DISPOSITIF ROBOTIQUE AYANT UNE CONCEPTION D'ARTICULATION COMPACTE ET UN DEGRÉ DE LIBERTÉ SUPPLÉMENTAIRE, ET SYSTÈMES ET PROCÉDÉS ASSOCIÉS

摘要

The embodiments disclosed herein relate to various robotic and/or in vivo medical devices having compact joint configurations and at least three degrees of freedom. Other embodiments relate to various medical device components, including forearms having grasper or cautery end effectors, that can be incorporated into certain robotic and/or in vivo medical devices.