Robot Devices with Arms and Related Methods

Abstract

Various robotic devices and related medical procedures are disclosed herein. Each of the various robotic devices has an arm. The arm can have two arm components coupled at a joint.

1 . (canceled) 
     
     
         2 . A robotic device, comprising:
 (a) a medical device body configured to be disposed through a port or incision in a cavity wall of a patient, the body comprising an actuator;   (b) an arm comprising:
 (i) a first link pivotally connected to the medical device body at a first pivotal joint; and 
 (ii) a second link pivotally connected to the first link at a second pivotal joint, 
 wherein the arm is configured to be positionably disposed entirely within the cavity of the patient; and 
   (c) an operational component operably coupled to the second link.   
     
     
         3 . The robotic device of  claim 2 , wherein the operational component comprises a clamp, scalpel, biopsy tool, grasper, forceps, stapler, cutting component, cauterizing component, or ultrasonic burning component. 
     
     
         4 . The robotic device of  claim 2 , further comprising a first actuator operably coupled to the first pivotal joint, and a second actuator operably coupled to the second pivotal joint. 
     
     
         5 . The robotic device of  claim 2 , wherein the first pivotal joint comprises first and second operably coupled gears and the second pivotal joint comprises third and fourth operably coupled gears. 
     
     
         6 . The robotic device of  claim 5 , wherein the first, second, third, and fourth gears are bevel gears. 
     
     
         7 . The robotic device of  claim 5 , wherein the first gear is connected to a first gear shaft associated with the body and wherein the second gear is connected to a second gear shaft associated with the first link. 
     
     
         8 . The robotic device of  claim 5 , wherein the third gear is connected to a third gear shaft associated with the first link and wherein the fourth gear is connected to a fourth gear shaft associated with the second link. 
     
     
         9 . The robotic device of  claim 2 , further comprising an imaging device associated with the body. 
     
     
         10 . The robotic device of  claim 2 , further comprising a sensor associated with the body. 
     
     
         11 . The robotic device of  claim 2 , further comprising an imaging device associated with the body and a sensor associated with the body. 
     
     
         12 . The robotic device of  claim 2 , wherein the cavity of the patient is a peritoneal cavity. 
     
     
         13 . The robotic device of  claim 2 , wherein the cavity of the patient is an insufflated cavity. 
     
     
         14 . A robotic device, comprising:
 (a) a medical device body configured to be positionable within a cavity of a patient and configured to be disposed through a port or incision;   (b) an imaging device associated with the robotic device;   (c) an arm comprising:
 (i) a first link pivotally connected to the body at a first pivotal joint, the first link comprising a first actuator operably coupled to the first pivotal joint; and 
 (ii) a second link pivotally connected to the first link at a second pivotal joint, the second link comprising a second actuator operably coupled to the second pivotal joint; and 
   (d) an operational component operably coupled to the second arm.   
     
     
         15 . The robotic device of  claim 14 , wherein the operational component comprises a clamp, scalpel, biopsy tool, grasper, forceps, stapler, cutting component, cauterizing component, or ultrasonic burning component. 
     
     
         16 . The robotic device of  claim 14 , wherein the imaging device is positioned on the body. 
     
     
         17 . The robotic device of  claim 14 , wherein the imaging device is positioned on the arm. 
     
     
         18 . The robotic device of  claim 14 , further comprising a sensor associated with the body. 
     
     
         19 . The robotic device of  claim 14 , wherein the cavity of the patient is a peritoneal cavity. 
     
     
         20 . The robotic device of  claim 14 , wherein the cavity of the patient is an insufflated cavity.