes rotation of gear 564. The cable gear 564 is rotatably coupled to the driven gear 566 such that rotation of the cable gear 564 causes rotation of the driven gear 566. Further, the driven gear 566 is fixedly attached (or rotationally constrained) to the shoulder housing 548 such that rotation of the driven gear 566 causes rotation of the shoulder housing 548. In certain embodiments (including the exemplary embodiment as shown), both gears 564, 566 have external teeth that mesh together such that rotation of the cable gear 564 causes rotation of the driven gear 566. Alternatively, any known mechanism(s) can be used to rotatably couple the cable 562 to the shoulder housing 548.

[0136] According to one embodiment, right arm yaw actuation assembly 560 operates in the following manner: A right arm yaw actuator (not shown) within actuation unit 512 is actuated to generate power, which is transmitted via a physical coupling to rotary drive cable 562. Rotation of drive cable 562 causes rotation of cable gear 564, which causes rotation of driven gear 566. Further, rotation of driven gear 566 causes rotation of shoulder housing 548 about rotation axis J1, as best shown in FIG. 41B. This rotation of shoulder housing 548 results in a shoulder roll or yaw rotation of right arm 504, as best shown in FIGS. 41B and 41C.

[0137] According to a further embodiment, the second degree of freedom or axis of rotation of the right arm 504 is shoulder pitch. More specifically, as shown in FIGS. 42A-42B according to one embodiment, shoulder pitch actuation assembly 570 includes an actuator (not shown), a rotational transmission cable 572, a cable threaded end 574, a translation rod 576, and a coupling link (or arm) 578 coupled to an actuatable component, which in this case is the upper arm 540. As discussed above, cable 572 is coupled at its proximal end to an actuator (not shown) of actuation unit 512 and extends from actuation unit 512 through opening 530 in elongated body 502, along the length of elongated body 502, toward the distal end of body 502, as shown in FIGS. A threaded screw (or "end") 574 is fixedly attached (or rotationally constrained) to a distal end of cable 572 such that rotation of cable 572 causes rotation of screw 574. Alternatively, threaded screw 574 can be any known rotating component (such as a gear or other such mechanism or component) for coupling to translation rod 576. As best shown in FIG. 42B, threaded screw 574 is rotatably disposed within a lumen 577 of a slidable translation rod 576. The inner surface of lumen 577 is also threaded such that threaded screw 574 is threadably coupled to translation rod 576. Translation rod 576 can be any structure such as a tube, block, or any other structure or shape having a threaded lumen that allows for conversion of rotational motion of cable 572 into translational or axial motion of rod 576. Thus, rotation of threaded screw 574 within lumen 577 causes translation rod 576 to move axially within shoulder housing 548. Further, translation rod 576 is rotatably attached to a coupling link (or "arm") 580 at a first rotatable joint 578 at one end of link 580, such that axial movement of rod 576 causes movement of link 580. Further, coupling link 580 is rotatably coupled to upper arm 540 of right arm 504 at a second rotatable joint 582 at the other end of link 580, such that movement of link 580 causes movement of upper arm 540.Alternatively, any known rotation-translation mechanism can be used to movably couple cable 572 to upper arm 540 .

[0138] According to one embodiment, the right arm shoulder pitch actuation assembly 570 operates in the following manner: A right arm pitch actuator (not shown) in actuation unit 512 is actuated to generate power, which is transmitted via a physical coupling to a rotary drive cable 572. Rotation of drive cable 572 causes rotation of threaded screw 574, which causes translation (axial movement) of translation rod 576, as described above. Axial movement of rod 576 causes movement of linkage arm 580, which causes rotation of upper arm 540 about rotation axis J2, as best shown in FIG. 42B. This rotation of upper arm 540 results in shoulder pitch rotation of right arm 504, as best shown in FIGS. 43A-C.

[0139] In certain implementations, the third degree of freedom or axis of rotation of the right arm 504 is upper arm roll. More specifically, as shown in FIGS. 44A-44C according to one embodiment, upper arm roll actuation assembly 590 includes an actuator (not shown), a rotational transmission cable 592, a cable threaded end 594, a translation nut 596, and a driven shaft 598 coupled to an actuatable component, which in this case is a shoulder coupling component 600. As discussed above, cable 592 is coupled at its proximal end to an actuator (not shown) in actuation unit 512 and extends from actuation unit 512 through an opening 530 in elongated body 502, along the length of elongated body 502, out a distal end of body 502 (e.g., as shown in the example of FIG. 39), and then into upper arm 540, as best shown in FIG. 44B. A threaded screw (or "end") 594 is fixedly attached (or rotationally constrained) to a distal end of cable 592 such that rotation of cable 592 causes rotation of screw 594. Alternatively, threaded screw 594 can be any known rotating component (such as a gear or other such mechanism or component) for coupling to a translation nut 596. As shown in FIGS. 44A-44C, according to one embodiment, translation nut 596 has two lumens defined therethrough: a threaded lumen 596A and a driven shaft lumen 596B. Screw lumen 596A has a threaded inner surface (not shown) that receives cable screw 594 and threadably couples to the threads of threaded screw 594. Idle shaft lumen 596B receives idler shaft 598 and has protrusions 597 therein such that protrusions 597 align with and are disposed within grooves 598A of idler shaft 598, as best seen in FIG. 44C. Thus, threaded screw 594 is rotatably disposed within screw lumen 596A, and idler shaft 598 is rotatably disposed within shaft lumen 596B.The translating nut 596 can be any structure, such as a barrel, block, or any other structure or shape having two lumens defined therein that allows for converting rotational motion of the cable 592 into translational or axial motion of the nut 596, and then converting the translational motion back to rotational motion of the drive shaft 598. Thus, rotation of the threaded screw 594 in the lumen 596A causes the translating nut 596 to move axially within the upper arm 540. Additionally, the axial movement of the nut 596 causes the driven shaft 598 to rotate due to a protrusion 597 disposed in a groove 598A that winds around the shaft 598. The driven shaft 598 is fixedly attached (or rotationally constrained) to the shoulder binding component 600 such that rotation of the shaft 598 causes rotation of the binding component 600. Alternatively, any known rotation-translation-rotation (or simply rotation-rotation) mechanism can be used to movably couple the cable 592 to the shoulder binding component 600.

[0140] According to one embodiment, the right arm roll actuation assembly 590 operates in the following manner: A right arm roll actuator (not shown) in the actuation unit 512 is actuated to generate power, which is transmitted via a physical coupling to a rotary drive cable 592. Rotation of the drive cable 592 causes rotation of the threaded screw 594, which causes translation (axial movement) of the translating nut 596, as described above. This translation causes rotation of the driven shaft 598, also described above. Rotation of the driven shaft 598 causes rotation of the shoulder coupling component 600, which causes rotation of the upper arm 540 about the axis of rotation J3, as best shown in FIG. 44D. This rotation of the upper arm 540 results in roll of the right arm 540 about its axis as a result of the rotation of the coupling component 600, as best shown in FIG. 44D and FIG. 44E.

[0141] In another aspect, the fourth degree of freedom or axis of rotation of the right arm 504 is an elbow pivot. More specifically, as shown in Figures 45A-45E according to one embodiment, an elbow pivot assembly 610 includes an actuator (not shown), a rotation transmission cable 612, a cable threaded end 614, a translation block 616, and a coupling link (or arm) 618 coupled to an actuatable component, which in this case is an elbow housing 620. As discussed above, the cable 612 is coupled at its proximal end to an actuator (not shown) of the actuation unit 512 and extends from the actuation unit 512 through an opening 530 in the elongated body 502, along the length of the elongated body 502, out the distal end of the elongated body 502 (e.g., as shown in Figure 39), and then into the upper arm 540, as best shown in Figures 45C-45E. A threaded screw (or "end") 614 is fixedly attached (or rotationally constrained) to a distal end of the cable 612 such that rotation of the cable 612 causes rotation of the screw 614. Alternatively, the threaded screw 614 can be any known rotating component (such as a gear or other such mechanism or component) for coupling to a translation block 616. As best shown in FIGS. 44C and 44E , the translation block 616 has both a screw lumen 616A that receives (and couples with) the screw 614 and an arm slot 616B that receives (and couples with) a coupling arm 618. The screw lumen 616A has a threaded inner surface (not shown) that receives the cable screw 614 and threadably couples with the threads of the threaded screw 614. Arm slot 616B receives one end of linked arm 618 and has rod 617 extending therethrough such that arm 618 is rotatably coupled to it such that arm 618 can rotate relative to translation block 616 about rod 617. Thus, threaded screw 614 is rotatably disposed within screw lumen 616A and the end of linked arm 618 is rotatably disposed within slot 616B as shown.Alternatively, translation block 616 can be any structure, such as a barrel, a nut, or any other structure or shape having two coupling features defined therein that allow for conversion of rotational motion of cable 612 into translational or axial motion of block 616 and arm 618 (with the arm being pivotable relative to block 616 as disclosed herein).

[0142] Further, as best shown in FIG. 45E according to one embodiment, the coupling arm 618 is rotatably attached to the elbow housing 620 at a first rotatable joint 622 at the end of the arm 618 opposite the coupling to the rod 617. Further, the elbow housing 620 is rotatably coupled to a distal extension 628 of the upper arm 540 at a second rotatable joint 624 such that the elbow housing 620 is rotatable relative to the upper arm 540. As such, axial movement of the arm 618 rotates the elbow housing 620 about the second rotatable joint 624. Additionally, the forearm 542 has a proximal extension 630 that is rotatably coupled to the elbow housing 620 at a third rotatable joint 626 such that the forearm 542 is rotatable relative to the elbow housing 620. According to the exemplary implementation as shown, the distal extension 628 of the upper arm 540 is rotatably coupled to the proximal extension 630 of the forearm 542 such that an outer edge of the proximal extension 630 rotates around and against (and relative to) an outer edge of the distal extension 628. In a particular implementation, both extensions 628, 630 have mating teeth as shown, such that as the proximal extension 630 rotates around the distal extension 628, the teeth rotate the forearm 542 around the third rotatable joint 626. Thus, axial movement of the arm 618 rotates the elbow housing 620 around the second joint 624, which rotates the forearm 542 around the third joint 626. Alternatively, any known rotation-translation rotation mechanism can be used to movably couple the cable 612 to the elbow housing 620 and the forearm 542.

[0143] According to one embodiment, the right arm elbow pivot assembly 610 operates in the following manner: A right arm elbow pivot actuator (not shown) in the actuation unit 512 is actuated to generate power, which is transmitted via a physical connection to the rotary drive cable 612. Rotation of the drive cable 612 causes rotation of the threaded screw 614, which causes translation (axial movement) of the translation block 616 as described above. Axial movement of the block 616 causes axial movement of the linkage arm 618, which causes rotation of the elbow housing 620 about the rotatable joint 624, which causes rotation of the forearm 542 about the rotatable joint 626, which is the axis of rotation J4, as best shown in FIGS. 45B and 45D. This rotation of the forearm 542 results in elbow pivot rotation of the right arm 504, as best shown in FIGS. 45C-E.

[0144] According to some implementations, the fifth degree of freedom or axis of rotation of the right arm 504 is the end effector roll. More specifically, as shown in FIGS. 46A-46C according to one embodiment, the end effector roll actuation assembly 640 includes an actuator (not shown), a rotational transmission cable 642, a cable gear 644, a driven gear 646, and an actuatable component coupled thereto, which in this case is an end effector housing 648. As discussed above, the cable 642 is coupled at its proximal end to an actuator (not shown) within the actuation unit 512, extends from the actuation unit 512 through an opening 530 in the elongated body 502, along the length of the elongated body 502, out the distal end of the body 502 (e.g., as shown in FIG. 39), and then extends into the forearm 542 (the forearm 542 itself is not shown), as best shown in FIGS. 46A-46C. The cable gear 644 is fixedly attached (or rotationally constrained) to the distal end of the cable 642 such that rotation of the cable 642 causes rotation of the gear 644. The cable gear 644 is rotatably coupled to the driven gear 646 such that rotation of the cable gear 644 causes rotation of the driven gear 646. Further, the driven gear 646 is fixedly attached (or rotationally constrained) to the end effector housing 648 such that rotation of the driven gear 646 results in rotation of the end effector housing 648. In certain embodiments (including the exemplary embodiment as shown), both gears 644, 646 have external teeth that mesh together such that rotation of the cable gear 644 causes rotation of the driven gear 646. Alternatively, any known mechanism(s) can be used to rotatably couple the cable 642 to the end effector housing 648.

[0145] According to one embodiment, the right arm end effector roll actuation assembly 640 operates in the following manner: A right arm end effector roll actuator (not shown) in actuation unit 512 is actuated to generate power, which is transmitted via a physical coupling to a rotatable drive cable 642. Rotation of drive cable 642 causes rotation of cable gear 644, which causes rotation of driven gear 646. Rotation of driven gear 646 in turn causes rotation of end effector housing 648 (and thus end effector 546) about axis of rotation J5, as best shown in FIG. 46A. This rotation of end effector housing 648 results in end effector roll of the right arm 504, as best shown in FIGS. 46B and 46C.

[0146] According to a further embodiment, the sixth degree of freedom or axis of rotation of the right arm 504 is the actuation of the end effector opening and closing. More specifically, as shown in FIGS. 47-49C according to one embodiment, the end effector actuation assembly 660 includes an actuator (not shown), a rotational transmission cable 662, a cable female drive barrel 664, a translation rod 666, and a protrusion 668 coupled to an actuatable component, which in this case is the end effector 546. As discussed above, the cable 662 is coupled at its proximal end to an actuator (not shown) in the actuation unit 512, extends from the actuation unit 512 through an opening 530 in the elongated body 502, along the length of the elongated body 502, out the distal end of the body 502 (e.g., as shown in FIG. 39), and then extends into and through the forearm 542 (the forearm 542 itself is not shown), as best shown in FIGS. 48A-48C. The female drive barrel 664 is fixedly attached (or rotationally constrained) to the distal end of the cable 662 such that rotation of the cable 662 causes rotation of the barrel 664. Alternatively, the drive barrel 664 can be any known rotating component having a female opening (such as a tube or other such mechanism or component) for coupling to a translation rod 666, or any other rotation-translation component or mechanism. As best shown in FIG. 48A , the drive barrel 664 has a lumen 664A defined therein at its distal end having an opening for receiving the translation rod 666. In this exemplary implementation, the lumen 664A has threads on an inner surface of the lumen 664A. The translation rod 666 is rotatably disposed within the lumen 664A of the barrel 664. Additionally, the outer surface of the rod 666 is threaded such that the threads of the rod 666 mate with the threads on the inner surface of the lumen 664A. As such, rotation of drive barrel 664 causes translational or axial movement of rod 666. Additionally, translation rod 666 has a radial protrusion 668 at a distal end of rod 666 (or, alternatively, rod 666 is fixedly attached to radial protrusion 668).Additionally, the two grasper arms 546A, 546B of the grasper end effector 546 have slots 670 defined in the proximal ends of the arms 546A, 546B that are sized and configured to receive the protrusions 668 therein such that axial movement of the protrusions 668 moves the grasper arms 546A, 546B between their open and closed positions. Alternatively, any known rotate-translate transverse rotate (or rotate-transverse rotate) mechanism can be used to movably couple the cable 662 to the end effector 546.

[0147] According to one embodiment, the right arm end effector open / close actuation assembly 660 operates in the following manner: A right arm pitch actuator (not shown) in the actuation unit 512 is actuated to generate power, which is transmitted via a physical coupling to a rotary drive cable 662. Rotation of the drive cable 662 causes rotation of the drive barrel 664, which causes translation (axial movement) of the translation rod 666, as described above. Axial movement of the rod 666 causes axial movement of the protrusion 668, which causes rotation of the grasper arms 546A, 546B about the rotation axis J6, as best shown in FIG. More specifically, axial movement of rod 666 (and protrusion 668) causes rotation of the gripper arms 546A, 546B between a closed configuration as shown in FIG. 49A, an open configuration as shown in FIG. 49B, and any position of the two arms 546A, 546B between those configurations, such as the position shown in FIG. 49C.

[0148] 50A and 50B depict one implementation of a device 500 having a removable camera 508. More specifically, in contrast to FIGS. 35A-36B, in which the removable camera 508 is disposed within and fully attached to the elongated body 502, FIG. 50A depicts the camera 508 in place inserted into the device 500. Additionally, FIG. 50B depicts the camera 508 being urged into a fully attached or docked position such that the elongated tube 508A of the camera 508 extends out of the proximal section 502B of the elongated body 502. In one embodiment, the camera 508 and interface with device 500 may be substantially similar to the embodiment of device 40 or any other embodiment described above, or alternatively may be substantially similar to any of the camera and interface components and / or features of the devices disclosed in U.S. patent application Ser. Nos. 16 / 736,329, 16 / 926,025, 17 / 075,122, and 17 / 367,915, all of which are incorporated by reference in their entireties herein.

[0149] 38A-38D, certain embodiments of the device 500 may also include mechanisms for controlling and / or managing movement of the drive cables 532 relative to the elongated device body 502 to avoid excessive slack in the cables 532. More specifically, as discussed in more detail above and depicted in FIGS. 38A-38B and 39, some of the cables 532 extend from the distal end of the elongated body 502 to the forearm 542 such that the length of those cables 532 between the elongated body 502 and the forearm 542 are disposed outside the body 502 and the arms 504. Thus, it is necessary for the cables 532 to have a sufficient length to extend the complete distance between the distal end of the elongated body 502 and the forearm 542 when the arms 504, 506 are extended to their fully extended positions (e.g., as shown with respect to the arm 504 in FIG. 40A). In contrast, when the arms 504, 506 are disposed such that the forearm 542 is closer to the distal end of the elongate body 502, the external cables 532 have excess length. As such, these externally disposed cables 532 can cause problems if they have too much slack (including the possibility of getting caught on certain movable components of the device 500 during use) based on the position of the arms 504.

[0150] In this exemplary embodiment, the cable alignment block (or "insert") 555 controls the amount of cable length of the cables 532 that extend out of the distal end of the elongated body 502 depending on the position and movement of the arms 504, 506, thereby eliminating excess cable length that can cause problems. As best shown in FIGS. 38C, 38D, and 42A, the cable block actuation assembly is coupled to the shoulder pitch actuation assembly 570 such that both assemblies utilize the same rotational transmission cable 572. The cable 572 has a cable gear 554 disposed at a midpoint along the length of the cable 572, as best shown in FIG. 42A, so that actuation of the shoulder pitch actuation assembly 570 also causes actuation of the cable gear 554 and the actuatable component coupled thereto, which in this case is the alignment block 555. That is, the cable gear 554 is fixedly attached (or rotationally constrained) or embedded at the midpoint of the length of the cable 553 such that rotation of the cable 553 causes rotation of the gear 554. The cable gear 554 is rotatably disposed within a first lumen 556 of the cable block 555, the inner surface of which is threaded (similar to the cable gear 554) such that rotation of the cable gear 554 causes translational or axial movement of the cable block 555. Additionally, an elongated support 557 is disposed within and extends along the length of the elongated body 502 and is disposed through a second lumen 558 within the block 555 such that the block 555 is slidable along the support 557 via the second lumen 558. Thus, the support 557 helps ensure that the block 555 maintains its radial alignment as it is urged axially. Alternatively, any known rotation-translation mechanism(s) can be used to rotatably couple cable 553 to block 555, thereby actuating block 555 as described herein.

[0151] According to one embodiment, the cable placement block actuation assembly operates in the following manner: A shoulder pitch actuator (not shown) within actuation unit 512 (or elsewhere) is actuated to generate power and rotate upper arm 540 relative to elongated body 502 to any position as shown in FIGS. 43A-43C. As discussed above, it is this movement of upper arm 540 that has the greatest impact on the external cables. Thus, when the shoulder pitch actuator is actuated, it also rotates cable gear 554, which causes axial movement of cable placement block 555. More specifically, when upper arm 540 is urged at an acute angle, as best shown in FIG. 43C, cable placement block 555 is urged to its proximal position, as best shown in FIGS. 38B and 38D, which urges cables 532 to their retracted position at the distal end of elongated body 502, as best shown in FIG. 38B. Similarly, when the upper arm 540 is urged to its extended or straight position, as shown in Figure 43A, the cable placement block 555 is urged to its distal position, as best shown in Figures 38A and 38C, which urges the cables 532 to their extended position at the distal end of the elongate body 502, as best shown in Figure 38A. Thus, the cable placement block 555 operates to control the length of the external cables.

[0152] 38A-38D in conjunction with FIG. 39, certain embodiments of the device 500 may also include certain improved cable features or characteristics to control and / or manage the radial and rotational flexibility of the drive cables 532. As described elsewhere herein, one of the advantages of the cables 532 is that they are radially flexible (or bendable), so that some cables can extend distally from the elongated body 502 to the forearms 542 and bend as needed as the arms 504 move to different configurations (as best shown in FIG. 39). Additionally, the proximal lengths of the cables 532 (as best shown in FIG. 36C-36D) must also be radially flexible so that the cables 532 can bend as they extend through the openings 530 and are coupled to the actuators 534, 536 of the actuation unit 512. However, the more radially flexible each cable is, the more rotationally flexible it is, so there is a risk that the cable will bend when actuation of the cable is attempted. Thus, as best shown in FIG. 39, in certain embodiments, each of the cables 532 can have a rigid length 532A disposed within the elongated body 502 such that the cables 532 are not radially flexible or prevent any radial movement. In contrast, the cables 532 can have a flexible length 532B along a length disposed between the elongated body 502 and the forearm 542. Furthermore, in certain implementations, the cables 532 can have a thick flexible length 532C that is thicker than the flexible length 532B, but is still flexible along a length disposed between the opening 530 and the actuation unit 512, as best shown in FIGS. 36B-36D. Thus, the stiff length 532A of each cable 532 helps reduce the risk of bending of the flexible length 532B as a result of actuation of the cable 532. Similarly, the thickness of the thick flexible length 532C allows radial bending of the cable 532 along the length 532C while reducing the risk of bending of the thick flexible length 532C as a result of actuation of the cable 532.

[0153] Although the various systems described above are separate implementations, any of the individual components, features, or devices, and associated features and functionality within the various system embodiments described in detail above, may be incorporated into any of the other system embodiments herein.

[0154] As used herein, the terms "about" and "substantially" refer to variations (including numerical quantities or structures) that may occur through typical measurement techniques and equipment with respect to any quantifiable variable, including, but not limited to, mass, volume, time, distance, wavelength, frequency, voltage, current, and electromagnetic fields. Additionally, there are likely to be certain random errors and variations in the real world due to differences in manufacture, source, or precision of components used to make various components or perform methods, etc. The terms "about" and "substantially" also encompass these variations. The terms "about" and "substantially" can include any variation of 5% or 10%, or any amount between 0% and 10%, including any integer. Additionally, the claims include equivalents to the quantities or amounts, whether or not modified by the terms "about" or "substantially".

[0155] Numerical ranges recited herein are inclusive of the numbers defining the range and include each integer within the defined range. Throughout this disclosure, various aspects of the disclosure are presented in a range format. It should be understood that the description in range format is merely for convenience and brevity and should not be construed as an inflexible limitation on the scope of the disclosure. Thus, the description of a range should be considered to have specifically disclosed all possible subranges, fractions and individual numbers within that range. For example, the description of a range such as 1-6 should be considered to have specifically disclosed subranges such as 1-3, 1-4, 1-5, 2-4, 2-6, 3-6, and the individual numbers within that range, such as 1, 2, 3, 4, 5, and 6, and decimals and fractions, such as 1.2, 3.8, 1 1 / 2, and 4 3 / 4. This applies regardless of the breadth of the range. While various embodiments have been described with reference to preferred implementations, those skilled in the art will recognize that changes may be made in form and detail without departing from the spirit and scope thereof.

[0156] Although various embodiments have been described with reference to preferred implementations, workers skilled in the art will recognize that changes may be made in form and detail without departing from the spirit and scope thereof.

Claims

1. 1. A robotic device comprising: (a) an elongated body; (b) a robotic arm operably coupled to the elongate body, (i) an upper arm segment; (ii) a forearm segment operatively coupled to the upper arm segment; and (iii) at least two actuatable components associated with said robotic arm; (c) a first cable driven actuation assembly, (i) a first actuator disposed within one of the elongate body, the upper arm segment, and the forearm segment or external to the device; (ii) a first cable driven actuation assembly comprising: a power transmission cable operatively coupled to the first actuator and a first of the at least two actuatable components; (d) a first gear drive actuation assembly, (i) a second actuator disposed within one of the elongate body, the upper arm segment, and the forearm segment or external to the device; (ii) a first gear driven actuation assembly comprising the second actuator and at least one gear operably coupled to a second component of the at least two actuatable components.

2. The device of claim 1 , wherein the power transmission cable is a rotational force transmission cable.

3. The device of claim 1 , wherein the power transmission cables are lateral force transmission cables.

4. The device of claim 3 , wherein the lateral force transmission cables comprise a single lateral push / pull cable or two lateral pull cables.

5. 2. The device of claim 1, wherein the first of the at least two actuatable components comprises an actuatable end effector grasper arm and the second of the at least two actuatable components comprises a rotatable end effector grasper body.

6. The device of claim 1 , wherein the first actuator and the second actuator are disposed within the forearm segment.

7. The device of claim 1 , wherein the first actuator is disposed in the upper arm segment and the second actuator is disposed in the forearm segment.

8. The device of claim 1 , wherein the first actuator is disposed within the elongate body and the second actuator is disposed within the forearm segment.

9. The device of claim 1 , wherein the first actuator is disposed external to the device and the second actuator is disposed within the forearm segment.

10. 1. A robotic device comprising: (a) an elongated body; (b) a robotic arm operably coupled to the elongate body, (i) an upper arm segment; (ii) a forearm segment operatively coupled to the upper arm segment; and (iii) at least two actuatable components associated with said robotic arm; (c) a first cable driven actuation assembly, (i) a first actuator disposed within one of the elongate body, the upper arm segment, and the forearm segment or external to the device; (ii) a first cable driven actuation assembly comprising: a first power transmission cable operatively coupled to the first actuator and a first of the at least two actuatable components; (d) a second cable driven actuation assembly, (i) a second actuator disposed within one of the elongate body, the upper arm segment, and the forearm segment or external to the device; (ii) a second cable driven actuation assembly comprising the second actuator and a second power transmission cable operably coupled to a second component of the at least two actuatable components.

11. A first gear drive actuation assembly, (a) a third actuator disposed within one of the elongate body, the upper arm segment, and the forearm segment or external to the device; 11. The robotic device of claim 10, further comprising: (b) a first gear driven actuation assembly comprising: at least one gear operably coupled to the third actuator and to a third of the at least two actuatable components.

12. The device of claim 10 , wherein at least one of the first power transmission cable and the second power transmission cable is a rotational force transmission cable.

13. The device of claim 10 , wherein at least one of the first power transmission cable and the second power transmission cable is a lateral force transmission cable.

14. 11. The device of claim 10, wherein the first of the at least two actuatable components comprises an actuatable end effector grasper arm and the second of the at least two actuatable components comprises a rotatable end effector grasper body.

15. The device of claim 10 , wherein the first actuator and the second actuator are disposed within the forearm segment.

16. The device of claim 10 , wherein the first actuator and the second actuator are disposed external to the device.

17. 1. A robotic device comprising: (a) an elongated body; (b) an actuation unit coupled to the elongate body, the actuation unit comprising at least two actuators; and (c) a robotic arm operably coupled to the elongate body, (i) an upper arm segment; (ii) a forearm segment operatively coupled to the upper arm segment; and (iii) at least two actuatable components associated with said robotic arm; (d) a first cable driven actuation assembly, (i) a first actuator disposed within the actuation unit; (ii) a first cable driven actuation assembly comprising: a first rotational force transmission cable operatively coupled to the first actuator and a first of the at least two actuatable components; (e) a second cable driven actuation assembly, (i) a second actuator disposed within the actuation unit; (ii) a second cable-driven actuation assembly comprising the second actuator and a second rotational force transmission cable operably coupled to a second component of the at least two actuatable components.

18. The device of claim 17 , wherein the first and second rotational force transmission cables are disposed through the elongate body.

19. 20. The device of claim 18, further comprising a cable positioning block movably disposed within the elongated body, the cable positioning block operably coupled to the first rotational force transmission cable and the second rotational force transmission cable attached to the cable positioning block.

20. 18. The device of claim 17, wherein the first rotational force transmission cable is disposed through an opening in the cable positioning block such that the first rotational force transmission cable is rotatably coupled to the cable positioning block such that rotation of the first rotational force transmission cable results in axial movement of the cable positioning block within the elongate body.

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