Modular device comprising mechanical arms
A method of constructing a system comprising one or more surgical arms, comprising: providing: a plurality of modular units, each modular unit comprising at least one surgical arm attached to at least one motor unit configured for actuating movement of the surgical arm; coupling one or more modular units to each other in an attachment configuration; displaying on a user interface one or both of an indication of the attachment configuration and a selection of an attachment configuration.
1. A surgical system comprising:
at least one surgical arm;
at least one motor unit comprising:
an elongate recess shaped and sized to receive at least a portion of said surgical arm along the length of the arm; and
one or more actuators configured for driving movement of said surgical arm, such that when said surgical arm is received in position within said elongate recess, said actuators are placed in operable contact with said at least one surgical arm;
wherein said elongate recess is covered by a flap pivotally rotatable between an open position allowing access to said elongate recess and a closed position at least partially covering said surgical arm when said surgical arm is received within said elongate recess.
2. The surgical system according to claim 1 , wherein said one or more actuators comprise one or more motor gears.
3. The surgical system according to claim 2 , wherein said surgical arm comprises one or more arm gears, and wherein each of said arm gears is placed in operable contact with a corresponding motor gear when the surgical arm is received in position within said elongate recess.
4. The surgical system according to claim 3 , comprising at least two arm gears and at least two motor gears; said arm gears arranged coaxially to each other and said motor gears arranged coaxially to each other; axes of said motor gears and said arm gears being parallel to each other when said surgical arm is received in position within said elongate recess.
5. The surgical system according to claim 1 , wherein said motor unit comprises clampers positioned and configured to hold said surgical arm in position within said elongate recess.
6. The surgical system according to claim 5 , wherein said clampers are clamping hammers.
7. The surgical system according to claim 1 , wherein said motor unit comprises one or more sensors which detect attachment of said surgical arm to said motor unit.
8. The surgical system according to claim 1 , wherein circuitry of said motor unit includes a microswitch which detects closure of said flap.
9. The surgical system according to claim 1 , wherein between 20-50% of a total length of said surgical arm is received within said elongate recess of said motor unit.
10. The surgical system according to claim 1 , wherein said motor unit comprises an elongate housing, said elongate recess extending along a face of said housing.
11. The surgical system according to claim 10 , wherein said motor unit housing comprises a rectangular cross section profile, and said surgical arm comprises a circular cross section profile.
12. The surgical system according to claim 1 , wherein said system comprises two surgical arms attachable to two respective motor units, each motor unit driving movement of the surgical arm being attached to it.
13. The surgical system according to claim 1 , wherein said surgical arm is constructed of a plurality of rigid segments sequentially connected by flexible sections.
14. A method of assembling a surgical system comprising a surgical arm and a motor unit configured to drive movement of said surgical arm, said motor unit comprising an elongate recess shaped and sized to receive at least a portion of said surgical arm along the length of the arm; and one or more actuators configured for driving movement of said surgical arm, such that when said surgical arm is received in position within said elongate recess, said actuators are placed in operable contact with said at least one surgical arm; said elongate recess is covered by a flap pivotally rotatable between an open position allowing access to said elongate recess and a closed position at least partially covering said surgical arm when said surgical arm is received within said elongate recess; the method comprising:
pivotally rotating said flap to said open position for allowing access to said elongate recess;
inserting a proximal portion of said surgical arm into said elongate recess of said motor unit, said proximal portion including a plurality of arm gears, said inserting placing said plurality of arm gears in operable contact with a plurality of motor gears of said motor unit;
pivotally rotating said flap to said closed position; and
activating said motor unit to move said surgical arm.
15. The method according to claim 14 , comprising, prior to said activating, locking said surgical arm in position within said recess.
16. The method according to claim 15 , comprising automatically sensing said locking via one or more sensors of said motor unit.
17. The method according to claim 14 , wherein said inserting places said plurality of arm gears in a parallel alignment with said plurality of motor gears.
18. The method according to claim 14 , comprising clamping said portion of said surgical arm to maintain said surgical arm in position with said motor unit recess.
19. The method according to claim 14 , wherein said activating comprises driving rotation of at least one of said plurality of motor gears to thereby drive rotation of at least one respective arm gear.