---
publication_id: "OT-2026-000002558"
title: "Robotic device with compact joint design and an additional degree of freedom"
published_at: "2026-09-15T19:13:50.660992Z"
canonical_url: "https://opentechnical.org/p/OT-2026-000002558"
categories:
  - "robotics-automation/robot-architectures"
keywords:
  - "a61b34/30"
  - "a61b34/30"
  - "a61b34/30"
  - "a61b34/30"
  - "b25j17/02"
  - "b25j17/02"
---

# Robotic device with compact joint design and an additional degree of freedom

## Abstract

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.