Various medical devices and related systems, including robotic and/or in vivo medical devices, and various robotic surgical devices for in vivo medical procedures. Included herein, for example, is a robotic surgical system having a support beam positionable through an incision, and a robotic device having a device body, first and second rotating shoulder components coupled to the device body, and first and second robotic arms coupled to the first and second shoulder components, respectively.

A precision tripod motion system is provided. The tripod motion system in one example includes a bottom plate including three spaced-apart bottom single-degree-of-freedom hinges, a top plate including three spaced-apart top three-degrees-of-freedom (TDOF) joints, wherein the top plate is configured to receive a workpiece. Each linear actuator of three linear actuators is coupled to an associated SDOF hinge of the bottom plate and coupled to an associated TDOF joint of the top plate. Each linear actuator is configured to change length over a linear actuation span and configured to return the top plate to a predetermined set position after the top plate is displaced by an external force Each linear actuator includes a ball coupled to the associated three TDOF joint and a positioning actuator configured to move the ball to the predetermined set position prior to the return of the top plate to the predetermined set position.

A rotation drive device includes a crankshaft which has two ends dynamically connected to a drive source and a driven device, respectively. The drive source drives the crankshaft to rotate the driven device. The crankshaft structurally changes to make the two ends of the shaft portion connected to the rotation drive portion and the driven portion, respectively, at different central angles, which divides the space into two subspaces which are located two sides of the shaft portion, so that the wire can be arranged in the subspaces at both sides of the shaft portion, thus enhancing the flexibility of wire distribution while improving rotation range of motion.

A system may include a mobile base, a spine structure, a body structure, and at least one robotic arm, each of which is movably configured to have significant human-scale capabilities in prescribed environments. The one or more robotic arms may be rotatably coupled to the body structure, which may be mechanically associated with the mobile base, which is preferably configured for holonomic or semi-holonomic motion through human scale travel pathways that are ADA compliant. Aspects of the one or more arms may be counterbalanced with one or more spring-based counterbalancing mechanisms which facilitate backdriveability and payload features.

A precision tripod motion system is provided. The tripod motion system in one example includes a bottom plate including three spaced-apart bottom single-degree-of-freedom (SDOF) hinge portions, a top plate including three spaced-apart top three-degrees-of-freedom (TDOF) joint portions, with the top plate configured to receive a workpiece, three linear actuators pivotally coupled to the three bottom SDOF hinge portions of the bottom plate and coupled to the three top TDOF joint portions of the top plate, with each linear actuator of the three linear actuators configured to change length over a linear actuation span, and a rotator component and/or a positioning table affixed to the top plate and the bottom plate. The tripod motion system is additionally coupled to a rotator component and a positioning table to provide six degrees of freedom of motion.

Provided is a parallel link robot which has increased rigidity and which can be reduced in size. The parallel link robot includes: a base (1); a movable portion (2); a plurality of link portions (5) connecting the base (1) and the movable portion (2); and a plurality of actuators (6) for driving the plurality of link portions (5), wherein each of the plurality of actuators (6) is a linear actuator (6) supported on the base (1) to be rotatable about a predetermined axis (A1) and has a main body portion (8) and a shaft portion (7) for linearly moving relative to the main body portion (8), and each of the plurality of link portions (5) has a driving link (3) supported on the base (1) to be rotatable about a predetermined axis (A2) and connected to the linear actuator (6) and a driven link (4) connecting the driving link (3) and the movable portion (2). When the linear actuator (6) extends and contracts, the driving link (3) rotates relative to the base (1) about the predetermined axis (A2) of the driving link (3).

A rotation drive device includes a crankshaft which has two ends dynamically connected to a drive source and a driven device, respectively. The drive source drives the crankshaft to rotate the driven device. The crankshaft structurally changes to make the two ends of the shaft portion connected to the rotation drive portion and the driven portion, respectively, at different central angles, which divides the space into two subspaces which are located two sides of the shaft portion, so that the wire can be arranged in the subspaces at both sides of the shaft portion, thus enhancing the flexibility of wire distribution while improving rotation range of motion.

The present invention relates to a system for positioning with respect to a patient's body an observation and/or intervention device having a portion penetrating into the patient's body comprising a base disposed over the patient's body; a means for supporting the device formed of a first portion movably assembled on the base according to a connection with one degree of freedom, and of a second portion movably assembled on the first portion according to a connection with one degree of freedom and connected to the device; and means for actuating the first portion with respect to the base, and the second portion with respect to the first portion, in which the base surrounds at a distance at least partially the device, said device being detachably connected to the second portion to enable removal of the positioning system while leaving in place the device.

The invention relates to a robot arm (1) having a modular structure and directly driven arm joints (2). To simplify and facilitate assembly of the robot arm (1), it is proposed that the arm joints (2) each display a drive module (3) having a directly driven worm drive (31) for generating a torque effective in relation to an axis of rotation (a, a1, a2, a3, a4, a5) of the drive module (3), and a connecting module (4), following on axially from the drive module (3) in relation to the axis of rotation (a), for transmitting the torque to an arm joint (2) located downstream in relation to a drive sequence, in the direction of a head-side end joint (21) of the robot arm (1). The invention further relates to a kit (8) for the robot arm (1).

A robot includes a base part having a first cavity part inside, a torso part coupled to the base part, at least one arm unit provided on the torso part, and an inner box provided in the first cavity part and having a second cavity part opening in an upper portion. A circuit board for driving an actuator that operates the arm unit is provided on an outer side surface of the inner box.