Modular device comprising mechanical arms
A surgical system comprising: at least two modular units, the modular units each comprising: a surgical arm; and a motor unit configured for actuating movement of the surgical arm, the motor unit configured to be operably attached to the surgical arm, where a first face of a motor unit housing generally defines a plane which is at an angle of 60-120° to a long axis of the surgical arm; wherein the motor unit is configured to be aligned adjacent a motor unit of at least one second modular unit; wherein a second face of a housing of the motor unit generally defines a plane which is at an angle to the first face and which comprises a connection geometry suitable for connecting the housing of the motor unit to a housing of the motor unit of the second modular unit.
1. A system comprising:
at least one elongate surgical arm comprising at least two surgical arm gears, said gears being coaxial with a long axis of said surgical arm and effective to move at least a portion of said surgical arm when rotated;
a motor unit comprising at least two motor gears which actuate movement of said at least two surgical arms gears; said motor unit comprising a housing shaped and sized to receive at least a segment of said surgical arm therein to position said motor unit gears and said surgical arm gears in operable contact with each other.
2. The system according to claim 1 , wherein said motor unit housing comprises at least one elongate recess shaped and sized for receiving said segment of said elongate surgical arm which includes said surgical arm gears, said elongate recess extending along a longitudinal face of said housing.
3. The system according to claim 2 , wherein said motor gear is positioned alongside said elongate recess to contact said surgical arm gear when said surgical arm segment is fully received within said elongate recess.
4. The system according to claim 1 , wherein said motor unit housing comprises four longitudinal faces defining a rectangular cross section.
5. The system according to claim 1 , wherein a length of said surgical arm segment which is received within said motor unit housing forms 20-50% of a total length of said surgical arm, as measured along said long axis of said surgical arm.
6. The system according to claim 1 , wherein said surgical arm comprises a proximal portion including a rigid tubular support portion, and a distal portion including at least one flexible portion configured to bend.
7. The system according to claim 6 , wherein at least one of said surgical arm gears is configured to bend said flexible portion when rotated.
8. The system according to claim 1 , comprising at least two motor units and at least two surgical arms, each of said surgical arms received within one of said motor units respectively; wherein each of said motor unit comprises a housing defining an elongate recess for receiving said surgical arm, wherein said elongate recesses of said at least two motor units are located a lateral distance of less than 20 mm from each other, when said at least two motor units are attached to each other.
9. The system according to claim 8 , wherein an attachment between said at least two motor units comprises an interference fit coupling including respective protrusions and indentations.
10. The system according to claim 1 , wherein said motor unit comprises one or more clamping hammers which hold said surgical arm segment within said housing.
11. The system according to claim 2 , wherein said motor unit housing comprises a cover extending along at least a portion of said longitudinal face which includes said elongate recess.
12. The system according to claim 2 , wherein said surgical arm segment comprises a plurality of gears aligned axially along a long axis of said surgical arm, and wherein said motor unit comprises a plurality of motor gears aligned alongside said elongate recess, each of said motor gears positioned to at least one of rotate or interfere with rotation of at least one of said surgical arm gears.
13. The system according to claim 1 , wherein a diameter of each of said surgical arm gears is smaller than a diameter of each of said motor gears, so that a speed of rotation of said surgical arm gear is higher than that of the motor gear driving its rotation.
14. The system according to claim 1 , wherein a largest cross sectional dimension of said motor unit housing is at most 70% larger than a cross-sectional diameter of said surgical arm.
15. The system according to claim 2 , comprising more than two surgical arms, and wherein said motor unit comprises more than two elongate recesses, each elongate recess shaped and sized for receiving each of said more than two surgical arms.
16. The system according to claim 15 , comprising three surgical arms, said motor unit comprising three elongate recesses.
17. A motor unit for actuating movement of at least one surgical arm, comprising:
a housing defining at least one elongate recess for receiving at least a segment of an elongate surgical arm, said elongate recess extending along a longitudinal face of said housing; and
a plurality of motor gears positioned within said housing and aligned alongside said elongate recess.
18. The motor unit according to claim 17 , comprising a flap shaped and sized for covering an opening of said elongate recess.
19. The motor unit according to claim 17 , comprising circuitry configured for actuating closure and locking of said flap in place when a surgical arm segment is fully received within said elongate recess.