Abstract: Example embodiments relate to surgical systems. The system includes an end-effector assembly having an instrument. The system includes a first arm assembly. A distal end of first arm assembly is securable to the end-effector assembly. The system includes an elbow joint assembly. A distal end of elbow joint assembly is secured to a proximal end of first arm assembly. A proximal end of elbow joint assembly is secured to a distal end of second arm assembly. The second arm assembly includes a first elbow drive assembly. The first elbow drive assembly includes an integrated motor for driving the elbow joint assembly to pivotally move the first arm assembly relative to an axis. The second arm assembly also includes a second elbow drive assembly. The second elbow drive assembly includes an integrated motor for driving the elbow joint assembly to pivotally move the first arm assembly relative to another axis.

Abstract: Example embodiments relate to robotic arm assemblies. The robotic arm assembly includes forearm and upper arm segments. Upper arm segment includes distal motor. Robotic arm assembly includes elbow coupling joint assembly connecting distal end of upper arm segment to proximal end of forearm segment via a serial arrangement of proximal and distal elbow joints. Proximal elbow joint is located between upper arm segment and distal elbow joint. Distal elbow joint is located between proximal elbow joint and forearm segment. Proximal elbow joint forms proximal main elbow axis. Distal elbow joint forms distal main elbow axis. Elbow coupling joint assembly includes distal elbow joint subassembly connected to forearm segment. Elbow coupling joint assembly includes proximal elbow joint subassembly connecting upper arm segment to distal elbow joint subassembly. Proximal elbow joint subassembly is configured to be driven to rotate forearm segment relative to proximal main elbow axis.

Abstract: Example embodiments relate to robotic arm assemblies. Embodiments of the robotic arm assembly include a shoulder segment and upper arm segment having a motor drive portion. Embodiments also include a shoulder coupling joint assembly connecting the upper arm segment to the shoulder segment. Shoulder coupling joint assembly includes a distal shoulder joint subassembly connected to the upper arm segment. The distal shoulder joint subassembly includes a distal shoulder joint forming a first axis. The distal shoulder joint subassembly includes a shoulder planetary gear assembly. Embodiments include an elbow coupling joint assembly connecting the upper arm segment to the forearm segment. The elbow coupling joint assembly includes a proximal elbow joint subassembly connected to the upper arm segment. The proximal elbow joint subassembly includes a proximal elbow joint forming a second axis. The proximal elbow joint subassembly includes an elbow planetary gear assembly.

Abstract: Example embodiments relate to surgical systems. The system includes an end-effector assembly having an instrument. The system includes a first arm assembly. A distal end of first arm assembly is securable to the end-effector assembly. The system includes an elbow joint assembly. A distal end of elbow joint assembly is secured to a proximal end of first arm assembly. A proximal end of elbow joint assembly is secured to a distal end of second arm assembly. The second arm assembly includes a first elbow drive assembly. The first elbow drive assembly includes an integrated motor for driving the elbow joint assembly to pivotally move the first arm assembly relative to an axis. The second arm assembly also includes a second elbow drive assembly. The second elbow drive assembly includes an integrated motor for driving the elbow joint assembly to pivotally move the first arm assembly relative to another axis.

Abstract: Example embodiments relate generally to surgical systems. The system may include a first arm assembly having a first arm assembly body. The system may also include a distal elbow joint assembly secured to a proximal end of the first arm assembly. The distal elbow joint assembly may be configurable to provide the first arm assembly with a first degree of freedom relative to a first axis. The system may also include a proximal elbow joint assembly secured to the distal elbow joint assembly. The proximal elbow joint assembly may be configurable to provide the first arm assembly with a second degree of freedom relative to a second axis. The second axis may be different from the first axis. The first degree of freedom may be different from the second degree of freedom.

Abstract: Embodiments relate to robotic arm assemblies. Embodiments include shoulder segment and upper arm segment having motor drive portion. Embodiments include shoulder coupling joint assembly connecting upper arm segment to shoulder segment. Shoulder coupling joint assembly includes distal shoulder joint subassembly connected to upper arm segment. Distal shoulder joint subassembly includes distal shoulder joint forming first axis. Distal shoulder joint subassembly includes shoulder planetary gear assembly having shoulder sun gear configured to rotate relative to first axis when motor drive portion is driven to rotate. Shoulder planetary gear assembly includes shoulder planetary gear carrier. When shoulder sun gear rotates, shoulder planetary gear carrier drives upper arm segment to rotate relative to first axis. Shoulder coupling joint assembly includes proximal shoulder joint subassembly connecting shoulder segment to distal shoulder joint subassembly.

Abstract: Example embodiments relate to robotic arm assemblies. The robotic arm assembly includes forearm and upper arm segments. Upper arm segment includes distal motor. Robotic arm assembly includes elbow coupling joint assembly connecting distal end of upper arm segment to proximal end of forearm segment via a serial arrangement of proximal and distal elbow joints. Proximal elbow joint is located between upper arm segment and distal elbow joint. Distal elbow joint is located between proximal elbow joint and forearm segment. Proximal elbow joint forms proximal main elbow axis. Distal elbow joint forms distal main elbow axis. Elbow coupling joint assembly includes distal elbow joint subassembly connected to forearm segment. Elbow coupling joint assembly includes proximal elbow joint subassembly connecting upper arm segment to distal elbow joint subassembly. Proximal elbow joint subassembly is configured to be driven to rotate forearm segment relative to proximal main elbow axis.

Abstract: Example embodiments relate to robotic arm assemblies. The robotic arm assembly may include upper arm segment and shoulder coupling joint assembly. Upper arm segment includes a motor. Shoulder coupling joint assembly connects upper arm segment to shoulder segment. Shoulder coupling joint assembly includes distal and proximal shoulder joint subassemblies. Distal shoulder joint subassembly is connected to the upper arm segment. Distal shoulder joint subassembly includes gear train system having gear stages including first distal elbow gear stage and second distal elbow gear stage. First distal elbow gear stage includes bevel gears. Second distal elbow gear stage includes a planetary gear assembly. Proximal shoulder joint subassembly connects the shoulder segment to the distal shoulder joint subassembly.

Abstract: Example embodiments relate to robotic arm assemblies. The robotic arm assembly may include forearm segment, upper arm segment, and elbow coupling joint assembly. Upper arm segment includes a motor. Elbow coupling joint assembly connects forearm and upper arm segments. Elbow coupling joint assembly includes distal and proximal elbow joint subassemblies. Distal elbow joint subassembly is connected to the forearm segment. Distal elbow joint subassembly includes gear train system having gear stages including first distal elbow gear stage, second distal elbow gear stage, third distal elbow gear stage, and fourth distal elbow gear stage. First distal elbow gear stage includes bevel gears. Second distal elbow gear stage includes spur gears. Third distal elbow gear stage includes bevel gears. Fourth distal elbow gear stage includes a planetary gear assembly. Proximal elbow joint subassembly connects the upper arm segment to the distal elbow joint subassembly.

Abstract: Example embodiments relate to robotic arm assemblies. The robotic arm assembly may include upper arm segment and shoulder coupling joint assembly. Upper arm segment includes a motor. Shoulder coupling joint assembly connects upper arm segment to shoulder segment. Shoulder coupling joint assembly includes distal and proximal shoulder joint subassemblies. Distal shoulder joint subassembly is connected to the upper arm segment. Distal shoulder joint subassembly includes gear train system having gear stages including first distal elbow gear stage and second distal elbow gear stage. First distal elbow gear stage includes bevel gears. Second distal elbow gear stage includes a planetary gear assembly. Proximal shoulder joint subassembly connects the shoulder segment to the distal shoulder joint subassembly.

Abstract: Example embodiments relate to robotic arm assemblies. The robotic arm assembly may include forearm segment, upper arm segment, and elbow coupling joint assembly. Upper arm segment includes a motor. Elbow coupling joint assembly connects forearm and upper arm segments. Elbow coupling joint assembly includes distal and proximal elbow joint subassemblies. Distal elbow joint subassembly is connected to the forearm segment. Distal elbow joint subassembly includes gear train system having gear stages including first distal elbow gear stage, second distal elbow gear stage, third distal elbow gear stage, and fourth distal elbow gear stage. First distal elbow gear stage includes bevel gears. Second distal elbow gear stage includes spur gears. Third distal elbow gear stage includes bevel gears. Fourth distal elbow gear stage includes a planetary gear assembly. Proximal elbow joint subassembly connects the upper arm segment to the distal elbow joint subassembly.

Abstract: Example embodiments relate generally to surgical systems. The system may include a first arm assembly having a first arm assembly body. The system may also include a distal elbow joint assembly secured to a proximal end of the first arm assembly. The distal elbow joint assembly may be configurable to provide the first arm assembly with a first degree of freedom relative to a first axis. The system may also include a proximal elbow joint assembly secured to the distal elbow joint assembly. The proximal elbow joint assembly may be configurable to provide the first arm assembly with a second degree of freedom relative to a second axis. The second axis may be different from the first axis. The first degree of freedom may be different from the second degree of freedom.

Abstract: Example surgical systems include end-effector assembly, arm assembly, and elbow joint assembly. Arm assembly includes proximal and distal ends. Elbow joint assembly secures proximal end of arm assembly to distal end of second arm assembly. Elbow joint assembly includes first and second elbow joint portions. First elbow joint portion includes first end section secured to proximal end of arm assembly, second end section, and first joint joining first and second end sections of first elbow joint portion. Second elbow joint portion includes first end section secured to second end section of first elbow joint portion, second end section secured to distal end of second arm assembly, and second joint joining first and second end sections of second elbow joint portion. First end section of first and second elbow joint portion are pivotable relative to first and second axes, respectively, formed by center line drawn through first and second joints, respectively.

Abstract: Example surgical systems include end-effector assembly, arm assembly, and elbow joint assembly. Arm assembly includes proximal and distal ends. Elbow joint assembly secures proximal end of arm assembly to distal end of second arm assembly. Elbow joint assembly includes first and second elbow joint portions. First elbow joint portion includes first end section secured to proximal end of arm assembly, second end section, and first joint joining first and second end sections of first elbow joint portion. Second elbow joint portion includes first end section secured to second end section of first elbow joint portion, second end section secured to distal end of second arm assembly, and second joint joining first and second end sections of second elbow joint portion. First end section of first and second elbow joint portion are pivotable relative to first and second axes, respectively, formed by center line drawn through first and second joints, respectively.

Abstract: Example embodiments relate to surgical systems having end-effector assembly, first and second arm assemblies, and elbow joint assembly. End-effector assembly includes instrument assembly and wrist assembly. Instrument assembly includes a first instrument. First arm assembly includes a body, first and second instrument drive assemblies, wrist drive assembly, and first arm drive assembly. First instrument drive assembly is configurable to move first instrument relative to first axis. Wrist drive assembly is configurable to move instrument assembly relative second axis. First arm drive assembly is configurable to rotate end-effector assembly relative to third axis. Elbow joint assembly includes elbow pitch joint portion configurable to be driven to move first arm assembly relative to fourth axis. Elbow joint assembly also includes elbow sway joint portion configurable to be driven to move first arm assembly relative to fifth axis.

Abstract: Example embodiments relate to surgical systems having end-effector assembly, first and second arm assemblies, and elbow joint assembly. End-effector assembly includes instrument assembly and wrist assembly. Instrument assembly includes a first instrument. First arm assembly includes a body, first and second instrument drive assemblies, wrist drive assembly, and first arm drive assembly. First instrument drive assembly is configurable to move first instrument relative to first axis. Wrist drive assembly is configurable to move instrument assembly relative second axis. First arm drive assembly is configurable to rotate end-effector assembly relative to third axis. Elbow joint assembly includes elbow pitch joint portion configurable to be driven to move first arm assembly relative to fourth axis. Elbow joint assembly also includes elbow sway joint portion configurable to be driven to move first arm assembly relative to fifth axis.