coupler to attach a robotic arm to an operating table

专利摘要:
in some embodiments, an apparatus may include a coupler for coupling a robotic arm to a surgical table having an upper part of the table on which a patient can be arranged. the coupler can include a first portion configured to attach to a surgical table, and a second portion configured to attach to a robotic arm. the second portion can include a support that can translate into the first portion. the first portion may comprise a locking mechanism having one or more stages to restrict the movement of the second portion relative to the first portion by six degrees of freedom. the coupler can therefore provide secure coupling of the robotic arm to the operating table.
公开号:BR112019017981A2
申请号:R112019017981
申请日:2018-03-26
公开日:2020-05-19
发明作者:C Reese Brendan；James Cagle David；P Schaller Michael；William Timm Richard；J Campbell Robert Jr；Grout Wayne
申请人:Verb Surgical Inc；
IPC主号:

专利说明:

Descriptive Report of the Invention Patent for COUPLER TO FIX A ROBOTIC ARM TO A SURGICAL TABLE.
CROSS REFERENCE TO RELATED ORDERS
[0001] The application is a non-provisional application of the copending Provisional Patent Application No. 62 / 476,816, filed on March 26, 2017, and incorporated herein by reference.
FIELD
[0002] An apparatus and methods for coupling a robotic arm to an operating table. Other embodiments are also described here.
BACKGROUND
[0003] Robotic arms can be attached to a surgical table to provide energy, data, and mechanical support to the arms. The functionality of the operating table coupled to one or more robotic arms can be limited by the volume of space occupied by the robotic arms, which are generally attached to the table, and difficult to remove. Some conventional robotic arms require a technician having specialized training to connect and disconnect the robotic arms to the table such that changing and / or maintaining a robotic arm is time consuming and costly. However, even trained technicians can drop and damage a robotic arm during a coupling or uncoupling operation because they do not force a user to support the arm during coupling or uncoupling. For these and other reasons, robotic arms attached to a surgical table are generally considered to be fixed together. For example, robotic arms attached to a surgical table must adhere to IPX4 requirements related to the protection of ingress against foreign objects (for example, liquids). Adherence to this regulatory standard still complicates
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2/45 the design and cost of a robotic surgical arm.
[0004] The removal and refixation of a robotic arm can introduce misalignment between the robotic arm and the operating table. In other words, conventional coupling mechanisms between a robotic arm and an operating table do not register and / or provide confirmation that the robotic arm is positioned in a precise set of coordinates relative to the operating table. In addition, some conventional robotic arm coupling mechanisms use removable components (for example, screws) that may be misaligned and result in misalignment and / or failure of an arm for coupling the table. Additional apparatus and methods for coupling a robotic arm to a surgical table are desirable.
SUMMARY
[0005] The present invention is directed to an apparatus and methods for coupling the robotic arms to a surgical table having an upper part of the table on which a patient can be disposed are described herein. In some embodiments, the apparatus and methods may allow a robotic arm to be safely attached to and aligned with a surgical table.
[0006] In some embodiments, the robotic arm can be quickly released from the operating table (eg, quick-release bail-out), such as for an emergency situation where access to the upper part of the operating table is required. The robotic arm may include a first portion of a coupler, and the operating table may include a second portion of the coupler where the first portion complements the second portion. After inserting the first portion having a support on a ball bearing retainer of the second portion, a user can turn a handle to secure the coupling between the first and second portion. In some
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3/45 embodiments, the coupler can include kinematic assemblies configured to precisely and repeatedly align the first and second portions.
[0007] In some embodiments, a motorized locking mechanism on a coupler can generate high forces to ensure that the coupling is restricted and maintained at six degrees of freedom even in the presence of external loads. The robotic arm may include a first portion of a coupler, and the operating table may include a second portion of the coupler where the first portion complements the second portion. After inserting the first portion having a lead screw in a corresponding threaded portion of a clamp, a motor can rotate the clamp to bring the first portion into the second portion, and secure the coupling between the first and second portion.
[0008] In some embodiments, a coupler may include a first portion having a cone with a conical taper and a second portion having a corresponding tapered bore that can restrict translational and rotational movement of the first and second portions along multiple axes. The coupler may include a multistage locking mechanism actuated by a handle and / or a switch to couple and uncouple the first and second portions from each other.
[0009] In some embodiments, a coupler may include a multistage locking mechanism including a radial clamp configured to secure a coupling between a first portion and a second portion using rotational and / or translational movement.
[0010] In some embodiments, a coupler may include a detent mechanism configured as a locking mechanism. The mechanism may include a linearly driven double side rack with a set of rotating meat claws. THE
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4/45 coupling mechanism can be manually operated backwards. In some embodiments, the apparatus and methods may allow a robotic arm to be quickly released from an operating table (eg, quick-release bail-out) using a pin-release mechanism such as for an emergency situation where access to the part top of the operating table is necessary.
[0011] The above summary does not include an exhaustive list of all aspects of the present invention. It is contemplated that the invention includes all devices that can be practiced in all the appropriate combinations of the various aspects summarized above, as well as those disclosed in the Detailed Description below and particularly noted in the claims filed with the application. Such combinations have particular advantages not specifically recited in the summary above.
BRIEF DESCRIPTION OF THE DRAWINGS
[0012] The embodiments described here are illustrated by way of example and not by way of limitation in the accompanying drawings figures where similar references indicate similar elements. It should be noted that references to one or an embodiment in this description are not necessarily to the same embodiment, and they mean at least one.
[0013] FIGURES 1A and 1B are a schematic side view and a schematic top view, respectively, of an operating table, according to an embodiment.
[0014] FIGURE 1C is a schematic side view of a robotic arm, according to one embodiment, shown in an extended configuration or use configuration; and FIGURE 1D is a schematic side view of the robotic arm of FIGURE 1C, shown in a collapsed or folded configuration.
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5/45
[0015] FIGURE 2A is a schematic top view of a surgical table with robotic arms attached to it, according to one embodiment.
[0016] FIGURE 2B is a schematic top view of a surgical table with robotic arms and an arm adapter coupled to it, according to one embodiment.
[0017] FIGURE 3 is a schematic illustration of a coupler for attaching a robotic arm to a surgical table, according to an embodiment.
[0018] FIGURES 4A-4L illustrate a coupler, according to an embodiment. FIGURES 4A and 4E are side views, FIGURES 4B-4D are perspective views, FIGURES 4F and 4H-4L are lateral views in cross section, and FIGURE 4G is a perspective view in cross section.
[0019] FIGURE 5 is a flow chart of a method of fixing a robotic arm to a surgical table, according to an embodiment.
[0020] FIGURES 6A-6C illustrate a coupler, according to an embodiment. FIGURES 6A-6B are seen in perspective in cross section and FIGURE 6C is a perspective view.
[0021] FIGURES 7A-7D illustrate a coupler, according to an embodiment. FIGURE 7A is a perspective view in cross section, and FIGURES 7B-7D are side views in cross section.
[0022] FIGURE 8 is a side view in cross section of a coupler, according to an embodiment.
[0023] FIGURES 9A-9M illustrate a coupler, according to an embodiment. FIGURES 9A-9B, 9D, 9G, and 9L are seen in perspective, FIGURES 9C and 9I-9J are side views, FIGURES 9E-9F and 9K are top views, and FIGURES 9H and 9M are seen
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Upper 6/45 in cross section.
[0024] FIGURE 10 is a flow chart of a method of fixing a robotic arm to a surgical table, according to one embodiment.
[0025] FIGURES 11A-11I illustrate a coupler, according to an embodiment. FIGURES 11A-11F and FIGURE 11H are side views in cross section, and FIGURES 11G and 111 are seen in perspective.
[0026] FIGURE 12 is a flow chart of a method of fixing a robotic arm to a surgical table, according to one embodiment.
[0027] FIGURES 13A-13D are seen in perspective of a coupler, according to an embodiment.
[0028] FIGURES 14A-14E are seen in an external perspective of a linear rack and meat, according to an embodiment.
[0029] FIGURES 15A-FIGURE 15C are internal perspective views of a coupler, according to an embodiment.
[0030] FIGURES 16A-FIGURE 16B are internal and external views of a coupler, according to an embodiment.
[0031] FIGURES 17A-17D are schematic side views of a coupler, according to an embodiment.
[0032] FIGURES 18A-18B are side views of a gripper, according to an embodiment.
DETAILED DESCRIPTION
[0033] In this section, several preferred embodiments should be explained with reference to the attached drawings. Whenever the shapes, relative positions and other aspects of the parts described in the embodiments are not clearly defined, the scope of the embodiments is not limited only to the parts shown, which are significant merely for the purpose of illustration. Too,
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7/45 while numerous details are placed, it is understood that some embodiments can be practiced without these details. In other examples, well-known structures and techniques have not been shown in detail in order to obscure the understanding of this description.
[0034] Apparatus and methods for providing a coupler for attaching robotic arms to a surgical table having an upper part of the table on which a patient can be disposed are described herein. These devices and methods can be used to securely attach and align and / or quickly detach one or more robotic arms to a surgical table in a consistent manner, thereby increasing flexibility in configuring and customizing an operating table with one or more arms robotic. For example, the coupling mechanisms described here can be oriented and restricted in six degrees of freedom with high mechanical rigidity in the presence of external loads (for example, static robotic arm and inertial loads during a surgical procedure).
Operating Table and Robotic Arms
[0035] As shown schematically in FIGURES 1A1B, a surgical table 100 includes an upper table 120, a table holder 122 and a table base 124. The upper table 120 has an upper surface on which a patient P can be arranged during a surgical procedure, as shown schematically in FIGURE 1A. The upper part of the table 120 is arranged on the support 122, which can be, for example, a pedestal, at a suitable height above the floor. The support 122 (also referred to here as a pedestal) can provide movement from the top of the table 120 in a desired number of degrees of freedom, such as translation on the Z axis (height above the floor), Y axis (along the longitudinal axis table), and / or X axis (along the lateral axis of the
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8/45 table), and / or rotation on the Z, Y, and / or X axes. The upper part of the table 120 may also include multiple sections that are movable relative to each other along / on any suitable axes, for example, separate sections for each of the torso, one or both legs, and / or one or both arms, and a head support section. The movement of the table top 120, and / or its constituent sections, can be performed manually, driven by motors, controlled remotely, or by any other suitable means. The support 122 for the top of the table can be mounted to the base 124, which can be fixed to the floor of the operating environment, or it can be movable relative to the floor, for example, by using wheels on the base 124. In some embodiments, the height of the support 122 can be adjusted, which together with, for example, the movement (for example, axial (longitudinal) or lateral movement) of the upper part of table 120, can allow the upper part of table 120 to be positioned on a desired surgical site at a certain height above the floor (for example, to allow access to the surgeon) and a certain distance from the support 120. This may also allow the robotic arms (for example, arms 130 discussed above) attached to the table 100 to achieve a desired treatment target in a patient P arranged at the top of table 120.
[0036] In a robotically assisted surgical procedure, one or more robotic arms 130 (shown schematically in FIGURE 1C and 1D) can be arranged in a desired operating position relative to a patient placed on the top of table 120 of operating table 100 (also referred to here as table). The robotic arm (s) can be used to perform a surgical procedure on a patient placed on the operating table 100. In particular, the distal end of each robotic arm can
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9/45 be arranged in a desired operating position so that a medical instrument coupled to the distal end of the robotic arm can perform a desired function.
[0037] As shown schematically in FIGURES 1C and 1D, each robotic arm 130 may include a distal end portion 137 and a proximal end portion 136. The distal end portion 137 (also referred to here as the operating end) may include or having a medical instrument or tool 115 attached thereto. The proximal end portion 136 (also referred to here as the mounting end portion or mounting end) may include the coupling portion to allow the robotic arm 130 to be coupled to the table 100. The robotic arm 130 may include two or more connecting members or segments 110 coupled together in joints that can provide translation along and / or rotation over one or more of the X, Y and / or Z axes (shown, for example, in FIGURES 1A and 1B). The coupling portion of the robotic arm 130 may include a coupling mechanism 139. Coupling mechanism 139 may be arranged at the mounting end 136 of the arm 130, and may be coupled to a segment 110, or incorporated within a segment 110. The robotic arm 130 also includes a joint joint J1 arranged at or near the mounting end 136 of the robotic arm 130, which can be included within the coupling mechanism 139, and / or the coupling portion, or can be arranged in a joint or segment 110 of the robotic arm 130 that is coupled to the coupling portion. Joint joint J1 can provide a joint joint to allow a distal segment of robotic arm 130 to articulate relative to table 100. Robotic arm 130 can be moved between various extended configurations for use during a surgical procedure, as shown in FIGURE 1C, and several
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10/45 folded or collapsed configurations for storage when not in use, as shown in FIGURE 1D.
[0038] Various embodiments illustrating and describing apparatus and methods for coupling a robotic arm to a surgical table are described here. As described above and according to several embodiments described in more detail below, a robotic arm for use in performing a surgical procedure can be releasably attached to a surgical table. In some embodiments, the robotic arms can be coupled at a fixed location on the table, or they can be coupled such that the robotic arms can be movable to multiple locations relative to the table top. For example, as shown schematically in FIGURE 2A, the robotic arms 230 can be coupled to an upper part of table 220 of an operating table 200. Operating table 200 can be the same or similar in structure and function to operating table 100 described above . For example, the upper part of table 220 has an upper surface on which a patient P can be arranged during a surgical procedure. In some embodiments, the robotic arms 230 may be permanently or releasably coupled, in a fixed or movable location, to an arm adapter that is coupled to or separated from the operating table. For example, as shown schematically in FIGURE 2B, an arm adapter 246 can be attached to or detached from, but can be coupled with or attachable to the top of table 220. The robotic arms 230 can be attached to arm adapter 246.
Arm Base Connection
[0039] As shown schematically in FIGURE 3, a coupler 310 can be provided for coupling a robotic arm 320 to an operating table 300. Coupler 310, as described herein, is
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11/45 usable with any of the operating tables and robotic arms (for example, operating table 100, 200, robotic arms 130, 230), and methods described here. Coupler 310 may include a first portion 312 (e.g., arm adapter) such as a terminal base portion A for a robotic arm. Coupler 310 can include a second portion 314 such as a base portion B for mounting to the operating table 300. The robotic arm 320 can be coupled to the first portion 312, and the upper part of table 302 can be coupled to the second portion 314 before from coupling the first portion 312 to the second portion 314. Coupling the robotic arm 320 to the operating table 300 can allow the robotic arm coupled to the table 300 to achieve a desired treatment target in a patient placed on the top of table 302. The first portion 312 and second portion 314 may further include electrical power and data connectors. It should be appreciated that the first portion 312 and second portion 314 can be inverted such that the first portion 312 is coupled to table 300, and the second portion 314 is coupled to robotic arm 320.
[0040] An operating table 300 includes an upper part of table 302, a support of table 304, and a base of table 306. The upper part of table 302 has an upper surface on which a patient can be placed during a surgical procedure, as shown schematically in FIGURE 1A. The upper part of table 302 is arranged on support 304, which can be, for example, a pedestal, at a suitable height above the floor. The support 302 can provide movement of the top of the table 302 in a desired number of degrees of freedom, such as translation on the Z axis (height above the floor), Y axis (along the longitudinal axis of the table), and / or axis X (along the lateral axis of the table), and / or rotation on the Z, Y, and / or X axes. The 304 support for the
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Upper 12/45 of table 302 can be mounted to base 306, which can be fixed to the floor of the operating environment, or can be movable relative to the floor, for example, by using wheels on base 306. In a robotic assisted surgical procedure , one or more robotic arms 320 (shown schematically in FIGURE 1C and 1D) can be arranged in a desired operating position relative to a patient arranged on the top of table 302 of operating table 300.
Kinematic Mount Arm Base Connection
[0041] FIGURE 4A is a side view of an embodiment of a coupler 400 including a first portion 410 and a second portion 420. The coupling of the first portion 410 and second portion 420 forms a secure conjugate connection where six degrees of freedom are restricted . For example, a y axis of the secure conjugate connection restricts a translation on the Z axis, on the Y axis, and / or X axis, and / or rotation on the Z, Y, and / or X axes of the first portion 410 with respect to second portion 420. The first portion 410 includes a handle 454 configured to lock and secure the coupling between the first portion 410 and the second portion 420, and a set of V-grooves 432 configured to contact a corresponding kinematic assembly 430, as described herein. . The second portion 420 includes a support 422 (for example, locking support) that can be translated along a Y axis to correspond with the first portion 410. The coupling of the support 422 to the first portion 410 can restrict translation along the Y axis. FIGURE 4B illustrates the X axis, Y axis, and Z axis relative to coupler 400.
[0042] The second portion 420 may also include a set of kinematic assemblies 430 which may include at least three kinematic assemblies that project from a surface of the
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13/45 second portion 420, and are configured to slide in and correspond with a corresponding V 432 groove. The kinematic assemblies 430 and V 432 grooves are configured to locate, constrain, and support the coupling between the first portion 410 and the second portion 420. Kinematic assemblies 430 may include a spherical or semi-spherical shape. The kinematic assemblies 430 can be equally spaced around the support 422 of the second portion 420. The V-grooves 432 can form a V-shaped cut in the first portion 410, and may also include a groove at a vertex of the V. The connection grooved ball coupling between kinematic assemblies 430 and V 432 grooves can restrict translation on the X axis and Z axis, and restrict rotation on the X axis, Y axis, and Z axis.
[0043] Some embodiments of the second portion 420 may include one or more alignment protrusions 434 configured to contact and slide in and correspond with a corresponding hole (not shown) in the first portion 410. The alignment protrusion 434 is asymmetrical in that the alignment of protrusion 434 with first portion 410 is configured to prevent a user from inserting first portion 410 incorrectly into second portion 420. This process can be referred to here as registration. The shape of the alignment protrusion 434 shown is having a semi-spherical end, but is not particularly limited. The support 422 of the second portion 420 will not be moved along the Y axis sufficiently in the first portion 410 to engage the coupling and locking of the first portion 410 to the second portion 420 when the alignment protrusion 434 is misaligned. For example, FIGURE 4C illustrates the second portion 420 partially inserted in the first portion 410. The alignment protrusion 434 and alignment hole 436 are oriented to allow support 422 of the second portion 420 to
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14/45 be fully translated into the first portion 410. Otherwise, the alignment protrusion 434 contacts the housing of the first portion 410 to create a gap between the first portion 410 and the second portion 420 that prevents its coupling.
[0044] FIGURE 4D illustrates a perspective view of the first portion 410 aligned and having an initial engagement with the second portion 420. Handle 454 (for example, lock handle) is in a first position corresponding to a first position (for example, example, unlocked position) of coupler 400. A user can turn handle 454 in a second position (for example, locked position) to transition coupler 400 from a first configuration (for example, unlocked state or position) to a second configuration ( for example, locked state or position). FIGURE 4E illustrates an alignment state of the first configuration where the support 422 is translated into the first portion 410, and the first portion 410 and the second portion 420 are aligned, but without engaging a locking mechanism between the first portion 410 and the second portion 420. In particular, each of the kinematic assemblies 430 are aligned with and engaged to contact and correspond with a corresponding V 432 groove.
[0045] FIGURE 4F is a cross-sectional side view of the initial translation of the second portion 420 into the first portion 410. From this view, it can be seen that the first portion 410 includes a first end 456 (the end that attaches to the robotic arm), and a second end 458 (the end that attaches to the second portion 420), and an inner cavity 464 formed within the first portion 410, between the first and second ends. An opening for the inner cavity is formed through the second end 458. The first portion 410 further includes a ball bearing retainer 440 (for example, draw bar) coupled to
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15/45 a set of ball bearings 442, which are positioned within the inner cavity 464. The set of ball bearings 442 can include four or more ball bearings equally spaced along a circumference of the ball bearing retainer 440. Handle 454 can be coupled to a pair of meats including a first face cam 450 and a second face meat 452. A set of Belleville washers 460 can be attached to a shaft of the ball bearing retainer 440. Support 422 the second portion 420 may include a first surface 423 (for example, tapered) configured to allow misalignment during translation and sliding of the support 422 in the ball bearing retainer 440. The support may further include a second surface 424 (for example, angled face) configured to press against ball bearings 442 when the coupling connection is locked. The first surface 423 and the second surface 424 experience Hertzian stresses based on the curvature of the surfaces. The curvature and material properties, along with the diameter and material of the 442 ball bearing can be configured to generate contact conditions that do not deteriorate the surfaces.
[0046] Ball bearing retainer 440 is configured to retain ball bearings 442 and surrounds support 422. Ball bearing retainer 440 is configured to travel along the Y axis relative to a first portion housing 410 when the face meats are rotated by the handle 454. The translation of the ball bearing retainer 440 in the first portion 410 presses the ball bearings 442 on surfaces in the first portion 410, surfaces on the ball bearing retainer 440, and surfaces on the support 422 As illustrated here, ball bearing retainer 440 may include a lip on each
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16/45 ball bearing configured to retain ball bearing 442 inside retainer 440 when ball bearings 442 are not in contact with support 422. These surfaces experience Hertzian stresses based on the curvature of the surfaces. The curvature and material properties, along with the diameter and material of the 442 ball bearing can be configured to generate contact conditions that do not deteriorate the surfaces. Ball bearings 442 move within a predetermined range within ball bearing retainer 440, and serve as a locking mechanism to apply forces to both first portion 410 and second portion 420 to securely lock the same joints and form a coupling between the first portion 410 and the second portion 420.
[0047] FIGURE 4G is a cross-sectional perspective view of the coupler 400 in a locked state (or locked position) illustrating the first face cam 450 and second face cam 452 in a maximally separate position where the bearing retainer of Balls 440 is maximally translated into the first portion 410, and ball bearings 442 have engaged the support 442 and housing 410 to securely lock and couple the first portion 410 to the second portion 420 (for example, the locked position). The first face cam 450 and second face cam 452 are coupled to the ball bearing retainer 440 such that the translation of the face meats along the Y axis also translates the ball bearing retainer 440 along the Y axis. of the face meats can include a profile that converts rotational movement (for example, movement of handle 454) on the Y axis into translational movement on the Y axis. Handle 454 can be directly threaded on one of the face meat, thereby , allowing a torque advantage when face meats are
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17/45 rotated in the locked position. Face meats can include a variable meat profile having a first and second profile. A first profile can be configured to allow for relatively greater translation and a relatively lower axial force advantage. A second profile can be configured to allow for relatively lower translation and a relatively greater axial force advantage. For example, the first profile can be scaled, and a second profile can be more shallow. In some embodiments, the variant meat profile can be configured to allow for a large translation (for example, 0.25) followed by a very small translation (for example, 0.04). In some embodiments, the face meats may include a composite profile that decreases the pitch as the ball bearing retainer achieves full engagement (for example, as the ball bearing retainer moves towards a lock position) In some embodiments, the face meats may include the axial bearing to reduce friction on the outer surfaces of the face cam In some embodiments, the face meats may include lobes configured to distribute pressure evenly. In some embodiments, different portions of the meats face plates can be produced from different materials in order to vary the friction and / or resistance of the face meat.
[0048] FIGURES 4H-4L are side views in cross section of the coupler 400 in various states (for example, unlocked and locked). FIGURE 4H illustrates an initial engagement state where support surfaces 422 are in contact with ball bearing 442 within ball bearing retainer 440. Handle 454 (not shown) and face cams 450, 452 are in one unlocked position. FIGURE 41 illustrates a locked position of coupler 400 after rotation of handle 454 (not
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18/45 shown) to a locked position. The rotation of the handle 454 is converted into translational movement of the face meat 450, 452 along the Y axis such that the first face cam 450 and the second face cam 452 are maximally separated. The ball bearing retainer 440 coupled to the face cams 450, 452 is thus moved along the Y axis to bring the ball bearings 442 and second portion 420 still in the first portion 410. The contact between the ball bearings 442 and the surfaces of the first portion 410 and the second portion 420 securely engage and lock the first portion 410 to the second portion 420. FIGURE 4J is a detailed view of the locking mechanism of the coupler 400. The ball bearing retainer 440 in a locked position translates the ball bearings 442 in the first portion 410 to produce contact with a contact surface 411 of the first portion 410, a flange of the ball bearing 441 of the ball bearing retainer 440, and a second surface 424 of the support 422 These contact forces are sufficient to restrict the translation of the first portion 410 and the second portion along the Y axis until handle 454 is rotated to an unlocked position. In other words, the coupler 400 is self-locking in which the coupling will not become disengaged without user input.
[0049] FIGURE 4K illustrates a set of Belleville 460 washers coupled to a threaded shaft of the 440 ball bearing retainer. Belleville 460 washers can be configured to apply a retaining force to the 440 bearing bearing retainer. some embodiments, Belleville washers can apply between about 200 Ib force and about 300 Ib force. FIGURE 4L illustrates a spring 462 (e.g., compression spring) coupled between one end of the first portion housing 410 and the Belleville washers 460. Spring 462 can be configured
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19/45 to provide spring force to readjust the position of the ball bearing retainer 440, and retain handle 454 in the unlocked position. The spring 462 can be configured to skew the ball bearing retainer 440 in an unlocked position such that when a user rotates the handle 454 to an unlocked position, the ball bearing retainer 440 will move along the Y axis towards a starting position as shown in FIGURE 4F. Belleville 460 washers can be configured to vary a lock strength.
[0050] FIGURE 5 is a flow chart of a method 500 of coupling a robotic arm to a surgical table, such as by using any of the couplers described herein. Method 500 includes translation into 502 of a second portion (for example, base portion of the robotic arm) of a coupler in a first portion of the coupler (for example, mounting portion of an upper part of the operating table) (FIGURE 4F) . A second portion holder can begin to align at 504 as the holder moves in the first portion (FIGURE 4C). The locking mechanism of the first portion (for example, ball bearing retainer, ball bearings, face meats, handle) will not engage if the alignment element (s) of the second portion are not aligned with the first portion . When the support is in the initial engagement state with the ball bearing retainer (FIGURE 4H), the handle can be rotated by 506 to rotate the two face meats. In some embodiments, the lock can rotate about 90 degrees from an unlocked position to a locked position. As the lock moves through its arch, the face meats move and transfer the ball bearing retainer in the first portion (FIGURE 41). The ball bearing retainer engages the ball bearing assembly in order to press the
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20/45 ball bearings against the surfaces of the first portion and the second portion (FIGURE 4J). The pressing force locks the first and second portions together at 508. As the ball bearing retainer is moved in the first portion in response to the rotation of the handle in the locked position, a set of kinematic assemblies engage with corresponding V-grooves to precisely align the first and second portions (FIGURE 4E). In order to uncouple the coupler 400, a user can rotate the handle by 510 towards the unlocked position. This rotates the face meats towards each other and moves the ball bearing retainer towards the second portion, thereby releasing the force between the ball bearings and the housing of the first portion. With the lock disengaged, the second portion can be completely uncoupled from the first portion by translating the second portion out of the first portion in 512.
[0051] FIGURES 6A-6C are seen in perspective of an embodiment of a coupler 600 driven by a motor and having a manual coupling mechanism that can be used to couple and uncouple in cases where energy is lost and / or emergency operation . Coupler 600 may include a first portion 610 and a second portion 620. The coupling of the first portion 610 and the second portion 620 forms a secure conjugate connection where six degrees of freedom are restricted. The second portion 620 may include a support 622 configured to surround the first portion 610. The support 622 can be translated along a Y axis to correspond with the first portion 610 to restrict translation along the Y axis.
[0052] The first portion 610 may include a set of ball bearings 640, a cam 630 coupled to a bushing 632, and a shaft 634. The set of ball bearings 640 may include
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21/45 four or more ball bearings equally spaced along a circumference of the first portion 610. The ball bearing assembly 640 can be moved by a locking mechanism configured to securely engage and lock the first portion 610 to the second portion 620 The meat 630 is configured to move along the Y axis relative to a housing of the first portion 610 when driven by a motor and / or handle 650. The support 622 and meat 630 experience Hertzian stresses based on the curvature of those surfaces. The curvature and material properties, along with the diameter and material of the 640 ball bearing can be configured to generate contact conditions that do not deteriorate these surfaces. The movement of a cam 630 in a locked position will position the set of ball bearings 640 at holding contact force between surfaces of support 622 of the second portion and cam surfaces 630. Cam 630 and bushing 634 can be configured to be slidable along axis 634. The movement of cam 630 along axis 634 can vary a contact force of the ball bearing assembly 640 against a contact surface of support 622 when the first portion 610 and the second portion 620 are translated each other. A contact surface of the support 622 can include a support lip 624 configured to retain ball bearings 640 within the second portion 620. Ball bearings 640 move within a predetermined range in the first portion 610 and serve as a locking mechanism to apply forces to both the first portion 610 and second portion 620 to securely lock the same joints and form a coupling between the first portion 610 and the second portion 620.
[0053] The meat 630 can be driven by a gear without
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22/45 end including a worm wheel 660 and worm 662) using a motor 670 to couple and uncouple the first portion 610 and the second portion 620. The motor 670 can be, for example, a brushless DC motor. The first portion 610 may include a handle 650 configured to allow a user to act to slide the cam 630 along the axis 634, and engage or release the set of contact ball bearings 640 with a contact surface of the support 622 Handle 650 can rotate between a locked position and an unlocked position, and transition coupler 600 between a locked configuration and an unlocked configuration. FIGURE 6A illustrates a locked position of the coupler 600. In the locked position, the contact between the ball bearings 640 and the support 622 of the second portion 620 and the cam 630 securely engages and locks the first portion 610 to the second portion 620.
[0054] The rotation of the handle 650 towards the unlocked position is converted into translational movement of the cam 630 along the Y axis to disengage the contact between the ball bearings 640 and support surfaces 622 and the cam 630. A spring 664 can be coupled between the bushing 632 and the worm wheel 660, and configured to provide the spring force to readjust the position of the meat 630 in an unlocked position where the meat 630 is skewed towards the worm gear.
[0055] As shown in FIGURE 6B, the support 622 can include one or more relief cuts 626 that can be configured to provide a desired level of holding force between the first portion 610 and the second portion 620. For example, a clearance wider and / or longer in the relief cuts 626 can reduce the maximum holding force between the first portion 610 and the second portion 620. The second portion 620 may further include a support rim 624. In some embodiments, the coupler 600 can include
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23/45 kinematic assemblies, V-grooves, and / or alignment elements as described here.
[0056] In some embodiments, a rotational clamp can be used to couple and uncouple a first and second portion of a coupler. FIGURE 7A is a perspective cross-sectional view of an embodiment of a coupler 700. Coupler 700 includes a first portion 710 having an outer housing 712 and a first threading portion 714. Coupler 700 also includes a second portion 720 having a support 722. This can be translated along a Y axis to correspond with the first portion 710 to restrict translation along the Y axis. The coupling of the first portion 710 and the second portion 720 forms a secure conjugate connection where six degrees of freedom are restricted. The first portion 710 may include a clamp 750 configured to lock and secure the coupling between the first portion 710 and the second portion 720. The first portion 710 includes a ball bearing retainer 740 configured to receive, engage, and lock with the bracket 722. Ball bearing retainer 740 is configured to retain ball bearings 742 and surround support 722. Ball bearing retainer 740 is configured to move along the Y axis relative to a first portion housing 710 when 750 clamp is rotated. The translation of the ball bearing retainer 740 in the first portion 710 presses the ball bearings 742 in the first portion 710, the ball bearing retainer 740, and the support 722. As illustrated here, the ball bearing retainer 740 may include one bead on each ball bearing pocket configured to retain ball bearing 742 inside retainer 740 when ball bearings 742 are not in contact with support 722. These surfaces experience Hertzian stresses based on
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24/45 curvature of the surfaces. The curvature and material properties, together with the diameter and material of the 742 ball bearing can be configured to generate contact conditions that do not deteriorate the surfaces. Ball bearings 742 move within a predetermined range within ball bearing retainer 740, and serve as a locking mechanism to apply forces to both the first portion 710 and the second portion 720 to securely lock the same joints and form a coupling between the first portion 710 and the second portion 720.
[0057] A set of Belleville washers 760, a locking collar 746, and an axial bearing 744, can be coupled to the ball bearing retainer 740. Collet 750 can be configured to rotate over the first portion 710 to locking and unlocking bracket 722 from ball bearing retainer 740. An external surface of the clamp 750 can be a locking knob that the user can rotate to engage and uncouple the first portion 710 and the second portion 720.
[0058] FIGURES 7B-7D are side views in cross section of the coupler 700 in different coupling states. In the uncoupled state shown in FIGURE 7B, the Belleville 760 set of washers is compressed and the button portion (of the clamp 750) is rotated. The second portion 720 is being translated into the first portion 710, but does not make contact with the ball bearing retainer 740. In FIGURE 7C, the first portion 710 and the second portion 720 produced an initial engagement where support 722 contacts the retainer of ball bearing 740. The caliper 750 is in a first position corresponding to an unlocked position of the coupler 700. The Belleville 760 washer assembly is fully compressed, and the button portion of the caliper 750 is rotated. In FIGURE 7D, the clamp knob is rotated so that it is rotated to remove the
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25/45 ball bearing retainer 740 in the first portion 710 and lock the bracket 722 to the first portion 710. The Belleville washers set 760 are in an operating load compression. Both the support 722 and the first portion 711 are held by a holding force using a set of ball bearings 742. The set of ball bearings 742 can include four or more ball bearings equally spaced along a circumference of the retainer. ball bearing 740. In some embodiments, coupler 700 may include kinematic assemblies, V-grooves, and / or alignment elements described herein.
[0059] Kinematic Assembly with Lead Screw Connection
[0060] FIGURE 8 is the cross-sectional side view of an embodiment of a coupler 800 driven by a motorized locking mechanism that can generate high forces to ensure the coupling is restricted and maintained at six degrees of freedom even in the presence of loads external (eg, inertial and static loads of the robotic arm during a surgical procedure). Coupler 800 may include a first portion 810 and a second portion 820. The coupling of the first portion 810 and the second portion 820 forms a secure conjugate connection where six degrees of freedom are restricted. From this view, it can be seen that the first portion 810 includes a first end 856 (the end attached to the robotic arm), and a second end 858 (the end attached to the second portion 820), and an inner cavity 864 formed within the first portion 810, between the first and second ends. An opening for the inner cavity 864 is formed through the second end 858. The first portion 810 may include a locking mechanism coupled to a drive mechanism configured to lock and secure the coupling between the
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26/45 first portion 810 and second portion 820. The second portion includes a support 822 that can be translated along a Y axis to correspond with the first portion 810 to restrict translation along the Y axis. Support 822 includes a lead screw 824 that can be coupled to a corresponding threaded portion 832 of a rotating clamp 830. A motor 850 can drive the clamp 830 to rotate over lead screw 924 in a first direction in order to translate lead screw 824 in the first portion 810 along the Y axis. In this way, the clamp 830 can be engaged with the bracket 822 to securely lock and couple the first portion 810 to the second portion 820. The rotation of the clamp 830 in a second direction opposite the first direction the lead screw 824 can be moved out of the first portion 810 along the Y axis. In some embodiments, the lead angle of lead screw 824 can be between about 2 degrees and about 30 degrees. In some embodiments, the pitch angle of lead screw 824 can be between about 10 degrees and about 15 degrees. In some embodiments, the lead angle of lead screw 824 can be configured to prevent lead screw 824 from being driven back.
[0061] The 850 motor can be coupled to a gearbox 840 and configured to rotate the clamp 830. The clamp 830 can be attached to one or more bearings 834. The bearings 834 can be, for example, a deep groove ball bearing. deep groove. Gearbox 840 can be, for example, a planetary or harmonic gearbox, and can have a gear ratio of about 20 to about 200. The 850 motor can be, for example, a brushless DC motor. In some embodiments, the motorized locking mechanism can generate a force of at least 500 N. In some embodiments, the
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27/45 motorized locking mechanism can generate a force of at least 1400 N.
[0062] The 850 motor can be coupled to a controller (not shown) configured to receive input commands from a user. For example, a robotic arm may include a switch that can accept a coupling command to lock and unlock the first portion 810 of the second portion 820 by operating the lead screw in any direction, thereby securing and detaching the robotic arm from a table surgical. The switch can be provided on an operating table, medical cart, and / or portable computing device.
[0063] In some embodiments, coupler 800 may include a connection sensor 852 configured to detect coupling and decoupling between the first portion 810 and the second portion 820. In some embodiments, the connection sensor may include one or more of a sensor power, Hall effect sensor, and electric switch located on either the first portion 810 and the second portion 820 (for example, at an interface between the first portion 810 and the second portion 820). In some embodiments, the connection sensor may include an encoder in the motor 850. A controller can be configured to drive the clamp 830 using the motor 850 until a coupling or decoupling has been detected.
[0064] In some embodiments, coupler 800 may include kinematic assemblies, V-grooves, and / or alignment elements, as described herein. The motorized locking mechanism of the coupler 800 can reduce user error in the coupling of the first portion 810 to the second portion 820 including partial coupling and uncoupling, risk of usability (eg, non-intuitive use), and increased security (eg, robotic arm that falls to the floor on a user's foot or leg).
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28/45
[0065] Conical Arm Base Connection
[0066] FIGURE 9A is a side perspective view of an embodiment of a coupler 900. The coupler 900 can include a first portion 910 such as a base portion for mounting to a surgical table (e.g., operating table 300). Coupler 900 may include a second portion 920 (e.g., arm adapter) such as a terminal base portion for a robotic arm. The coupling of the first portion 910 and second portion 920 forms a secure conjugate connection where six degrees of freedom are restricted. The first portion 910 includes a handle 940 configured to lock and secure the coupling between the first portion 910 and the second portion 920, and an alignment protrusion 960 configured to contact a corresponding alignment hole (not shown), as described herein. The first portion 910 includes a cone 930 that can be moved along a Y axis to correspond with a tapered receiving hole 912 (FIGURE 9D) of the second portion 920 to restrict translation along the Y axis. FIGURE 9B illustrates the X axis, Y axis, and Z axis relative to coupler 900. It should be appreciated that the first portion 910 and the second portion 920 can be reversed such that the first portion 910 is coupled to a surgical table and the second portion 920 is coupled to a robotic arm.
[0067] The first portion 910 may include one or more alignment protrusions 960 configured to contact and slide in and correspond with a corresponding alignment hole 962 in the second portion 962. The alignment protrusion 960 is asymmetric in which the alignment of the protrusion 960 with the second portion 920 it is configured to prevent a user from inserting the first portion 910 incorrectly into the second portion 920. This process can be referred to here as registration. The shape of the 960 alignment protrusion
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29/45 is shown to have a cylindrical shape, but is not particularly limited. For example, alignment protrusion 960 may include a loaded spring / separation pin. When the alignment protrusion 960 is misaligned with the alignment hole 962, the cone 930 of the first portion 910 will not be transferred along the Y axis sufficiently in the tapered hole 912 of the second portion 920 to engage coupling and locking of the first portion 910 to the second portion 920. For example, FIGURE 9D illustrates the alignment protrusion 960 of the first portion 910 aligned with the alignment hole 962 of the second portion 920 to allow the cone 930 to be fully translated into the second portion 920. Otherwise, the alignment protrusion 960 contacts the housing of the second portion 920 to create a gap between the first portion 910 and the second portion 920 that prevents their coupling.
[0068] The cone 930 is configured to provide a large surface area to form a mechanical coupling having rigidity. For example, cone 930 is configured to couple first portion 910 and second portion 920 in order to restrict translation on the X axis and Y axis, and to restrict rotation on the X axis and Z axis. The surface of the 930 forms surfaces corresponding which may have tight tolerances and a surface finish that ensures correct contact with the second 920 portion. In some embodiments, the contact surface may include a surface roughness configured to increase friction between the first 910 portion and the second 920 portion. A taper angle of the 930 cone can be configured for low release forces, while maintaining high coupling stiffness. In some embodiments, cone 930 may have a taper angle of about 14 degrees.
[0069] In some embodiments, cone 930 may include edges or planes that contact the corresponding alternating surface. In
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In some embodiments, a pin 934 can be arranged on a nose of cone 930, and can be configured to protrude from and recess on a surface of cone 930. When handle 940 is rotated to an unlocked position, the pin can be configured to project from cone 930 to assist in the release and translation of the second portion 920 away from the first portion 910 by pushing the first portion 910 and the second portion 920 apart from each other in the event that they remain in contact due to friction.
[0070] FIGURE 9C illustrates a side view of the first portion 910 and the second portion 920. Cone 930 may include two or more detectors 950 configured to restrict the translation of the second portion 920 along the Y axis. For example, detectors 950 can be arranged along the opposite side sides of the conical taper of cone 930. The detectors 950 can be configured as an initial locking mechanism (for example, spring detent) to prevent a robotic arm attached to the second portion 920 from falling out and away from the cone 930 of the first portion 910. The holder 950 may include a flat angled surface configured to slide easily over a tapered bore surface. Holder 950 may include a tapered portion configured to hold the first portion 910 against the second portion 920. The second portion 920 includes a switch 952 having a corresponding holder 950 configured to move holders 950 from a first configuration to a second configuration. Holders 950 can be skewed to project from cone 930 in the first configuration, and be recessed in cone 930 in the second configuration. FIGURE 9E shows the second portion 920 being transferred over cone 930. When the second portion 920 is transferred over cone 930, holders 950 make contact with the surface of tapered bore 912, and are recessed in cone 930. The
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31/45 holders 950 which advance over corresponding axial grooves 932 (FIGURE 9D) allow holders 950 to project outwardly in the first configuration, thereby coupling and securing the first portion 910 to the second portion 920 in an initial locked state, as shown in FIGURE 9F. FIGURE 9G is a perspective view of the first portion 910 and second portion 920 in the initial locked state. Handle 940 is in an unlocked state through all the steps shown in FIGURES 9D-9G.
[0071] FIGURES 9H and 9M show a first surface 951 and a second surface 953 of holder 950. The first surface 951 can be a flat angled surface having an angle similar to that of the taper angle of cone 930. The first surface 951 can be configured to allow holder 950 to slide easily over a tapered bore surface 912. As the first surface 951 travels through tapered bore 912 of the second portion 920, the holder 950 is recessed into the cone 930. The second surface 953 it may be a tapered portion configured to hold the first portion 910 against the second portion 920. The second surface 953 of the holder 950 may include an anti-release angle 1044 configured to prevent holder 950 from uncoupling the second portion 920 when holder 950 is in a projecting configuration. The 950 holders can be configured to be skewed towards the projecting configuration.
[0072] In some embodiments, holders 950 may include a meat surface configured to contact a corresponding surface such that by welding the holders outwards rather than being pulled back, the first portion 910 and the second portion 920 may be attached and locked together. For example, the meat surface may include a surface
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32/45 angle, a sphere and socket surface, and / or the like.
[0073] FIGURE 9H illustrates a set of Belleville 958 washers coupled to holders 950 and shuttle 970. Belleville 958 washers can be configured to apply a holding force to holder 950. In some embodiments, Belleville 958 washers can apply between about 130 Ib force and about 230 Ib force. Belleville 958 washers can be configured to vary a latch force (for example, handle 940, meat 942, and shuttle 970). In some embodiments, a pre-compression force on Belleville 958 washers can be adjusted using an auxiliary input.
[0074] Handle 940 coupled to meat 942 is illustrated in FIGURES 9H and 9M. The cam 942 is configured to rotate in response to the rotation of handle 940 between the unlocked and locked positions. The rotation of the meat 942 towards a locked position applies contact forces to the shuttle 970 arranged inside the cone 930. As the handle 940 rotates through its arc, the meat 942 applies force against the shuttle 970 of the first portion 910 to bring the first portion 910 and second portion 920 together and securely lock the first portion 910 to the second portion 920 with high rigidity. When handle 940 is in the locked position, the first portion 910 and the second portion 920 are securely engaged and locked together. In some embodiments, the first portion may include a motorized locking mechanism as described here, in place of handle 940 and cam 942. In some embodiments, cam 942 can be rotated indirectly via, for example, a set of angle gears straight or rotational movement on an axis separate from the meat axis 942.
[0075] To release the second portion 920 from the initial locked state (where handle 940 is in the unlocked position), switch 952
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33/45 can be actuated by being pressed in this way, by pressing the holders 950 in a second configuration, and allowing the user to translate the second portion 920 away from the first portion 910. FIGURES 91-FIGURE 9L illustrate frontal perspective views, side and top respectively of switches 952. A switch 952 can include a release point 956 configured to contact and push a corresponding axial switch 950 in the second recessed configuration. Switch 952 can rotate on a 1054 hinge when actuated. In some embodiments, switches 952 can be spaced about 3.5 inches apart. This allows a user to engage both switches 952 simultaneously using a hand wrapped around the second portion 920, thereby naturally encouraging the placement of the user's hand in a position to support the arm (and reduce the likelihood of a dropped arm) when the second portion 920 is decoupled from the first portion 910. Each switch 952 may include a torsion spring configured to skew switch 952 to an initial reset position.
[0076] In some embodiments, the first portion 910 and the second portion 920 may each include an electrical interface 938 to provide a power and / or data connection between the first portion 910 and the second portion 920. The electrical interface may include a or more than one spring contact pin, cleaning contacts, a fiber optic interface, transformers, or any other power and / or data connector. In some embodiments, the electrical interface of the first portion 910 may be arranged on the tapered surface of the cone 930, or on the base flange of the first portion 910 that supports the cone 930. In some embodiments, one or more of the holders 950 may include an interface electric, as holders 950 contact the second portion 920.
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34/45
[0077] In some embodiments, coupler 900 may include one or more connection sensors 936, as described herein, and configured to detect coupling and decoupling between the first portion 910 and the second portion 920. For example, connection sensors may be configured to detect one or more of the amount of force that holders 950 are holding, a location of holders 950 (for example, amount that holders have moved), and a contact state between cone 930 and second portion 920 .
[0078] In some embodiments, one or more of the first portion 910 and second portion 920 may include a damper configured to vibrationally isolate the first portion 910 from the second portion 920.
[0079] FIGURE 10 is a flow chart of a method 1000 of coupling a robotic arm to a surgical table, such as by using any of the couplers described here. Method 1000 includes translation in 1002 of a second portion (for example, base portion of the robotic arm) of a coupler over a first portion of the coupler (for example, mounting portion of an upper part of the operating table) (FIGURE 9E) . A tapered taper of the first portion can provide initial alignment. The second portion in 1004 is further aligned with the first portion as the second portion is conveyed over a cone of the first portion by aligning corresponding alignment elements in each of the first and second portions. The locking mechanism of the first portion (for example, holders) will not engage with the second portion if the alignment element (s) of the first portion are not aligned with the second portion. The holders are engaged with the second portion at 1006 (FIGURE 9F). This initial coupling of the holders to the second portion is
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35/45 self-locking in which the coupling will not become disengaged (for example, released) without user input (for example, user actuation of a switch). At this point, the first portion and the second portion are coupled in an initial engagement state such that the second portion is unable to fall apart from the first portion if the second portion was not supported by a user.
[0080] While in the initial engagement state, a handle can be rotated by 1008 to rotate a two position meat from the first portion to apply contact forces to a shuttle disposed within the cone. As the handle rotates through its bow, the meat applies force against the shuttle of the first portion to bring the first portion and the second portion together and securely lock the first portion to the second portion with high rigidity. In some embodiments, the handle can rotate about 90 degrees from an unlocked position to a locked position. The first portion and the second portion are locked in 1010.
[0081] To disengage the first portion of the second portion, the handle must be turned to an unlocked position before a switch holder is actuated. Accidental decoupling is reduced by requiring both locks to be decoupled by a user. The handle can be rotated in 1012 towards an unlocked position to rotate the meat and uncouple it from the hook. Rotating the handle to the unlocked position does not fully disengage the first portion and second portion, and allows the user to support the mass of a robotic arm attached to the second portion. The actuation of one or more switches in 1014 recesses the holders in the cone and allows the second portion to translate in 1016 out and away from the cone of the first portion.
[0082] Connection to Radial Stapling Arm Base
[0083] FIGURES 11 A, 11E, e11H are side views in section
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36/45 cross-section of embodiments of a coupler 1100 including a first portion 1110 and a second portion 1120. The coupling of the first portion 1110 and the second portion 1120 forms a secure conjugate connection where six degrees of freedom are restricted. The first and second portion can each include an electrical interface 1126 to provide power and data through the coupler 1100. The first portion 1110 includes a ball bearing 1112 coupled to a spring 1114 configured to couple the first portion 1110 to the second portion 1120. In in some embodiments, a positive latch can still be attached to the spring 1114 to prevent the spring from returning. The second portion 1120 includes a support 1122 that can be translated along a Y axis to correspond with the first portion 1110. The second portion 1120 may include a first surface 1123 and a second surface 1124. The second surface 1124 may have an angle more pronounced relative to the first surface 1123. A radial clamp 1130 can be arranged around the second portion 1120. The coupling of the support 1122 to the first portion 1110 can restrict translation along the Y axis.
[0084] FIGURE 11A illustrates the first portion 1110 aligned and having an initial engagement with the second portion 1120. The support
1122 of the second portion 1120 may include the first surface 1123 (for example, conical conduction) configured to allow misalignment during translation and sliding of the support 1122 in the first portion 1110.0 support 1122 may further include a second surface 1124 (for example, angled face) configured to press against 1124 ball bearings. The first surface
1123 and the second surface 1124 experience Hertzian stresses based on the curvature of the surfaces. The curvature and material properties, along with the diameter and material of the ball bearing
1124 can be configured to generate contact conditions that
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37/45 do not deteriorate surfaces.
[0085] Clamp 1130 can be tightened to lock the first portion 1110 to the second portion 1120. FIGURES 11B-11D are a front cross-section of the radial clamp 1130 coupled to an 1140 actuator. The 1140 actuator can include a 1142 screw and handle 1144. A user acting on handle 1144 can turn the screw 1142 to vary a radial compression force of the clamp 1130 in the second portion 1120. The actuator 1140 can be pivoted or rotated. In some embodiments, the actuator 1140 can be rotated by a quarter turn to achieve a desired radial compression of the clip 1130. The clip 1130 can also include one or more reliefs 1132 to distribute compressive forces. The clamp compresses within a predetermined range and serves as a locking mechanism to apply forces to both the first portion 1110 and the second portion 1120 to securely lock the same joints and form a coupling between the first portion 1110 and the second portion 1120.
[0086] FIGURE 11E illustrates a coupler 1100 including a first clamp 1150 and a second clamp 1152. The first clamp 1150 can be configured to mate with one end of the second portion 1120 between the first portion 1110 and the second portion 1120. The second collet 1152 can be configured to engage a base portion of the second portion 1120 between the first portion 1110 and the second portion 1120. The first collet 1150 and the second collet 1152 are both coupled to an alternator 1160 having a handle 1162 for a user move along the Y-axis. The external and internal surfaces of the clamps can match an angle of respective first and second portions such that the clamps can translate and compress between the first and second portions. In some embodiments, the clamps can be coupled to a
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38/45 set of Belleville washers to provide a predetermined compression force. The first clamp 1150 and the second clamp 1152 can each include one or more cuts 1151, 1153 (see FIGURES 11F-11G), such that the translation of the alternator 1160 towards the first portion 1110 will compress the clamps, and secure the coupling between the first and second portions. The clamps translate and compress within a predetermined range, and serve as a locking mechanism to apply forces to both the first portion 1110 and the second portion 1120 to securely lock the same joints and form a coupling between the first portion 1110 and the second portion 1120. In some embodiments, compression of the clamps to a predetermined force forms an electrical interface connection.
[0087] FIGURE 11H illustrates a coupler 1100 including a first clamp 1134 and a second clamp 1136. The first clamp 1134 can be configured to engage and vary a radial compressive force at one end of the second portion 1120. The second clamp 1136 can be configured to couple and vary a radial compression force. In some embodiments, the first clip 1134 and second clip 1136 can be coupled to a respective first meat 1170 and second meat 1172, as shown in FIGURE 111. Each meat can be coupled to a handle, and acted together to vary a force of radial compression in the second portion 1120. The first meat 1170 and second meat 1172 can have different profiles and can be actuated using rotary or linear movement. In addition, meats 1170, 1172 may allow for different regulation, different compression and / or linear movement and stapling of staples 1134, 1136. Each staple compresses within a predetermined range and serves as a locking mechanism to apply forces to both the first
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39/45 portion 1110 and second portion 1120 to securely lock them together and form a coupling between the first portion 1110 and the second portion 1120. In some embodiments, compression of the radial clamp to a predetermined force forms a connection of electrical interface.
[0088] FIGURE 12 is a flow chart of a 1200 method of coupling a robotic arm to a surgical table, such as by using any of the couplers described here. Method 1200 includes translation into 1202 of a second portion (for example, base portion of the robotic arm) of a coupler in a first portion of the coupler (for example, mounting portion of an upper part of the operating table). A second portion holder may begin to align at 1204 as the holder moves in the first portion. The locking mechanism of the first portion (for example, radial clamp, handle, actuator, button) will not engage if the alignment element (s) of the second portion are not aligned with the first portion. When the support is in an initial engagement state against a set of ball bearings, the handle can be rotated by 1206 to compress the radial clamp. The pressing force of the radial clamp locks at 1208 of the first and second portions together. In order to uncouple the coupler 1200, a user can turn the handle by 1210 towards the unlocked position. This decompresses the radial clamp, thereby releasing the force between the ball bearings and the housing of the second portion. With the lock disengaged, the second portion can be completely decoupled from the first portion by translating the second portion out of the first portion in 1212.
Other Arm Base Connections
[0089] FIGURES 13A-13D are seen in perspective of embodiments of a coupler 1300 including a first portion
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40/45
1310 and a second portion 1320. The coupling of the first portion 1310 and the second portion 1320 forms a secure conjugate connection where six degrees of freedom are restricted. The first and second portions can each include an electrical interface to provide power and data through the coupler 1300. The support hole 1312 can include a first electrical connector 1316 shown in FIGURE 13C configured to couple with a second electrical connector 1330 shown in FIGURE 13A-13C.
[0090] The second portion 1320 includes a support 1322 that can be moved along a Y axis to correspond with the first portion 1310. The support 1322 can include a set of detent 1324 slanted to project from the support 1322 in the first configuration, and be recessed in support 1322 in the second configuration. The first portion 1320 includes a support hole 1312 and a set of holder holes 1314 corresponding to the set of detectors 1324 of the second portion 1320. The detectors 1324 can be driven by a lead screw 1342 coupled to a 1340 engine. the lead screw 1342 is moved along a Y axis, a linear rack 1350 coupled to the lead screw 1342 is driven along a Y axis and rotates a holder 1360 between the first and second configurations. This motorized locking mechanism can ensure a secure coupling between the first portion 1310 and the second portion 1320. The second portion 1320 may include an access door 1370 (see FIGURE 13D) for a user to manually insert a tool (for example, wrench Allen) to manually activate the linear rack 1350 and enable the decoupling of the robotic arm from the operating table. The 1340 motor can be, for example, a brushless DC motor.
[0091] FIGURES 14A-14E are exterior views of a set
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41/45 of linear rack 1400 including a linear rack 1420 and holder 1410. The linear rack 1420 can be of double lade where rack 1422 on one side (see FIGURE 14C) is interchangeable with that on the other side. In other words, the rack 1422 of FIGURE 14C can be inverted and engaged to be symmetrical. The linear rack 1420 may include one or more Belleville washers to increase the compliance of the 1410 holders (for example, rotating meat claws). A support can be provided at one end of each rack to allow each rack to press together. A washer 1430 can be arranged between the corresponding surfaces of the racks 1422 to add spring strength and conformity. The holder 1410 may include a tooth gear 1412 and a meat claw 1414 separated in height by a clearance 1418 as illustrated by FIGURES 14D-14E. The holder 1410 can rotate on an axis 1416. The meat claw 1414 can correspond with a corresponding surface of the first portion as the holder rotates.
[0092] FIGURES 15A-15C are an internal perspective view of a coupler 1500, according to an embodiment. In some embodiments, the coupler 1500 may include a set of three skewers to project from the surface of a housing in the first configuration and be recessed in the housing in the second configuration. The detectors 1560, 1562, 1564 can be driven by a lead screw 1542 coupled to a motor 1540. As the lead screw 1542 is transferred along a Y axis, a linear rack 1550 coupled to the lead screw 1542 translated along a Y axis and the detent 1560, 1562, 1564 rotates between the first and second configurations. The coupler 1500 can include an access port 1570 for a
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42/45 user to manually insert a tool (eg Allen key) to manually activate the linear rack 1550 and capacitor to uncouple the robotic arm from the operating table. The 1540 motor can be, for example, a brushless DC motor.
[0093] FIGURES 16A-16B is an internal and external view of a coupler 1600 including a motorized locking mechanism. A first portion 1610 may include a motor 1640 coupled to a ball bearing 1650 configured to apply a holding force against a release member 1630 of a second portion 1620. The motor 1640 applies a downward force within a predetermined range and serves as a vibration damper and locking mechanism to apply forces to both the first portion 1610 and second portion 1620 to securely lock the same joints and form a coupling between the first portion 1610 and the second portion 1620. The release member 1630 includes a 1634 bearing surface configured to contact the 1650 ball bearing. The 1634 bearing surface includes a tapered or ramp surface to allow the 1650 bearing to recess in the 1630 release member. The 1630 release member can rotate on a hinge 1632. A pin 1642 can secure the release member 1630. However, when pin 1642 is released, the gravity force and the downward pressure between the bearing 1650 will cause the release member 1630 to swing open to release the contact force between the first portion 1610 and the second portion 1620, thereby uncoupling the first portion 1610 and the second portion 1620.
[0094] FIGURES 17A-17D are schematic side views of a 1700 coupler including a translation mechanism. A first portion 1710 can include a carriage including a set of locks 1730 for securing a support 1722 of a second portion 1720.
Petition 870190084427, of 08/29/2019, p. 65/121
43/45
To couple the first portion 1710 and the second portion 1720, the support 1722 is transferred in the first portion 1710. To decouple the first portion 1710 and the second portion 1720, the support is further translated into the first portion 1710 by a predetermined distance, and, then it can be retracted to uncouple the first 1710 portion and the second 1720 portion.
[0095] In FIGURES 17A-17B, a distal head 1724 is transferred in the first portion 1710 to contact a first angled surface 1732 of the latches 1730. The latches can be coupled to the springs 1740 slanted to extend towards another latch. The distal head 1724 slides through the latches such that the latches 1730 contact a second diameter portion 1723 of the support 1722. At this point, the support 1722 is prevented from retracting from the first portion 1710 by contact between the latch 1730 and the proximal end of the distal head 1724. Support 1722 includes a sliding collar 1726 that can slide along the second diameter portion 1723 of support 1722.
[0096] In FIGURE 17C-17D, support 1722 is further translated into the first portion 1710 such that latch 1730 slides along the second portion of diameter 1723. The first surface 1732 of latch 1730 is configured to slide against the first surface 1927 of the sliding collar 1726 such that the locks 1730 hold the sliding collar 1726 in place. At this point, the retraction of the support 1722 away from the first portion 1710 will move the distal head 1724 in a reverse direction, while the sliding collar remains fixed with respect to the latches 1730. In other words, the sliding collar 1726 will slide along the second portion in diameter 1723 from an end proximal to a distal end. When the sliding collar 1726 contacts the distal head 1724, the opening of the latches 1730 is of a diameter such that the distal head 1724 is not prevented from
Petition 870190084427, of 08/29/2019, p. 66/121
44/45 retract away from the first portion 1710. In some embodiments, the distal head 1724 at a proximal end includes a recess for retaining the sliding collar 1726.
[0097] FIGURES 18A-18B are side views of a gripper 1800 configured to encircle and grasp a coupler support of any of the previous embodiments. Gripper 1800 includes arms 1802, 1804 operable to apply a lateral force to a longitudinal axis of the support (for example, support 422) of the coupler (for example, coupler 400).
[0098] While several embodiments have been described above, it should be understood that they were presented by way of example only, and not limitation. Where methods described above indicate certain events that occur in a certain order, the ordering of certain events can be modified. In addition, certain events can be held concurrently in a parallel process when possible, as well as sequentially as described above.
[0099] Where schematic and / or embodiments described above indicate certain components arranged in certain orientations or positions, the arrangement of the components can be modified. While the embodiments have been particularly shown and described, it will be understood that several changes in form and details can be made. Any portion of the apparatus and / or methods described herein can be combined in any combination, except mutually exclusive combinations. The embodiments described herein can include various combinations and / or subcombination of the functions, components and / or characteristics of the different embodiments described.
[00100] While the preceding written description of the invention enables a technician in the subject to produce and use what is considered
Petition 870190084427, of 08/29/2019, p. 67/121
45/45 currently as the best mode of this, those skilled in the art will understand and appreciate the existence of variations, combinations, and equivalents of the specific embodiment, method, and examples here. For several of the ideas presented here, one or more of the parts may be optional. The invention should therefore not be limited by the above-described embodiment, method, and examples, but by all embodiments and methods within the scope and spirit of the invention.

权利要求:
Claims (20)
[1]
1. Coupler for coupling a robotic arm to a surgical table, characterized by the fact that the coupler comprises:
a first portion configured to attach to a surgical table;
a second portion configured to couple a robotic arm, the second portion having a support configured to move along a first axis of the first portion to couple the second portion to the first portion; and a locking mechanism configured for transition from a coupling between the first portion and the second portion between a locked position and an unlocked position, where in the locked position, the movement of the first portion relative to the second portion in six degrees of freedom is restricted .
[2]
2. Coupler according to claim 1, characterized by the fact that the locking mechanism comprises a first cam, a second cam and a ball bearing assembly positioned within an inner cavity of the first portion, and in which a translation of the first and second cams along the first axis causes the ball bearing assembly to translate the support along the first axis to the locked position or to the unlocked position.
[3]
3. Coupler according to claim 2, characterized by the fact that the ball bearing assembly comprises a ball bearing retainer and a ball bearing that allows translation of the ball bearing assembly into the inner cavity of the first portion, and the ball bearing retainer comprises a receiving cavity sized to receive the support; and where the inner cavity of the first portion comprises an inner contact surface, and the
Petition 870190084427, of 08/29/2019, p. 69/121
2/6 support comprises an outer contact surface, and the ball bearing contacts the inner contact surface and the outer contact surface in the locked position.
[4]
4. Coupler according to claim 2, characterized by the fact that each of the first meat and the second meat are face meat having a variable meat surface profile configured to adjust a translation function or an axial force function of the locking mechanism.
[5]
5. Coupler according to claim 2, characterized by the fact that the locking mechanism further comprises a skew element configured to apply a skew force to the ball bearing assembly.
[6]
6. Coupler according to claim 1, characterized in that the first portion comprises a groove axially oriented along the outer surface, and the second portion comprises a kinematic assembly configured to correspond with the groove when the second portion is coupled to the first portion, and in which the kinematic assembly and the groove are dimensioned to restrict the translation or rotation of the first portion with respect to the second portion.
[7]
7. Coupler according to claim 1, characterized in that the first portion further comprises an alignment opening, and the second portion comprises an alignment protrusion, the alignment protrusion having an asymmetric shape configured to correspond with the opening alignment in a simple orientation, and prevent misalignment of the first portion with respect to the second portion.
[8]
8. Coupler, according to claim 1, characterized by the fact that the support of the second portion is
Petition 870190084427, of 08/29/2019, p. 70/121
3/6 dimensioned to surround the first portion to restrict translation of the first portion with respect to the second portion along the first axis.
[9]
9. Coupler according to claim 1, characterized by the fact that the locking mechanism comprises a set of ball bearings, a cam coupled to a bushing and an axis positioned within an inner cavity of the first portion, in which the cam and bushing are configured to translate along the axis to vary a contact force of the set of ball bearings against the support between the locked position and the unlocked position.
[10]
10. Coupler, according to claim 1, characterized by the fact that the support is a cone configured to correspond with a conical receiving cavity of the first portion to couple the second portion to the first portion, in which the cone has an angle of taper configured to achieve low release forces, while maintaining high coupling stiffness between the first portion and the second portion.
[11]
11. Coupler, according to claim 10, characterized by the fact that it also comprises a pin disposed in a nose of the cone, in which the pin is configured to project from the nose of the cone in a first configuration, and recessed in the nose in a second configuration, where the first or second configuration corresponds to an orientation of a handle of the locking mechanism.
[12]
12. Coupler, according to claim 10, characterized by the fact that it also comprises:
a holder arranged along one side of the cone, where the holder is skewed to project from the side of the cone in a first configuration, and recessed on the side of the cone in a
Petition 870190084427, of 08/29/2019, p. 71/121
4/6 second configuration; and a keeper groove formed along an inner surface of the conical receiving cavity of the second portion for receiving the keeper of the first portion in the first configuration for coupling the second portion to the first portion, or a switch for transition of the holder between the first configuration and the second configuration.
[13]
13. Coupler, according to claim 1, characterized by the fact that it also comprises an electrical interface between the first portion and the second portion, in which the electrical interface is operable to provide power to a motor to drive the locking mechanism.
[14]
14. Coupler for coupling a robotic arm to a surgical table, characterized by the fact that the coupler also comprises:
a first portion having a first end configured to couple with a surgical table, and a second end, the second end defining an opening for an interior cavity within the first portion;
a second portion configured to couple with a robotic arm, the second portion having a support configured to be received within the inner cavity, and translate along the first axis of the first portion to couple the second portion to the first portion;
a locking mechanism configured to restrict the movement of the first portion relative to the second portion by six degrees of freedom; and a drive mechanism configured to drive a locking mechanism operation.
[15]
15. Coupler according to claim 14,
Petition 870190084427, of 08/29/2019, p. 72/121
5/6 characterized by the fact that the locking mechanism comprises a clamp rotatably positioned inside the inner cavity of the first portion, and the support of the second portion comprises a lead screw configured to be received inside the clamp, in which a rotation of the clamp around the first axis in a first direction, move the lead screw along the first axis in a direction to the clamp to lock the first portion to the second portion, in which a rotation of the clamp around the first axis in a second direction moves the lead screw along the first axis in a direction away from the clamp to unlock the first portion from the second portion.
[16]
16. Coupler according to claim 14, characterized by the fact that it also comprises a connection sensor configured to detect a coupling and a decoupling between the first portion and the second portion.
[17]
17. Coupler according to claim 14, characterized in that the locking mechanism comprises a clamp and a ball bearing retainer positioned within the inner cavity of the second portion, the clamp is operable to rotate around the first axis of the first portion, and trigger a translation of the ball bearing retainer along the first axis in a direction to the clamp to lock the first portion to the second portion.
[18]
18. Coupler according to claim 14, characterized in that the locking mechanism comprises a radial compression member arranged around the second portion, the radial compression member operable to apply a radial force to the second portion to lock the second portion to the first portion, and in which the drive mechanism comprises a handle and a screw coupled to the
Petition 870190084427, of 08/29/2019, p. 73/121
6/6 radial compression in a first configuration, or a cam coupled to the radial compression member in a second configuration, the handle operable to turn the screw in the first configuration and the cam operable in the second configuration to vary a radial compression force of the limb of radial compression over the second portion.
[19]
19. Coupler according to claim 14, characterized in that the locking mechanism comprises a compressible clamp positioned around an external surface of the second portion, the compressible clamp is operable to be compressed between the first portion and the second portion to form a coupling between the first portion and the second portion, and wherein the compressible clamp is configured to provide an electrical connection between the first portion and the second portion.
[20]
20. Coupler, according to claim 19, characterized by the fact that it also comprises an alternator coupled to the compressible clamp, the operable alternator to move the compressible clamp between a locked position and an unlocked position.

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同族专利:

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公开号 | 公开日

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AU2018243738B2|2021-08-12|

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KR20190112829A|2019-10-07|

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EP3579783A4|2020-12-16|

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JP2020512076A|2020-04-23|

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US20180271604A1|2018-09-27|

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EP3579783A1|2019-12-18|

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CA3054431A1|2018-10-04|

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US20210341007A1|2021-11-04|

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CN110709025A|2020-01-17|

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AU2018243738A1|2019-09-12|

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US11078945B2|2021-08-03|

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JP6905162B2|2021-07-21|

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KR102326102B1|2021-11-17|

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WO2018183212A1|2018-10-04|

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法律状态:
2021-10-19| B350| Update of information on the portal [chapter 15.35 patent gazette]|

优先权:

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申请号 | 申请日 | 专利标题

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US201762476816P| true| 2017-03-26|2017-03-26|

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