surgical platform with adjustable arm supports

专利摘要:
The present invention relates to a surgical robotic system that can include one or more adjustable arm supports that support one or more robotic arms. The adjustable arm supports can be configured to be attached to a table, a table column support or a table base to position the adjustable arm supports and robotic arms from a position below the table. In some instances, the adjustable arm supports include at least four degrees of freedom that allow you to adjust the position of a bar or rail so that the robotic arms are mounted. One of the degrees of freedom can allow the adjustable armrest to be adjusted vertically in relation to the table.
公开号:BR112020014449A2
申请号:R112020014449-5
申请日:2018-12-28
公开日:2020-12-01
发明作者:Nicholas J. Eyre；Colin Allen Wilson；Andrew F. O'Rourke；Travis C. Covington；Sven Wehrmann
申请人:Auris Health, Inc.；
IPC主号:

专利说明:

[001] [001] This description generally refers to medical systems, and particularly to a surgical or medical platform, table or bed with adjustable arm supports. description
[002] [002] Robotic technologies have a range of applications. In particular, robotic arms help to perform tasks that a human being would normally perform. For example, factories use robotic arms to make automobiles and consumer electronics. In addition, scientific facilities use robotic arms to automate laboratory procedures such as transporting microplates. Recently, doctors have started using robotic arms to help perform surgical procedures. For example, doctors use robotic arms to control surgical instruments within a patient. However, existing medical systems including robotic arms have a high capital cost and are typically specialized for performing limited types of surgical procedures. That way, doctors or their assistants may need to obtain multiple robotic arm systems to accommodate a range of surgical procedures. Manually, reconfiguring a robotic arm system for each surgical procedure is also time-consuming and physically demanding for doctors. SUMMARY
[003] [003] A surgical robotic (or medical) system with robotic arms is configurable to perform a variety of surgical (or medical) procedures. A surgical robotic system may include one or more adjustable arm supports that support one or more robotic arms. The adjustable arm supports can be configured to be attached to a table, a table column support or a table base to position the adjustable arm supports and robotic arms from a position below the table. In some instances, the adjustable arm supports include at least four degrees of freedom that allow you to adjust the position of a bar or rail so that the robotic arms are mounted. One of the degrees of freedom can allow the adjustable armrest to be adjusted vertically in relation to the table. A surgical robotic system can include two adjustable arm supports, each supporting one or more robotic arms. The two adjustable arm supports can be adjusted independently. For example, each armrest can be adjusted to a different height from the table.
[004] [004] In a first aspect, a system can include a table configured to support a patient. The system can also include a column that extends along a first geometry axis between a first end and a second end. The first end can be attached to the table. A base can be attached to the second end of the column. The system can include a first arm support coupled to at least one of the table, column or base by at least one first joint configured to allow adjustment along the first geometric axis in relation to the table. The first arm support can include a first bar that has a proximal portion and a distal portion that extends along a second geometric axis that is different from the first geometric axis. The first bar can be configured to support at least one robotic arm.
[005] [005] The system may include one or more of the following features in any combination: (a) the first geometric axis being a vertical geometric axis and the first joint being configured to allow an adjustment of the first bar in a vertical direction; (b) the first joint comprising a motorized linear joint configured to move along the first geometric axis; (c) a first robotic arm mounted on the first bar, the first robotic arm configured to move along the second geometric axis; (d) a second robotic arm mounted on the first bar, the second robotic arm configured to move along the second geometric axis; (e) the second robotic arm being configured to move along the second geometric axis independently of the first robotic arm; (f) a third robotic arm mounted on the first bar; (g) where at least one of the first robotic arm, the second robotic arm or the third robotic arm holds a camera; (g) where at least one of the first robotic arm, the second robotic arm or the third arm can be retracted under the table; (i) the first arm support comprising a second articulation configured to adjust an angle of inclination of the first bar; (j) the second joint comprising a motorized swivel joint configured to rotate about a third geometric axis which is different from the first geometric axis; (k) the first arm support comprising a third joint and a rod connector, the rod connector mechanically coupling the first rod to the third joint; (j) the third joint comprising a motorized swivel joint configured to pivot the bar connector around a fourth geometric axis that is different from the first geometric axis; (m) being that the third articulation is configured to pivot the bar connector to adjust the positioning of the first bar in relation to the column; (n) where: the third joint is positioned on a first end of the bar connector, the first end of the bar connector is coupled to the column, an additional joint is positioned on a second end of the bar connector, the second end of the bar connector is coupled to the first bar, and the additional hinge is mechanically restricted to the third hinge so that the additional hinge and the third hinge rotate together; (o) the additional joint being mechanically restricted to the third joint by means of a four bar mechanism; (p) with the additional joint being mechanically restricted to the third joint, so that an orientation of the first bar does not change as the bar connector rotates; (q) being that the first bar is able to move along a length of the table, so that the first bar can extend beyond one end of the table; (r) the first bar being coupled to the column by at least a fourth joint configured to allow translation of the first bar in relation to the column along the second geometric axis; (s) with the first arm support being configured to be positioned on a first side of the table and the system further comprising a second arm support coupled to at least one of the table, column or base and configured to be positioned on a second side of the table; (t) the second side being opposite the first side; (u) being that the second arm support comprises a second bar that extends along a fifth geometric axis by at least one first articulation configured to allow the adjustment of the second along the first geometric axis; (v) the first arm support and the second arm support being configured to be adjusted independently, so that the first arm support can be moved to a first height and the second arm support can be moved independently to a second height different from the first height; (x) the first arm support being configured to be stored under the table; and / or (y) with the base comprising one or more wheels configured so that the system is mobile.
[006] [006] In another aspect, a system may include a table configured to support a patient. The system may also include a column that extends along a first geometry axis between a first end and a second end. The first end can be attached to the table. A base can be attached to the second end of the column. The system may include a first arm support comprising a first bar that has a proximal portion and a distal portion that extend along a second geometric axis, the first bar coupled to at least one of the table, column or base by at least one first articulation configured to allow an adjustment of the first bar along the first geometric axis, the first arm support configured to support at least one robotic arm. The system can also include a second arm support comprising a second bar that has a proximal portion and a distal portion that extend along a third geometric axis coupled to the column by at least a second joint configured to allow adjustment of the second bar along the first geometric axis, the second arm support configured to support at least one other robotic arm. In some embodiments, the first arm support and the second arm support are configured so that the position of the first bar and the second bar along the first geometry axis can be adjusted independently.
[007] [007] The system can include one or more of the following features in any combination: (a) since the first geometric axis is a vertical geometric axis, the first articulation is configured to allow an adjustment of the first bar in a vertical direction, the second articulation is configured to allow adjustment of the second bar in the vertical direction, and the first bar and the second bar can be adjusted at different heights; (b) the first arm support being configured to be positioned on a first side of the table, and the second arm support being configured to be positioned on a second side of the table; (c) the second side being opposite the first side; (d) where: the first arm support comprises a third joint configured to adjust an angle of inclination of the second geometric axis of the first bar in relation to the table surface, and the second arm support comprises a fourth articulation configured to adjust a inclination angle of the third geometric axis of the second bar in relation to the table surface; (e) the angle of inclination of the first axis of the bar and the angle of inclination of the second axis of the bar can be adjusted independently; (f) the first arm support further comprising a first bar connector that is pivotally coupled to the column in at least a fifth joint, and the second arm support further comprises a second bar connector that is coupled in a way pivoting to the spine by at least one sixth joint; (g) whereby the first bus connector and the second bus connector can be pivoted independently; (h) the first one also comprising a seventh joint configured to allow translation of the first bar in relation to the column along the second geometric axis, and the second arm support further comprising an eighth joint configured to allow the translation of the second bar in relation to the column along the third geometric axis; (i) whereby the translation of the first bar along the first geometric axis of the bar and the translation of the second bar along the second geometric axis of the bar can be adjusted independently; (j) the first and second arm supports being configured to be stored below the table; (k) where one or more of the first joint and the second joint are motorized or controlled by hydraulics; (l) with the first arm supporting at least two robotic arms that are linearly translatable to each other; and / or (m) multiple robotic arms on the first arm support and multiple robotic arms on the second arm support, the number of arms on the first arm support being equal to the number of arms on the second arm support.
[008] [008] In another aspect, an arm support is revealed. The arm support can include a bar that extends along a first geometry axis. The bar can be configured to support at least one robotic arm so that at least one robotic arm can move along the first geometry axis. The bar can be configured to attach to a column that supports a table. The arm support can include a first articulation configured to facilitate the adjustment of a vertical position of the bar along a second axis of the column, a second articulation configured to facilitate the adjustment of an angle of inclination of the first axis with respect to a table surface, a bar connector configured to be pivotally coupled to the column by at least a third joint and a fourth joint configured to facilitate the translation of the bar along the first geometric axis.
[009] [009] The arm support may include one or more of the following features in any combination: (a) with one or more of the first joint, the second joint, the third joint and the fourth joint being motorized or controlled by hydraulics; (b) the second geometrical axis being a vertical geometrical axis and the first articulation being configured to allow adjustment of the bar in a vertical direction; (c) the first joint comprising a linear joint configured to move along the second geometric axis; (d) the second joint comprising a swivel joint configured to rotate about a third geometry axis which is different from the second geometry axis; (e) the third joint comprising a swivel joint configured to pivot the bar connector around a fourth geometric axis that is different from the first geometric axis; (f) the third joint being configured to pivot the bar connector to adjust a position in relation to the column; (g) since the third joint is positioned on a first end of the bar connector, the first end of the bar connector is configured to be coupled to the column and an additional joint is positioned on a second end of the bar connector, the second end of the bar connector is coupled to the first bar and the additional joint is mechanically restricted to the third joint so that the additional joint and the third joint rotate together; (h) the additional joint being mechanically restricted to the third motorized joint by means of a four bar mechanism; (p) being that the additional joint is mechanically restricted to the third motorized joint, so that an orientation of the bar does not change as the bar connector rotates; and / or (j) with the fourth joint comprising a linear joint.
[0010] [0010] In another aspect, a system is revealed that can include a table configured to support a patient positioned on a table surface. The system may also include a column that extends along a first geometry axis between a first end and a second end. The first end can be attached to the table. A base can be attached to the second end of the column. The system may include an arm support comprising a bar that extends along a second geometric axis. The bar can be attached to at least one of the table, column or base by a first joint configured to allow adjustment of the bar along the first geometric axis. The arm support can be configured to support at least one robotic arm. The system can also include at least one computer-readable memory that has executable instructions stored in it, and at least one processor communicating with at least one computer-readable memory and configured to execute the instructions to make the system adjust to the least one position of the bar along the first geometry axis in response to a command received.
[0011] [0011] The system may include one or more of the following features in any combination: (a) the remote comprising a remote to adjust a position of a robotic medical tool attached to a robotic arm attached to the arm support; (b) where at least one processor is still configured to execute the instructions to make the system adjust at least one position of the bar in response to a procedure selected by the physician; (c) since at least one processor is still configured to execute the instructions to make the system adjust at least one position of the bar to avoid a collision between the robotic arm and at least one among: the table, a patient, an additional robotic arm and a medical imaging device; and / or (d) one or more of: a second joint configured to allow the bar to tilt to adjust an angle of the bar axis in relation to a table surface, a bar connector configured to be pivotally coupled to the column by at least a third joint, a fourth joint configured to allow the translation of the bar in relation to the column along the axis of the bar and at least one processor is still configured to execute the instructions to make the system control the minus one of the second joint, the third joint and the fourth joint to adjust the position of the bar.
[0012] [0012] In another aspect, a method is revealed which may include providing a table configured to support a patient positioned on a table surface; the provision of a column extending along a first geometric axis between a first end and a second end, the first end coupled to the table; providing a base coupled to the second end of the column; the provision of a first arm support comprising a bar that extends along a geometric axis of the bar coupled to at least one of the table, column or base by at least one first joint configured to allow an adjustment of the bar to the along the first geometric axis, the first arm support configured to support at least one robotic arm; and actuating the first joint to adjust a position of the bar along the first geometric axis.
[0013] [0013] The method may include one or more of the following resources in any combination: (a) providing a first robotic arm mounted on the first bar; and transfer the second geometric axis of the first robotic arm; (b) provide a second robotic arm mounted on the first bar and transfer the second geometric axis of the second robotic arm; (c) with the second robotic arm being configured to move along the second geometric axis independently of the first robotic arm; (d) providing a third robotic arm mounted on the first bar; (e) with at least one of the first robotic arm, the second robotic arm or the third robotic arm holding a camera; (f) where at least one of the first robotic arm, the second robotic arm or the third arm can be retracted under the table; (g) the first arm support comprising a second joint configured to adjust the angle of inclination of the first bar and the method further comprising adjusting the angle of inclination of the bar by acting on the second articulation; (h) the second joint comprising a motorized swivel joint configured to rotate about a third geometric axis which is different from the first geometric axis; (i) the first arm support comprising a third joint and a rod connector, the rod connector mechanically coupling the first rod to the third joint; (j) actuating the third joint to pivot the bar connector to adjust the positioning of the first bar in relation to the column; (k) the first bar being able to travel along a length of the table, so that the first bar can extend beyond one end of the table; (l) with the first bar still attached to the column by at least a fourth joint configured to allow the translation of the first bar in relation to the column along the second geometric axis, and the method further comprises the translation of the first bar in relation to the column along the second geometric axis; (m) provide a second arm support coupled to at least one of the table, column or base and configured to be positioned on a second side of the table; and / or (n) moving the first arm support to a first height and moving the second arm support to a second height different from the first height.
[0014] [0014] In another aspect, a method is revealed that includes: receiving a command on the positioning of at least one among: a first robotic arm; a medical instrument coupled to an end actuator of the first robotic arm; and an arm support coupled to a base of the first robotic arm and to a column that supports a table to support the patient, the arm support comprising at least one joint and a bar configured to support the first robotic arm; and actuating, based on the command received, at least one joint to adjust a position of the arm support along a vertical geometric axis of the column.
[0015] [0015] The method can include one or more of the following features in any combination: (a) with a first command activating at least one joint to adjust the position of the arm support along a vertical geometric axis of the column, one second command activates a second articulation to pivot the arm support upwards, a third command activates a third articulation to tilt the arm support and a fourth command causes the longitudinal translation of the arm support; (b) with a second robotic arm being coupled to the arm support bar; (c) raising the arm support, the first robotic arm and the second robotic arm from a position retracted under the table; positioning the arm support, the first robotic arm and the second robotic arm adjacent to the table; adjusting a position of the arm support in relation to the table using at least one of the first command, the second command, the third command or the fourth command; and adjusting a position of the first robotic arm relative to the second robotic arm along the support joint bar in preparation for a surgical procedure; (d) the arm support being positioned below an upper surface of the table; and / or (e) a controller to execute one or more commands based on a kinematic model, the one or more commands controlling the positioning of one or more among the first robotic arm; the medical instrument coupled to an end actuator of the first robotic arm; and an arm support coupled to a base of the first robotic arm and to a column that supports a table to support the patient, the arm support comprising at least one joint and a bar configured to support the first robotic arm.
[0016] [0016] In another aspect, a system is revealed that can include a table configured to support a patient positioned on a table surface, one or more table supports and an arm support to hold one or more adjustable arms in relation to to the table, the height of the armrest being adjustable in relation to the table. BRIEF DESCRIPTION OF THE DRAWINGS
[0017] [0017] Figure 1 is an isometric perspective view of a surgical robotic system according to a modality.
[0018] [0018] Figure 2A is an isometric perspective view of a table of the surgical robotic system according to one modality.
[0019] [0019] Figure 2B is a top view of a table according to an embodiment.
[0020] [0020] Figure 2C is a top view of a rotating segment of a table according to an embodiment.
[0021] [0021] Figure 2D is a top view of a rotating segment of the table according to a modality.
[0022] [0022] Figure 2E is an exploded isometric view of the components of a rotating mechanism according to a modality.
[0023] [0023] Figure 2F is a cross-sectional view of the rotating mechanism shown in Figure 2E according to an embodiment.
[0024] [0024] Figure 2G is a bottom view of the rotating mechanism shown in Figure 2E according to an embodiment.
[0025] [0025] Figure 2H is an isometric view of a flexion segment of the table according to one modality.
[0026] [0026] Figure 2I is another isometric view of a flexion segment of the table according to a modality.
[0027] [0027] Figure 2J is an isometric perspective view of a table hatch according to an embodiment.
[0028] [0028] Figure 2K is an isometric perspective view of table pivots according to one modality.
[0029] [0029] Figure 2L is a side view of the table rotated around a geometric pitch axis according to an embodiment.
[0030] [0030] Figure 2M is an isometric view of the table rotated around a row geometric axis according to a modality.
[0031] [0031] Figure 3A is a side view in section of a column of the surgical robotic system according to one modality.
[0032] [0032] Figure 3B is an isometric sectional view of the column according to one embodiment.
[0033] [0033] Figure 3C is a top view of the column according to an embodiment.
[0034] [0034] Figure 4A is an isometric perspective view of a surgical arm system with a robotic arm mounted on a column according to one modality.
[0035] [0035] Figure 4B is an isometric perspective view of a surgical robotic system with robotic arms mounted on a column according to one modality.
[0036] [0036] Figure 5A is an isometric perspective view of a column ring of the surgical robotic system according to an embodiment.
[0037] [0037] Figure 5B is a bottom view of a set of column rings under a table according to an embodiment.
[0038] [0038] Figure 5C is an isometric perspective view of the set of column rings mounted on a column according to an embodiment.
[0039] [0039] Figure 5D is an isometric sectional view of a column ring arm crimp according to an embodiment.
[0040] [0040] Figure 5E is an isometric sectional view of the arm crimp in a telescopic configuration according to a modality.
[0041] [0041] Figure 6A is an isometric view of a robotic arm of the surgical robotic system according to a modality.
[0042] [0042] Figure 6B is an isometric perspective view of an articulation of the arm segment of the robotic arm according to a modality.
[0043] [0043] Figure 6C is an isometric perspective view of another joint of the arm segment of the robotic arm according to a modality.
[0044] [0044] Figure 7A is an isometric perspective view of a surgical robotic system with arms mounted on a column configured to access a patient's lower body area according to a modality.
[0045] [0045] Figure 7B is a top view of the surgical robotic system with arms mounted on a column configured to access the lower area of the patient's body according to a modality.
[0046] [0046] Figure 7C is an isometric perspective view of an imaging device and a surgical robotic system with arms mounted on a column configured to access a patient's lower body area according to a modality.
[0047] [0047] Figure 7D is a top view of the imaging device and the surgical robotic system with arms mounted on a column configured to access the lower area of the patient's body according to a modality.
[0048] [0048] Figure 7E is an isometric perspective view of the surgical robotic system with arms mounted on a column configured to access the central area of a patient's body according to a modality.
[0049] [0049] Figure 7F is an isometric perspective view of the surgical robotic system with arms mounted on a column configured to access a patient's lower body area according to a modality.
[0050] [0050] Figure 8A is an isometric perspective view of a base of a surgical robotic system according to a modality.
[0051] [0051] Figure 8B is an isometric view of open panels of the base according to an embodiment.
[0052] [0052] Figure 8C is an isometric perspective view of robotic arms collected within a base of a surgical robotic system according to one modality.
[0053] [0053] Figure 8D is an isometric perspective view of robotic arms collected under a table of a surgical robotic system according to one modality.
[0054] [0054] Figure 8E is an isometric perspective view of robotic arms collected above a base of a surgical robotic system according to one modality.
[0055] [0055] Figure 8F is another isometric view of robotic arms collected above a base of a surgical robotic system according to a modality.
[0056] [0056] Figure 8G is an isometric perspective view of the stabilizer casters on a base of a surgical robotic system according to one modality.
[0057] [0057] Figure 8H is another isometric view of the stabilizer casters on the base of the surgical robotic system according to one modality.
[0058] [0058] Figure 8I is a side view of a stabilizer caster in a mobile configuration according to a modality.
[0059] [0059] Figure 8J is a side view of the stabilizer caster in a stationary configuration according to an embodiment.
[0060] [0060] Figure 9A is an isometric perspective view of a surgical arm system with a robotic arm mounted on a rail according to a modality.
[0061] [0061] Figure 9B is an isometric perspective view of a surgical robotic system with robotic arms mounted on a rail according to a modality.
[0062] [0062] Figure 10A is an isometric perspective view of a surgical robotic system according to a modality.
[0063] [0063] Figure 10B is an isometric perspective view of arm sockets on the base rail according to an embodiment.
[0064] [0064] Figure 10C is an isometric sectional view of an arm ring of a base ring according to an embodiment.
[0065] [0065] Figure 10D are seen in cross section of the base rail according to a modality.
[0066] [0066] Figure 11 is an isometric perspective view of a surgical robotic system with robotic arms mounted on a column and robotic arms mounted on a rail according to a modality.
[0067] [0067] Figure 12 is an isometric perspective view of a surgical robotic system with robotic arms mounted on a column on a platform separate from a table and a base of the surgical robotic system according to one modality.
[0068] [0068] Figure 13A is an isometric perspective view of a surgical arm system with an adjustable arm support according to a modality.
[0069] [0069] Figure 13B is an end view of the surgical robotic system with an adjustable arm support from Figure 13A.
[0070] [0070] Figure 14A is an end view of a surgical robotic system with two adjustable arm supports mounted on opposite sides of a table according to one embodiment.
[0071] [0071] Figure 14B is an isometric perspective view of a surgical robotic system with two adjustable arm supports and a plurality of robotic arms configured for a laparoscopy procedure according to one modality.
[0072] [0072] Figure 14C is an isometric perspective view of a surgical robotic system with two adjustable arm supports and a plurality of robotic arms configured for a laparoscopy procedure according to one modality.
[0073] [0073] Figure 15A is an isometric perspective view of a surgical robotic system with two adjustable arm supports that are configured to translate to adjust the position of the adjustable arm supports according to a modality.
[0074] [0074] Figure 15B is an isometric perspective view of a surgical robotic system with an adjustable arm support and robotic arm configured for an endoscopy procedure according to a modality.
[0075] [0075] Figure 16 is an isometric perspective view of a surgical robotic system with an adjustable arm support configured with a rail capable of tilting according to a modality.
[0076] [0076] Figure 17A is an isometric perspective view of a surgical arm system with adjustable arm supports positioned to allow access to a C arm of a medical imaging device according to an embodiment.
[0077] [0077] Figure 17B is an isometric perspective view of the surgical system of Figure 17A with the adjustable arm supports positioned to allow access of the C arm of the medical imaging device according to another embodiment.
[0078] [0078] Figure 18A is an isometric perspective view of a surgical robotic system with adjustable arm supports positioned in a readiness configuration according to a modality.
[0079] [0079] Figure 18B is an isometric perspective view of a surgical robotic system with adjustable arm supports positioned in a retracted configuration according to a modality.
[0080] [0080] Figure 19 is a flow chart that illustrates a method for operating a surgical robotic system with adjustable arm supports according to a modality.
[0081] [0081] Figure 20 is a block diagram of a surgical arm system with adjustable arm supports according to a modality.
[0082] [0082] Figure 21 is an isometric perspective view of a robotic arm according to a modality.
[0083] [0083] Reference will now be made in detail to various modalities, examples of which are illustrated in the attached figures. It is noted that, whenever possible, similar or similar practical reference numbers can be used in the figures and may indicate similar or similar functionalities. The figures represent modalities of the system (or method) described for illustration purposes only. The person skilled in the art will readily recognize, from the description below, what alternative modalities of the structures and methods illustrated here can be used without departing from the principles described here.
[0084] [0084] Figure 1 is an isometric perspective view of a surgical robotic system 100 according to one embodiment. A user, for example, a doctor or assistant, uses the surgical robotic system 100 to perform robotic-assisted surgery on a patient. The robotic surgical system 100 includes a table 101, a column 102 and a base 103 physically coupled. Although not shown in Figure 1, table 101, column 102 and / or base 103 can accommodate, connect to, or use electronic, fluid, pneumatic, suction, or other components that support the function of the surgical robotic system 100.
[0085] [0085] Table 101 provides support for a patient undergoing surgery using the surgical robotic system 100. In general, table 101 is parallel to the floor, although table 101 can change its orientation and configuration to facilitate a variety of surgical procedures. Table 101 is further described with reference to Figures 2A to I in Section II. Table.
[0086] [0086] Column 102 is attached to table 101 at one end and attached to base 103 at the other end. In general, column 102 is cylindrical in shape to accommodate column rings attached to column 102, which are further described with reference to Figures 5A to E and in Section V. Column Ring, however, column 102 may have other shapes like an oval or rectangular pattern. Column 102 is further described with reference to Figures 3A to B in Section III. Column.
[0087] [0087] The base 103 is parallel to the floor and provides support for the column 102 and the table 101. The base 103 can include wheels, tread or other means of positioning or transportation for the surgical robotic system 100. The base 103 is further described with reference to Figures 8A to E in Section VIII. Base.
[0088] [0088] Alternative views and modalities of the surgical robotic system 100 including the components mentioned above are further illustrated and described at least in US Provisional Patent Application No. 62 / 162,486, filed on May 15, 2015, and in Provisional Patent Application US No. 62 / 162,467, filed on May 15,
[0089] [0089] Figure 2A is an isometric perspective view of a table 201A of the surgical robotic system 100 according to an embodiment. Table 201A is a form of table 101 in Figure 1. Table 201A includes a set of one or more segments. In general, a user changes the configuration of the 201A table by configuring the segment set. The surgical robotic system 100 can also automatically configure the segments, for example, using a motor to reposition a segment of the segment set. An example of a set of segments is shown in Figure 2A and includes a rotating segment 210, a central segment 212, a folding segment 214, a removable segment 216 and the base of the table 218. The rotating segment 210, the central segment 212 and the foldable segment 214 are attached to the base of table 218. Figure 2A shows the removable segment 216 separated from the base of table 218, although removable segment 216 can also be attached to the base of table 218. In various implementations, additional segments or less segments can be used.
[0090] [0090] An advantage of configuring the segment set of table 201A is that a configured table 201A can provide greater access to a patient on table 201A. For example, the surgical robotic system 100 performs a surgical procedure on the patient that requires access to the patient's groin area. When a patient is lying face up on a typical surgical bed, there is more access to the patient's head, arms, legs than to the patient's groin area. Since the groin area is located towards the center of the patient's body, the legs often block access to the groin area. Removable segment 216 is removable from table 201A. The 201A table without the removable segment 216 provides greater access to the groin area of a patient lying on the table
[0091] [0091] The rotating segment 210 pivots laterally in relation to table 201A. The rotating segment 210 includes an arcuate edge 222 and the central segment 212 also includes an arcuate edge 224. Due to the arcuate edges, there is a minimum gap between the rotating segment 210 and the central segment 212 as the rotating segment 210 rotates to the opposite direction or towards table 201A. The configuration of table 201A with the swivel segment 210 pivoted in the opposite direction to table 201A provides greater access to the groin area because the other segments of table 201A are not obstructing the groin area. An example of this configuration is described in more detail in relation to Figures 7C to D in section VII. A. Lower Body Surgery. In addition, the rotating segment 210 also includes a cut-out section 226, which provides even greater access to the groin area.
[0092] [0092] Figure 2B is a top view of table 201A according to an embodiment. Specifically, Figure 2B shows the base of table 218 with a partial sectional view and a portion of the rotating segment 210. The components within the rotating segment 210 are shown for purposes of illustration. The base of table 218 includes double curved rails 230, that is, two curved linear rails (also called a first bearing subset). The rotating segment 210 also includes double curved rails 232 (also called a second bearing subset). The first bearing assembly coupled to the second bearing assembly can be called the rolling mechanism. The double curved rails 230 of the table base 218 engage with the double curved rails 232 of the rotating segment 210. Both double curved rails are concentric to a virtual circle 234. The rotating segment 210 rotates about an axis that crosses a point 236 in the center of the virtual circle 234 perpendicular to the plane of the table base 218. The double curved rails 230 of the table base 218 include a first conveyor 238 and a second conveyor 240. Similarly, the double curved rails 232 of the rotating segment 210 include a first conveyor 242 and a second conveyor 244. The conveyors provide structural support and cancel momentary loads, which allows the double curved rails to support high fixed loads in cantilever up to 500 pounds. For example, turning a patient away from table 201A generates a high cantilever load on the double curved rails supporting the patient's weight. The table base 218 and the rotating segment 210 can include additional load sharing components such as rollers, cam followers and bearings. In some embodiments, the rotating segment 210 and the table base 218 each include a single curve rail instead of double curved tracks. In addition, each curved rail can include more or less conveyors.
[0093] [0093] Figure 2C is a top view of the rotating segment 210 of table 201A according to an embodiment. The center of mass 250 illustrates the center of mass of the rotating segment 210 and a patient (not shown) lying on the rotating segment 210. The rotating segment 210 is rotated at an angle α around the geometric axis 236. Compared to the center of mass 246 shown in Figure 2D, the center of mass 250 is closest to the base of table 218
[0094] [0094] Figure 2D is a top view of a rotating segment 210A of a table 201B according to an embodiment. Specifically, table 201B includes a table base 218A and a rotating segment 210A. Table 201B does not include double curved rails, instead it includes a rotating mechanism 278 which is further described below with reference to Figures 2E to G. The center of mass 246 illustrates the center of mass of the rotating segment 210A and a patient (not shown) lying on the rotating segment 210A. The rotating segment 210A is rotated at an angle α around a geometric axis 248. Consequently, the center of mass 246 is positioned outside the base of the table 218A.
[0095] [0095] Figure 2E is an exploded isometric view of components of a rotating mechanism 278 (which can also be called a rolling mechanism) of table 201B according to an embodiment. The swivel mechanism 278 includes a first bearing subset coupled to a second bearing subset. In particular, the swivel mechanism 278 includes a harmonic drive motor 280, a static plate 281, a wedge 282, an inner bearing rail 283, a bearing 284, outer bearing rail handle 285, inner bearing rail support 286 , static ring 287, motor housing bezel 288, encoder strip 289, drive plate 290, encoder sensor 291 and the rotary insert 292. The housing of the motor housing 288 is stationary with respect to the table base 218A . The harmonic drive motor 280 rotates the rotating segment 210A about the geometry axis 248. The first bearing subset includes the components described above that are coupled to the table base 218A. The second bearing subset includes the components described above that are coupled to the table base 210A.
[0096] [0096] Figure 2F is a cross-sectional view of the rotating mechanism 278 shown in Figure 2E according to an embodiment. The harmonic drive motor 280 is coupled to the bezel of the engine compartment 288. The bezel of the engine compartment 288 is attached to the static ring 287 and the static plate 281. The static plate 281 is attached to the table base 218A using the wedge 282 so that the harmonic drive motor 280 is also stationary with respect to the table base 218A.
[0097] [0097] The harmonic drive motor 280 includes a drive shaft 294 coupled to a drive face 296 so that drive shaft 294 and drive face 296 rotate together. The drive face 296 is coupled to the drive plate 290. The drive plate 290 is coupled to the inner bearing rail support 286. The inner bearing rail support 286 is attached to the rotary insert 292 and the rail handle internal bearing
[0098] [0098] The rotating mechanism 278 allows the harmonic drive motor 280 to rotate the rotating segment 210A with precise control and support, at the same time, a load of up to 500 pounds, for example, that of a patient lying on the rotating segment 210A . In particular, the harmonic drive motor 280 can rotate the rotary segment 210A up to a rotational speed of 10 degrees per second and up to 45 degrees in both directions around the axis 248. In addition, the rotary segment 210A is rotated so that the maximum speed of the patient's center of mass is 100 millimeters per second, and the time for the maximum speed is 0.5 seconds. In some embodiments, one of the bearings of the rotating mechanism is a transverse cylinder bearing, for example, with ball bearings with a rolling friction coefficient of approximately 0.0025, which helps provide additional stability to enable accurate segment rotation rotary 210A, while maintaining cantilever loads based on the patient's weight. The 280 harmonic drive motor can generate up to 33 Newtons-meter of torque to rotate the rotating segment 210A with the patient's weight. In some embodiments, the harmonic drive motor 280 includes an internal brake with a holding torque of at least 40 Newtons-meter.
[0099] [0099] Figure 2G is a bottom view of the rotating mechanism shown in Figure 2E according to an embodiment. The harmonic drive motor 280 is exposed so that electrical wires, for example, from a column of the surgical robotic system, can be coupled to the harmonic drive motor 280 to provide control signals for the harmonic drive motor 280.
[00100] [00100] Figure 2H is an isometric perspective view of a folding segment 214C of a table 201C according to an embodiment. Table 201C is a form of table 201A in Figure 2A. Table 201C also includes a central segment 212C coupled to a base of table 218C. The folding segment 214C rotates using bearings around a geometric axis 252 parallel to the base of the table 218C. The foldable segment 214C is rotated so that the foldable segment 214C is orthogonal to the base of the table 218C and the central segment 212C. In other embodiments, the foldable segment 214C can be rotated to other angles in relation to the base of the table 218C and the central segment 212C. The folding segment 214C includes a cut-out section 254, for example, to provide more access to a patient lying on table 201C. In other embodiments, the folding segment 214C does not include a cutout section.
[00101] [00101] Figure 2I is another isometric perspective view of a foldable segment 214D of a table 201D according to an embodiment. Table 201D is a form of table 201A in Figure 2A. The foldable segment 214D is rotated so that the foldable segment 214D and the base of the table 218D are positioned at an angle β to each other. The 201D table includes a mechanism for the folding segment 214D and the central segment 212D to maintain the rotated position while supporting a patient's weight on the table 201D. For example, the mechanism is a friction brake at the articulation of the foldable segment 214D and central segment 212D that keeps the two segments at angle β. Alternatively, the foldable segment 214D rotates around the central segment 212D using a drive shaft and a clutch that locks the drive shaft, thereby maintaining the two segments in a fixed position. Although not shown in Figure 2I, table 201D may include motors or other drivers that serve to automatically rotate and lock the foldable segment 214D at a certain angle to the central segment 212D. Rotation of the folding segment 214D is advantageous, for example, because the corresponding configuration of table 201D provides more access to the area around the abdomen of a patient lying on table 201D.
[00102] [00102] Figure 2J is an isometric perspective view of a trapdoor 256 of table 201E according to an embodiment. Table 201E is an embodiment of table 201A in Figure 2A. Specifically, table 201E includes trapdoor 256 and a drainage component 258 positioned below trapdoor 256. trapdoor 256 and drainage component 258 collect waste materials such as fluids (eg urine), debris (eg feces) that are secreted or released by a patient lying on the table during a surgical procedure. A container (not shown) can be positioned below drain component 258 to collect and store the waste material. The trapdoor 256 and the drainage component 258 are advantageous because they prevent the residual material from staining or de-sterilizing the equipment like other components of the surgical robotic system 100 or other surgical tools in an operating room with the surgical robotic system 100.
[00103] [00103] Figure 2K is an isometric perspective view of the pivots of table 201A according to an embodiment. Specifically, table 201A includes a first pivot 260 and a second pivot 262. The table
[00104] [00104] Figure 2L is a side view of table 201A rotated about a pitch axis 264 according to an embodiment. Specifically, table 201A is rotated to an angle γ with respect to a plane 268 parallel to the floor.
[00105] [00105] Figure 2M is an isometric perspective view of table 201A rotated around the column 266 geometric axis according to an embodiment. Specifically, table 201A is rotated to an angle δ with respect to the plane 268 parallel to the floor. Table 201A is illustrated as transparent to expose components under table 201A. The table includes a set of rails 270. The table 201A can move laterally along a geometric axis 266 parallel to the set of rails 270. The robotic surgical system 100 moves the table 201A laterally using, for example, a motor or other means of action (not shown). A user of the surgical robotic system 100 can also manually control the table 201A, or with the help of the surgical robotic system 100.
[00106] [00106] Alternative views and modalities of table 201A, including the components mentioned above, are further illustrated and described at least in US Provisional Patent Application No. 62 / 235,394 filed on September 30, 2015. III. Column
[00107] [00107] Figure 3A is a side view in section of the column 102 of the surgical robotic system 100 according to an embodiment. Column 102 includes electrical and mechanical components and other types of components to perform functions of the surgical robotic system 100. Column 102 includes a step rotation mechanism 310, a telescopic mechanism 320, telescopic ring mechanisms 330A and 330B and rotation mechanisms ring 340A and 340B. The ring rotation mechanisms 340A and 340B are further described in Figure 3B.
[00108] [00108] The surgical robotic system 100 rotates the table 101 around the step axis 264 (also illustrated previously in Figures 2K to L) using the step rotation mechanism 310. The step rotation mechanism 310 includes a rotation motor step 312, a right angle gearbox 314, a step rotation screw 316 and a step rotation bracket 318. The stepping motor 312 is coupled to the right angle gearbox
[00109] [00109] The surgical robotic system 100 moves the table vertically using the telescopic column mechanism 320. The telescopic column mechanism 320 includes a telescopic column motor 322, a telescopic column drive screw 324 and a telescopic column rail 326. The telescopic motor 322 of the motor is coupled to the telescopic column drive screw 324. The telescopic column motor 322 and the telescopic column drive screw 324 are stationary in relation to the base 103. The telescopic column drive screw 324 is engaged on the telescopic column rail 326. The output rotation of the column telescopic motor 322 causes the telescopic column rail 326 to travel along the vertical geometric axis 321 along the telescopic column drive screw 324. As the rail telescopic column 326 translated in the positive direction along the vertical geometric axis 321, the height of column 102 and table 101 increase.
[00110] [00110] Column 102 also includes a lower column segment 350, an intermediate column segment 352 and an upper column segment 354. The lower column segment 350 is coupled to base 103 and stationary with respect to base 103. The segment central column 352 is movably coupled to the lower column segment
[00111] [00111] The upper column segment 354 and / or the intermediate column segment 352 also travel along the vertical geometric axis 321 to extend from the height of the column 102. Similarly, as the telescopic column rail 326 moves in the negative direction along the vertical geometric axis 321, the height of the column 102 and the table 101 decrease. In addition, the upper column segment 354 and / or the intermediate column segment 352 also travel along the vertical geometric axis 321, retracting on the lower column segment 350. A table 101 with adjustable height is advantageous because table 101 facilitates a variety surgical procedures. Specifically, a surgical procedure requires a patient lying on table 101 to be positioned at a lower height than the height of a patient lying on table 101 for another surgical procedure. In some embodiments, the telescopic column mechanism 320 uses other actuation means such as hydraulic or pneumatic instead of, or in addition to, engines.
[00112] [00112] The surgical robotic system 100 moves the column rings 305A and 305B vertically using the telescopic ring mechanisms 330A and 330B. The 330A ring telescopic mechanism includes a 332 ring telescopic motor, a 334 ring telescopic drive screw and a 336 ring telescopic rail. The column rings are further described with reference to Figures 5A to E in Section V. Ring column. Column rings 305A and 305B are movably coupled to column 102 and translate along a vertical geometric axis 331. In general, a column 102 includes a telescopic ring mechanism for each column ring in column 102. Specifically, column 102 includes a telescopic ring mechanism 330A and a second telescopic ring mechanism 330B. The telescopic ring motor 332 is coupled to the telescopic drive screw 334. The telescopic motor 332 and the telescopic drive screw 334 are stationary with respect to the base 103. The telescopic drive screw 334 is engaged on the 336 ring telescopic rail. The 336 ring telescopic rail is coupled to the 305A column ring. The output rotation of the ring telescopic motor 332 causes the ring telescopic rail 336 to translate along the vertical geometry axis 331 and along the ring telescopic drive screw
[00113] [00113] Figure 3B is an isometric sectional view of column 102, according to one embodiment. Column 102 includes a first accordion panel 360A and a second panel accordion 360B. The accordion panels 360A and 360B extend or fold as the surgical robotic system 100 moves the column rings 305A and 305B in a positive or negative direction along the vertical geometric axis 331, respectively. The accordion panels 360A and 360B are advantageous because they protect the electrical and mechanical components and other types of components inside the column 102 (for example, the step rotation mechanism 310, the telescopic column mechanism 320, the telescopic ring mechanisms 330A and 330B and the ring rotation mechanisms 340A and 340B) so that they are not soiled or de-sterilized by fluid residues and other hazards. Figure 3B shows an isometric perspective view of the ring rotation mechanism 340A, while the ring rotation mechanism 340B is obscured by the column 102.
[00114] [00114] The surgical robotic system 100 rotates column rings 305A and 305B using the ring rotation mechanisms 340A and 340B, respectively. The telescopic ring rail 336 is coupled to the ring rotation motor 342 by a ring rotation bracket 344. The ring rotation motor 342 is coupled to a gear set 346. Gear set 346 includes a drive gear 346G. The drive gear 346G is engaged with a rail of the column ring 348 of the column ring 305A. The output rotation of the ring rotation motor 342 causes the gear set 346 and the drive gear 346G to rotate. Consequently, the rotation of the drive gear 346G causes the column ring 305A to rotate around the vertical geometric axis 341 concentric to the column 102. The column 102 includes another ring rotation mechanism 340B corresponding to the column ring 305B. In general, both the rotation mechanisms of ring 340A and 340B and column rings 305A and 305B will be substantially the same, however, in other implementations, they can be constructed using different mechanisms.
[00115] [00115] Figure 3C is a top view of the 340A ring rotation mechanism according to an embodiment. For the sake of clarity, Figure 3C shows only the drive gear 346G, the column ring 305A and the column ring rail 348 of the rotation mechanism of the ring 340A. In an exemplary use case, the surgical robotic system 100 rotates the drive gear 346G clockwise to rotate the column ring rail 348, and thus the column ring 305A, clockwise around the vertical geometric axis 341.
[00116] [00116] Alternative views and modalities in column 103 including the components mentioned above are further illustrated and described at least in US Provisional Patent Application No. 62 / 162,486, filed on May 15, 2015, and in US Provisional Patent Application no. 62 / 162,467, filed on May 15, 2015. IV. Robotic arms mounted on a column
[00117] [00117] Figure 4A is an isometric perspective view of a 400A surgical arm system with a robotic arm mounted on a 470A column according to one embodiment. The 400A surgical robotic system includes a set of robotic arms, a set of column rings, a 401A table, a 402A column and a 403A base. The surgical robotic system 400A is a modality of the surgical robotic system 100 shown in Figure 1. In general, the robotic arm set includes one or more robotic arms, such as the robotic arm 470A, in which the robotic arms are coupled to one or more more column rings, like the 405A column ring. Column rings are described in more detail in relation to Figures 5A to E in Section V. Column ring below. Robotic arms are described in more detail in relation to Figures 6A to C in Section VI. Robotic arm below. Column rings 405A are movably coupled to column 402A. Thus, a 470A robotic arm attached to a 405A column can be called a 470A column mounted robotic arm. As introduced above, the 400A surgical robotic system uses 470A robotic arms to perform surgical procedures on a patient lying on the 401A table.
[00118] [00118] Figure 4B is an isometric perspective view of a 400B surgical robotic system with robotic arms mounted on a column according to one modality. The 400B surgical robotic system is a modality of the 400A surgical robotic system shown in Figure 4A. The 400B surgical robotic system includes multiple robotic arms, that is, a first robotic arm 470B, a second robotic arm 470C, a third robotic arm 470D and a fourth robotic arm 470E, as well as multiple column rings, that is, a first ring column 405B and a second column ring 405C. In other embodiments, the 400B surgical robotic system may include more or less robotic arms and / or column rings. In addition, the robotic arms can be attached to the column rings in various configurations. For example, three robotic arms can be attached to a column ring. In addition, the 400B surgical robotic system can include three column rings, each coupled to two robotic arms.
[00119] [00119] Alternative views and modalities of the 400B surgical robotic system including the components mentioned above with robotic arms mounted on a column are further illustrated and described at least in US Provisional Patent Application No. 62 / 162,486, filed on May 15, 2015 , and in US Provisional Patent Application No. 62 / 162,467, filed on May 15, 2015. V. Column ring
[00120] [00120] Figure 5A is an isometric perspective view of a column ring 505 of a surgical robotic system, for example, the surgical robotic system 100, 400A or 400B, according to an embodiment.
[00121] [00121] The column ring 505 includes a column ring rail 510, an arm bezel pivot 512, an arm bezel base 514 and an arm bezel set. The arm bezel set includes one or more arm bezels. Specifically, the arm bezel set in Figure 5a includes a first arm bezel 506A and a second arm bezel 506B. In general, each arm bezel in the arm bezel set and the base of the arm bezel 514 are cylindrical in shape.
[00122] [00122] The first arm bezel 506A and the second arm bezel 506B are coupled so as to the base of the arm bezel 514. The first arm bezel 506A and the second arm bezel 506B can rotate together independently around the geometric axis 511 concentric to the arm of the arm crimp 514. For example, the surgical robotic system 400B rotates the first arm crimp 506A and the second arm crimp 506B using a motor or other actuation means (not shown) in inside the base of the 514 arm bezel or arm bezels. In some embodiments, the first arm bezel 506A and the second arm bezel 506B rotate in predetermined increments, for example, increments of 15 degrees.
[00123] [00123] The base of the arm crimp 514 is coupled to the pivot of the arm crimp 512. The pivot of the arm crimp 512 uses a motor or other actuation means (not shown) inside the pivot of the mounting arm 512 to rotate o the base of the arm crimp 514 around the geometric axis 521 orthogonal to the geometric axis 511. The pivot of the arm crimp 512 is coupled to, and stationary with respect to, the column ring rail 510. Rotate the base of the crimp arm 514 is advantageous because the robotic arms (and arm bezels) coupled to the bezel base of arm 514 can be reoriented in response to the rotation of the 401B table. Consequently, the robotic arms coupled to the arm bezels at the base of the arm bezel 514 have better access to a patient lying on the 401B table.
[00124] [00124] Figure 5B is a bottom view of the set of column rings under a table 401B of Figure 4B according to an embodiment. The column ring set includes the first 405B ring column and the second 405C ring column. Note that Figure 5B shows the first column ring 405B and the second column ring 405C aligned so that the arm sockets are on the same side on table 401B, while Figure 4B shows the first column ring 405B and the second ring 405C column posts positioned so that the arm sockets are on opposite sides of the 401B table. The 400B surgical robotic system can rotate column rings 405B and 405C to position ring bezels in other configurations. For example, two arm sockets are positioned on one side of the 401B table and two arm sockets are positioned on the opposite side of the 401B table. By rotating the column rings independently of one another around the column, the 400B surgical robotic system can configure the arm sockets and, thus, the robotic arms mounted on the arm sockets, in as many positions as possible. Because of this configurability, the 400B surgical robotic system accommodates a variety of surgical procedures because the robotic arms can access any area (for example, upper body, central body or lower body) of a patient's body lying on 401B table. In some embodiments, each armrest of the column rings includes a notch 516 that facilitates the attachment of a robotic arm to an armrest.
[00125] [00125] Figure 5C is an isometric perspective view of the set of column rings mounted on column 402B of Figure 4B, according to an embodiment. Similar to Figure 5B, Figure 5C shows all arm sockets aligned on the same side of the 400B surgical robotic system.
[00126] [00126] Figure 5D is an isometric sectional view of a 506C arm crimp of a column ring according to an embodiment. The arm bezel 506C includes a telescopic bezel mechanism 520 and a set of arm bezel segments. The telescopic arm crimping mechanism 520 includes a telescopic arm crimping motor 522, a telescopic arm crimping drive screw 524 and a telescopic arm crimping rail 526. In general, the arm crimping segments include a or more crimp segments. Specifically, the set of arm crimp segments in Figure 5D includes a lower arm crimp segment 530, an intermediate arm crimp segment 532 and an upper arm crimp segment
[00127] [00127] The 400B surgical robotic system moves the arm crimp 506C along a geometry axis 531 using the telescopic arm crimping mechanism 520. In Figure 5D, the geometry axis 531 is in a horizontal orientation, but one must observe that, in other modalities, the geometric axis 531 is in a vertical orientation or in any other orientation. The telescopic arm crimping motor
[00128] [00128] Figure 5E is an isometric sectional view of the 506C arm crimp in a telescopic configuration according to one modality. In the telescopic configuration, the upper arm bezel segment 534 and the intermediate arm bezel segment 532 extend in the direction of the positive geometric axis 531 to facilitate the extension of the arm bezel 506C.
[00129] [00129] Alternative views and modalities of column ring 505 including the components mentioned above are further illustrated and described at least in US Provisional Patent Application No. 62 / 162,486, filed on May 15, 2015, and in Provisional Patent Application US No. 62 / 162,467, deposited on May 15, 2015. VI. Robotic arm
[00130] [00130] Figure 6A is an isometric perspective view of a robotic arm 670 of a surgical robotic system, for example, the surgical robotic system 100, 400A or 400B, according to an embodiment. In general, the robotic arm 670 includes a set of robotic arm segments such as the robotic arm segments 671, 672, 673, 674, 675, 676 and 677. Each arm segment is mobilely coupled to at least one other arm segment in a joint of the arm segment. In particular, the first arm segment 671 is movably coupled to the second arm segment 672, the second arm segment 672 is movably coupled to the third arm segment 673, and so on. The first arm segment 671 is movably coupled to an arm bezel (for example, arm bezel 506A in Figure 5A). The seventh arm segment 677 (or the last arm segment of a set of arm segments including a number of arm segments other than seven) is coupled to a surgical instrument. The seventh arm segment 677 may also include mechanisms for holding a surgical instrument such as a claw or robotic fingers. The 670 robotic arm uses electrical and mechanical components, such as motors, gears and sensors, within the robotic arm segments to rotate the arm segments in the arm segment joints.
[00131] [00131] Robotic arm 670 receives control signals from a robotic arm control system, for example, housed in column 402B in Figure 4B. In some embodiments, the robotic arm 670 receives control signals from a robotic arm control system located outside the 402B column or separate from the 400B surgical robotic system. In general, the 670 robotic arm can include sensors that provide sensor data to the robotic arm control system. Specifically, pressure sensors provide force feedback signals and encoders or potentiometers provide measurements of the rotation of the arm segments. The robotic arm control system uses the sensor data to generate control signals provided to the 670 robotic arm. Since each arm segment can rotate relative to another adjacent segment, each arm segment provides an additional degree of freedom for the mechanical system of the robotic arm 670. By rotating the robotic arm segments, the surgical robotic system 400B positions a surgical instrument coupled to the robotic arm 670 so that the surgical instrument has access to a patient undergoing a surgical procedure. The robotic arm configurations of the 400B surgical robotic system are further described with reference to Figures 7A to F in Section VII. System guidelines for performing surgical procedures.
[00132] [00132] Figure 6B is an isometric perspective view of an articulation of the arm segment 610 of the robotic arm 670 according to an embodiment. The first arm segment 671A and the second arm segment 672A are embodiments of any arm segment in Figure 6A. The arm segments 671A and 672A have a cylindrical shape and are joined in the 612 plane. The first arm segment 671A rotates in relation to the second arm segment 672A about a geometric axis 611 perpendicular to the 612 plane. Also, the geometric axis 611 is perpendicular to the plane 614 of the second arm segment 672A and perpendicular to the plane 616 of the first arm segment 671A. That is, the geometry axis 611 is longitudinal with respect to the arm segments 671A and 672A.
[00133] [00133] Figure 6C is an isometric perspective view of an articulation of the arm segment 620 of the robotic arm 670 according to an embodiment. The arm segments 671B and 672B are joined in the 622 plane. Unlike the cylindrical shaped arm segments shown in Figure 6B, the arm segments 671B and 672B each include a curved section 628 and 630, respectively. The first arm segment 671B rotates with respect to the second arm segment 672A about a geometric axis 621 perpendicular to the plane 622. The geometric axis 621 is not perpendicular to the plane 624 of the arm segment 672B and is not perpendicular to the plane 626 of the 671B arm segment. In some embodiments, the axis of rotation is perpendicular to a plane of one arm segment, but it is not perpendicular to a plane of the other arm segment of a joint of the arm segment.
[00134] [00134] Alternative views and modalities of the robotic arm 670 including the components mentioned above are further illustrated and described at least in US Provisional Patent Application No. 62 / 162,486, filed on May 15, 2015, and in US Provisional Patent Application No. 62 / 162,467, filed on May 15, 2015. VII. System guidelines for performing surgical procedures
[00135] [00135] The 400B surgical robotic system in Figure 4B performs a variety of surgical procedures using robotic arms mounted on a column of the robotic arm set. The 400B surgical robotic system configures robotic arms mounted on a column to access portions of a patient lying on the 401B table before, during and / or after a surgical procedure. The robotic arms mounted on a column access portions close to the patient's groin for surgical procedures such as ureteroscopy, percutaneous nephrolithotomy (PCNL), colonoscopy and fluoroscopy. Robotic arms mounted on a column to access portions close to the patient's central area (eg, abdomen) for surgical procedures such as prostatectomy, colectomy, cholecystectomy and inguinal hernia. Robotic arms mounted on a column to access portions close to the patient's head for surgical procedures such as bronchoscopy, retrograde cholangiopancreatography (ERCP).
[00136] [00136] The 400B surgical robotic system automatically reconfigures the robotic arms mounted on a column, the column rings, the column and the table to perform different surgical procedures. The characteristics of each subsystem and component of the 400B surgical robotic system enable the same set of arms to access a large workload and multiple workloads (based on configuration) to perform a variety of surgical procedures on the patient.
[00137] [00137] Alternative views and modalities of the 400B surgical robotic system use cases with robotic arms mounted on a column including the components mentioned above are further illustrated and described at least in US Provisional Patent Application No. 62 / 162,486, filed in 15 May 2015, and in US Provisional Patent Application No. 62 / 162,467, filed on May 15, 2015. VII. A. Surgery of the lower body area
[00138] [00138] Figure 7A is an isometric perspective view of a 700A surgical robotic system with arms mounted on a column configured to access a 708 patient's lower body area according to one modality. The 700A surgical robotic system is a modality, although it includes more components, than the 400B surgical robotic system shown in Figure 4B. Specifically, the 700A surgical robotic system includes a set of robotic arms (including five robotic arms in total) and a set of three column rings. A first robotic arm 770A and a second robotic arm 770B are coupled to a first column ring 705A. A third robotic arm 770C and a fourth robotic arm 770D are coupled to a second column ring 705B. A fifth robotic arm 770E is coupled to a third column ring 705C. Figure 7A shows a sketch of patient 708 lying on table 701 undergoing a surgical procedure, for example, ureteroscopy, which requires access to the lower area of the patient's body 708. The legs of the patient 708 are not shown so as not to obscure the portions of the 700A surgical robotic system.
[00139] [00139] The 700A surgical robotic system configures the robotic arm set to perform a surgical procedure on the patient's lower body 708 area. Specifically, the 700A surgical robotic system configures the robotic arm set to handle a 710 surgical instrument. 7A shows the set of robotic arms by inserting the surgical instrument 710 along a virtual track 790 in the groin area of patient 708. In general, a virtual track 790 is a coaxial path along which the set of robotic arms translates a surgical instrument (typically a telescopic instrument). The second robotic arm 770B, the third robotic arm 770C and the fifth robotic arm 770E are coupled, for example, holding the surgical instrument 710. The first robotic arm 770A and the fourth robotic arm 770D are retracted on the sides of the surgical robotic system because they are not necessarily necessary for the surgical procedure, or at least part of the surgical procedure, shown in Figure 7A. The robotic arms are configured so that they can manipulate the surgical instrument 710 at a certain distance from the patient 708. This is advantageous, for example, because often the space available closest to the patient's body is limited or there is a sterile contour around the patient 708. Also, there may also be a sterile surgical drape around the surgical equipment. During a surgical procedure, only sterile objects go beyond this sterile outline. In this way, the 700A surgical robotic system can still use robotic arms that are positioned outside the sterile boundary and that are covered with sterile surgical drapes to perform a surgical procedure.
[00140] [00140] In one embodiment, the 700A surgical robotic system configures the set of robotic arms to perform an endoscopic surgical procedure on patient 708. The set of robotic arms holds an endoscope, for example, the 710 surgical instrument. The set of arms Robotic devices insert the endoscope into the patient's body through an opening in the 708 patient's groin area. The endoscope is a flexible, thin and tubular instrument with optical components, such as a camera and an optical cable. The optical components collect data that represent images of portions within the patient's body. A user of the 700A surgical robotic system uses the data to assist with endoscopy.
[00141] [00141] Figure 7B is a top view of the 700A surgical robotic system with arms mounted on a column configured to access the lower area of the patient's body 708 according to a modality.
[00142] [00142] Figure 7C is an isometric perspective view of an imaging device 740 and a robotic surgical system 700B with arms mounted on a column configured to access the lower body area of a patient 708 according to one modality. The surgical robotic system 700B is a modality of the surgical robotic system 400B in Figure 4B. The 700B surgical robotic system includes a pair of stirrups 720 to support patient 708's legs, thereby exposing the patient's groin area 708. In general, the imaging device 740 captures images of body parts or other objects within of a 708 patient. Imaging device 740 can be a C-arm, also called a movable C-arm, which is often used for fluoroscopic surgical procedures, or another type of imaging device. A C-arm includes a generator, detector and imaging system (not shown). The generator is attached to the lower end of the C arm and is facing upwards towards patient 708. The detector is attached to the upper end of the C arm and is facing downwards towards patient 708. The generator emits lightning waves X towards patient 708. The X-ray wave penetrates patient 708 and is received by the detector. Based on the received X-ray waves, the imaging system 740 generates images of body parts or other objects within patient 708. Rotating segment 210 of table 401B is rotated laterally so that patient 708's groin area is aligned between the generator and the detector of the C 740 C arm imaging device.
[00143] [00143] The 700B surgical robotic system uses a set of robotic arms mounted on a column to manipulate a 710 surgical instrument. Each of the robotic arms is coupled to, for example, holding, the 710 surgical instrument. The 700B surgical robotic system uses the robotic arms to insert the surgical instrument 710 into the patient's groin area along a virtual 790 rail.
[00144] [00144] Figure 7D is a top view of the imaging device 740 and the surgical robotic system 700B with arms mounted on a column configured to access the lower area of the patient's body 708 according to a modality. VII. B. Surgery of the central body area
[00145] [00145] Figure 7E is an isometric perspective view of the 700B (or 400B) surgical robotic system with the arms mounted on a column configured to access the central area of a 708 patient's body according to one modality. The 700B surgical robotic system has been reconfigured from the configuration shown in Figure 7C to D in which the robotic arms access the lower area of the patient's body 708. In modalities in which the table includes a rotating segment 210, the rotating segment 210 of the table swivel is rotated along with the rest of the table. Patient 708 lying on table 401B is undergoing a surgical procedure, for example, prostatectomy or laparoscopy, which requires access to the central area of patient 708's body. Each robotic arm is manipulating a surgical instrument to perform the surgical procedure. The 700B surgical robotic system lifts column rings 405B and 405C towards table 401B so that the robotic arms have greater access to patient 708. In addition, the 700B surgical robotic system rotates the column rings so that two of the robotic arms extend on one side of the 401B table and the other two robotic arms extend on the opposite side of the 401B. As a result, robotic arms are less likely to interfere with each other (for example, a robotic arm blocking the movement of another robotic arm) during the surgical procedure. VII. C. Surgery of the upper body area
[00146] [00146] Figure 7F is an isometric perspective view of the 700B (or 400B) surgical robotic system with the arms mounted on a column configured to access the upper area of a 708 patient's body according to one modality. The 700B surgical robotic system has been reconfigured from the configuration shown in Figure 7E in which the robotic arms access the central area of the patient's body 708. In modalities in which the table includes a rotating segment 210, the rotating segment 210 of the turntable is rotated together with the rest of the table. Patient 708 lying on table 401B is undergoing a surgical procedure, for example, bronchoscopy, which requires access to patient 708's upper body area, specifically patient 708's head. Robotic arm 470C and robotic arm 470D they are inserting a 710D surgical instrument, for example, a bronchoscope, into patient 708's mouth along a virtual 790 rail. The robotic arm 470B is coupled to, for example, holding a 750 introducer. The introducer 750 is a surgical instrument that directs the bronchoscope into the patient's mouth
[00147] [00147] Figure 8A is an isometric perspective view of a 403A base of an 800A surgical robotic system according to an embodiment. The 800A surgical robotic system is a modality of the 400B surgical robotic system in Figure 4B. The 800A surgical robotic system stores the robotic arms mounted on a column and / or the column rings (not shown) inside the 403B base when the robotic arms are not in use. The 403B base includes a first panel 820A and a second panel 820B that cover the stored robotic arms. The first panel 820A and the second panel 820B are advantageous because they prevent waste materials from being de-sterilized or otherwise contaminating the stored robotic arms.
[00148] [00148] Figure 8B is an isometric view of open panels of base 403B according to an embodiment. The first panel 820A and the second panel 820B rotate in the opposite direction to the column 802A so that the robotic arms mounted on a column have access into the base 403B. The first panel 820A includes a cutout 830A and the second panel 820B includes a cutout 830B. The cutouts 830A and 830B adapt to the shape of the column 402B so that the panels 820A and 820B form a seal around the column 402B when closed. The 800A surgical robotic system can automatically open and close the first 820A panel and the second 820B panel using motors or other actuation means. A user of the 800A surgical robotic system can also manually open and close the first 820A panel and the second 820B panel.
[00149] [00149] Figure 8C is an isometric perspective view of a robotic arm retracted within a 403B base of an 800B surgical robotic system according to one embodiment. The 800B surgical robotic system is a modality of the 400B surgical robotic system in Figure 4B. The 800B surgical robotic system stores the robotic arms mounted on a 470B and 470D column and the 405B and 405C column rings within the 403B base when the robotic arms are not in use. The 403B base includes a first panel 820A and a second panel 820B covering the stored robotic arms and column rings. The first panel 820A includes a cutout 830C. The second panel 820B also includes a cutout (not shown because it is obscured by other components). The cutouts adapt to the shape of the column 402B so that the panels 820A and 820B form a seal around the column 402B when closed.
[00150] [00150] The first panel 820A and a second panel 820B move laterally to provide access to the robotic arms and column rings into the 403B base. Figure 8C shows the first panel 820A and a second panel 820B translated to form an opening. The opening may be large enough to provide access to a robotic arm, but not so large as to provide protection for the robotic arms even when the panels are open. The robotic arm 470D and column ring 405C are retracted into the base 403B. Robotic arm 470B and column ring 405B are outside base 403B, although they can also be retracted inside base 403B. The 800B surgical robotic system can automatically open and close the first 820A panel and the second 820B panel using motors or other actuation means. A user of the 800B surgical robotic system can also manually open and close the first 820A panel and the second 820B panel.
[00151] [00151] Figure 8D is an isometric perspective view of robotic arms collected under table 701 of the surgical robotic system 700A according to an embodiment. Specifically, the arm segments of each robotic arm rotate so that the robotic arm is in a compact configuration to be retracted. The 700A surgical robotic system raises the first column ring 705A and the second column ring 705B and lowers the third column ring 705C towards the center of column 702. This way, the robotic arms have enough space in the retracted configuration without interfering with a with the other. In one embodiment, the column 702 includes guards (for example, similar to panels 820A and 820B) on the robotic arms to protect the robotic arms from any contamination or damage.
[00152] [00152] Figure 8E is an isometric perspective view of robotic arms retracted above the 403B base of a 400B surgical robotic system according to one embodiment. The robotic arms 470B, 470C, 470D and 470E are in a collapsed configuration. Specifically, the arm segments of each robotic arm rotate so that the robotic arm is in a compact configuration to be retracted. The surgical system 400B lowers the first column ring 405B and the second column ring 405C along the column 402B so that the retracted robotic arms rest on the base 403B and are away from the table 401B. A shield (not shown), such as a surgical drape or panel, can be used to cover the retracted robotic arms for protection against de-sterilization or other contamination.
[00153] [00153] Figure 8F is another isometric view of robotic arms collected above the base 403B of the 800C surgical robotic system according to one embodiment. The robotic arms are mounted on a rail instead of mounted on a column. Robotic arms mounted on a rail are further described with reference to Figures 9A and B and Figures 10A to D in Section IX. Robotic arms mounted on a rail and Section X. Rails, respectively. The 800C surgical robotic system is a modality of the surgical robotic system
[00154] [00154] Figure 8G is an isometric perspective view of the casters of the stabilizer on a base 803 of a surgical robotic system according to one modality. The base 803 shown in Figure 8G includes four stabilizer casters 840A, 840B, 840C and 840D, each substantially the same and positioned in a different corner from the base 803, although it should be noted that, in other embodiments, a base may include any number of stabilizer casters positioned elsewhere on the base. The casters of the stabilizer 840A, 840B, 840C and 840D are each in a mobile configuration, that is, the caster wheel comes into physical contact with the floor. In this way, the user of the surgical robotic system can transport the surgical robotic system using the caster wheels, for example, to a storage area when the surgical robotic system is not in use.
[00155] [00155] Figure 8H is another isometric perspective view of the casters of the stabilizer 840A, 840B, 840C and 840D on the base 803 of the surgical robotic system according to one modality. The stabilizer casters 840A, 840B, 840C and 840D are each in a stationary configuration, that is, the stabilizer caster is rotated so that the caster wheel does not come into physical contact with the floor. In this way, the surgical robotic system can be stabilized and immobilized during a surgical procedure.
[00156] [00156] Figure 8I is a side view of the 840A stabilizer caster in a mobile configuration according to one modality. The stabilizer caster 840A includes a caster wheel 842 movably coupled to a stabilizer bezel 844. The stabilizer bezel 844 is coupled to a foot 846. The first hinge 848 is movably coupled to the stabilizer bezel 844 for the first hinge 850. The second hinge 852 is movably coupled to the stabilizer bezel 844 by the second hinge
[00157] [00157] Figure 8J is a side view of the 840A stabilizer caster in a stationary configuration according to an embodiment. In the stationary configuration, the caster wheel 842 can rotate freely, but the caster wheel 842 does not move the caster of the stabilizer 840A because the caster wheel 842 is not physically in contact with the floor. The surgical robotic system (or a user) rotates the 840A stabilizer caster, for example, 90 degrees, to change the 840A stabilizer caster from the mobile configuration to the stationary configuration. Thus, the 846 foot now comes into physical contact with the floor and helps prevent the surgical robotic system from moving. The 846 foot may have a larger projection area in relation to the 842 caster wheel to provide additional floor stability. Joints 848 and 852 are positioned so that they do not interfere with the rotating path of the stabilizer 840A caster. The combination of caster wheel 842 and foot 846 on the caster of the stabilizer 840A is advantageous, for example, due to the fact that the caster of the stabilizer 840A allows the surgical robotic system to change between the mobile and stationary configurations using a compact mechanism, in instead of having separate rotation and stabilization mechanisms. Also, in cases of use of robotic surgical systems including rotating segments that rotate a patient lying on the rotating segment in the opposite direction to a corresponding table (for example, as shown in Figures 7C to D), the feet of the stabilizer casters (in the stationary configuration) help prevent the surgical robotic system from tipping over with the patient's center of mass extending beyond the table base.
[00158] [00158] Alternative views and modalities of base 403B, including the components mentioned above, are further illustrated and described at least in US Provisional Patent Application No. 62 / 203,530 filed on August 11, 2015. IX. Robotic arms mounted on a rail
[00159] [00159] Figure 9A is an isometric perspective view of a 900A surgical arm system with a robotic arm mounted on a rail according to a modality. The 900A surgical robotic system includes a set of robotic arms (including at least the 470A arm) and a set of base rails (including at least 980A base rail). The robotic arm 470A is attached to the 980A base rail. The base rails are further described with reference to Figures 10A to D in Section X. Rails below. The 980A base rail is movably coupled to the 103 base. Thus, the robotic arm 470A can be called a robotic arm mounted on a 470A rail.
[00160] [00160] Figure 9B is an isometric perspective view of a 900B surgical robotic system with robotic arms mounted on a rail according to a modality. The 900B surgical robotic system includes 470B, 470C, 470D and 470E robotic arms, each coupled to a first 980B base rail or a second 980C base rail. The first rail of the base 980B and the second rail of the base 980C are movably coupled to the base 103.
[00161] [00161] In other modalities, the 900B surgical robotic system may include more or less robotic arms and / or base rails. In addition, the robotic arms can be attached to the base rails in various configurations. For example, three robotic arms can be attached to a base rail. In addition, the 900B surgical robotic system can include three rails, each coupled to a robotic arm.
[00162] [00162] The 900B surgical robotic system can transfer the robotic arms mounted on a base rail by translating the base rails in relation to the base 103. The base rails can move beyond the initial projection area of the base 103, which enables robotic arms to operate in a large volume of space. In addition, the 900B surgical robotic system can move the robotic arms mounted on a base rail independently of each other by translating the robotic arms in relation to the base rail. This is advantageous, for example, because the 900B surgical robotic system can position the robotic arms in different configurations to perform a variety of surgical procedures.
[00163] [00163] Alternative views and modalities of the 900B surgical robotic system with robotic arms mounted on a column including the components mentioned above are further illustrated and described at least in US Provisional Patent Application No. 62 / 193,604, filed on July 17, 2015, and in US Provisional Patent Application No. 62 / 201,518, filed May 5, 2015. X. Rails
[00164] [00164] Figure 10A is an isometric perspective view of the base 1000 rails of a surgical robotic system according to a modality. A base rail includes a set of one or more bezels, each movably coupled to the base rail. In addition, each arm bezel is a modality of the arm bezel 506A or 506B described earlier with reference to Figure 5A in Section V. Column ring. Specifically, the 980B base rail includes 1006A, 1006B and 1006C arm crimp.
[00165] [00165] Figure 10B is an isometric perspective view of arm sockets on the 980B base rail according to an embodiment. The arm sockets 1006A, 1006B and 1006C each include a belt and pinion assembly. Specifically, the arm and pinion assembly of the arm crimp 1006A includes a bracket 1012, the motor 1014, the belt 1016 and a pinion 1018. The belt and pinion assemblies of the arm crimp 1006B and 1006C are similarly constructed.
[00166] [00166] The surgical robotic system 1000 transfers the arm sockets and, thus, the robotic arms mounted on the arm sockets, along base rails using belt and pinion sets. Specifically, arm crimp 1006A is movably coupled to a channel 1020 of the 980B base rail through 1012. Bracket 1012 is coupled to motor 1014, belt 1016 and pinion 1018. Motor 1014 is coupled to pinion 1018 by belt 1016. In this way, the output rotation of the motor 1014 causes the pinion 1018 to rotate. Pinion 1018 is engaged with a rail drive screw 1010 of the 980B base rail. The rotation of the pinion 1018 causes the arm bezel 1006A to move along the base rail 980B parallel to the drive screw of the rail 1010.
[00167] [00167] Figure 10C is an isometric sectional view of an arm socket 1006A on the 980B base rail according to an embodiment. The 1006A arm crimp includes a belt and pinion assembly. Specifically, the belt and pinion assembly includes an engine 1014, a belt 1016, a pinion 1018 and a bearing 1022. The surgical robotic system 1000 translates the arm crimp 1006A and thus a robotic arm mounted on the arm crimp 1006A , along the 980B base rail the belt and pinion assembly. Motor 1014 is coupled to pinion 1018 by belt 1016. Thus, the output rotation of motor 1014 causes pinion 1018 to rotate. Pinion 1018 is coupled to bearing 1022. In some embodiments, bearing 1022 forms a pinion and rack assembly with the 980B base rail. Specifically, the bearing 1022 is a gear (i.e., the pinion) and is engaged in a 1024 rack of the 980B base rail. The rotation of the pinion 1018 causes the bearing 1022 to travel along the rail of the base 980B parallel to the rack 1024. Thus, the arm crimp
[00168] [00168] Figure 10D are seen in cross section of the 980B base rail according to one modality. The cross-sectional view 1000A shows a basic profile of a 980B base rail mode. The cross-sectional view 1000B shows a reinforced profile of a 980B base rail mode. The lower segment 1030B of the reinforced profile is larger than the lower segment 1030A of the basic profile. Thus, the reinforced profile is an advantage, for example, because it allows the 980B base rail to support higher loads than the basic profile. Both the basic and the reinforced profile have a 1040 T slot fixation, which engages the corresponding T slot on a base of a surgical robotic system.
[00169] [00169] Alternative views and modalities of the 980A, 980B and 980C base rails including the components mentioned above are further illustrated and described at least in US Provisional Patent Application No. 62 / 193,604, filed on July 17, 2015, and in the Application US Patent Provisional No. 62 / 201,518, filed August 5, 2015. XI. Alternative configurations XI. A. Hybrid configuration
[00170] [00170] Figure 11 is an isometric perspective view of an 1100 surgical robotic system with robotic arms mounted on a column and robotic arms mounted on a rail according to a modality. Due to the hybrid configuration including rail-mounted robotic arms and column-mounted robotic arms, the 1100 surgical robotic system can configure robotic arms in a greater number (or different types) of positions compared to robotic surgical systems with robotic arms mounted on a rail or robotic arms mounted on a column only. In addition, the 1100 surgical robotic system takes advantage of the rotating movement of the robotic arms using the column rings as well as the translational movement of the robotic arms using the base rails. XI. B. Cart-based robotic arm column
[00171] [00171] Figure 12 is an isometric perspective view of a surgical robotic system 1200 with robotic arms mounted on a 402B column and 403B base separated, for example, an independent support cart, from a table 101, column 102 and base 103 surgical robotic system 1200 according to one modality. The surgical robotic system 1200 configures the robotic arms to access the lower body area of patient 708 lying on table 101. In one embodiment, the assembly of the robotic arms on a cart including column 402B separate from column 102 coupled to table 101 with the patient is advantageous. For example, as the surgical robotic system 1200 can configure the robotic arms for a greater number (or different types) of positions compared to surgical robotic systems with robotic arms mounted on the same table column, which are limited at least to the angles where the table extends beyond column 102. In addition, the cart may include stabilizer casters (for example, previously described with reference to Figures 8G to J in Section VIII. Base) that allow users to more easily transport the robotic arms or maintain the cart stationary. Mounting the robotic arms separately can also reduce the number of components and the complexity of the column attached to the table with the patient.
[00172] [00172] Alternative views and modalities of the surgical robotic system 1100, the surgical robotic system 1200 and other surgical robotic systems including the components mentioned above are further illustrated and described at least in US Provisional Patent Application 62 / 162,486 filed in 15 May 2015, US Provisional Patent Application No. 62 / 162,467 filed on May 15, 2015, US Provisional Patent Application No. 62 / 193,604 filed on
[00173] [00173] Surgical robotic systems may include adjustable arm supports as described in this section to support one or more robotic arms. The adjustable arm supports can be configured to be attached to a table, a table column support or a table base to position the adjustable arm supports and robotic arms from a position below the table. In some embodiments, the adjustable arm supports can be attached to a bed (or table) or to a trolley positioned adjacent to a bed. In some examples, the adjustable arm supports include a bar or rail on which one or more robotic arms are mounted. In some embodiments, the adjustable arm supports include at least four degrees of freedom that allow you to adjust the position of the bar or rail. One of the degrees of freedom can allow the adjustable armrest to be adjusted vertically in relation to the table. These and other characteristics of the adjustable arm supports will be described in detail with reference to the Examples of Figures 13A to 21.
[00174] [00174] Figures 13A and 13B are isometric and end views and, respectively, of a surgical robotic system 1300 that includes adjustable arm support 1305 according to a modality. The adjustable arm support 1305 can be configured to support one or more robotic arms (see, for example, Figures 14A to 15B.) In relation to a table 1301. As will be described in more detail below, the adjustable arm support 1305 can be configured so that it can move with respect to table 1301 to adjust and / or change the position of armrest 1305 and / or any robotic arms mounted on adjustable armrest 1305 in relation to table 1301. For example, adjustable armrest 1305 can include one or more degrees of freedom from table 1301 to allow adjustment of the adjustable armrest
[00175] [00175] Surgical robotic systems including 1305 adjustable arm supports, as described in this Section, can be designed to address one or more issues of known surgical robotic systems. For example, a problem with some surgical robotic systems is that they can be bulky, taking up large amounts of ambient space. This is often because large, elaborate support structures were required to position the robotic arms to perform robotic surgical procedures. Some surgical robotic systems include robotic arm support structures that support a plurality of robotic arms above a table that supports a patient during the robotic surgical procedure. For example, common surgical robotic systems include support structures that suspend one or more robotic arms on a table. These support structures are quite large and bulky because, for example, they must extend over and above the table.
[00176] [00176] Another problem with some robotic surgical systems is that they can be overly complicated. For example, as some robotic surgical systems require large and bulky support structures, as described above, these systems are not easily moved, which can be disadvantageous. Before and after surgery, it may be desirable to quickly and quickly remove the robotic arms from a surgical area to provide easy access to carry a patient to or remove a patient from the table. This has been difficult in some surgical robotic systems due to the large and bulky support structures and the impractical nature of these systems. Some surgical robotic systems are not easily stored or moved.
[00177] [00177] Still, some surgical robotic systems have limited flexibility or versatility. That is, some robotic surgical systems are designed for a specific surgical procedure and, consequently, do not work well in other types of surgical procedures. For example, a surgical robotic system that is configured for laparoscopic surgery may not work well for endoscopic surgery, or vice versa. In some cases, this is because the robotic arms used during procedures need to be positioned in different locations in relation to the patient and / or the table during different types of surgical procedures, and the support structures of conventional surgical robotic systems are unable to accommodate the different positions of the robotic arms. In addition, as mentioned above, some surgical robotic systems include support structures that suspend one or more robotic arms above the patient and the table. It may be difficult to perform certain medical procedures with robotic arms mounted in this position.
[00178] [00178] Finally, some surgical robotic systems include robotic arms that are fixedly mounted on their corresponding support structures and / or the support structures themselves are mounted or fixedly positioned. These systems can rely only on the articulation of the robotic arms to adjust the position of the robotic arms and / or the surgical tools mounted on it. As the arms and / or supports have a fixed position, this can greatly limit the overall flexibility of these systems. The fixed nature of the robotic arms and / or supports of some systems may further limit the ability of these systems to prevent collisions between the arms and / or other objects (eg, the patient, the table, other equipment, etc.) during surgery.
[00179] [00179] The 1300 system in Figures 13A and 13B including the adjustable arm support 1305, as well as the other systems described in this section, can be configured to address (for example, reduce or eliminate) one or more of the problems associated with some systems surgical robotic devices discussed above. For example, the systems described here may be less bulky than some systems. The systems described here may take up less physical space than other systems. The systems described here can be less laborious than other systems. For example, the systems described herein can be readily mobile and / or can be configured to store arm supports and robotic arms quickly and easily to allow convenient access to the patient and / or the table. The systems described here can be highly flexible and configured for use in a wide variety of surgical procedures. For example, in some modalities, the systems are configured for laparoscopic and endoscopic procedures. The systems described here can be configured to reduce collisions between the various robotic arms and other objects in the operating room.
[00180] [00180] In some embodiments, one or more of these advantages can be obtained by including one or more adjustable arm supports 1305, as described in the present invention. As mentioned above, adjustable arm support 1305 can be configured so that it can move relative to table 1301 to adjust and / or change the position of arm support 1305 and / or any robotic arms mounted on the adjustable arm support 1305 in relation to table 1301. For example, adjustable arm supports 1305 may be able to be retracted (for example, below table 1301) and subsequently raised for use. In some embodiments, the adjustable arm supports 1305 can be retracted on or near a base that supports the table 1301. In some embodiments, the adjustable arm supports 1305 can be retracted into one or more recesses formed along a geometric axis central longitudinal axis of the base. In other embodiments, the adjustable arm supports 1305 can be retracted into one or more recesses offset from a central longitudinal axis of the base. By lifting, the adjustable arm supports 1305 can be positioned close to the patient, but below table 1301 (for example, below the top surface of table 1301). In other embodiments, the arm supports 1305 can be raised above the table 1301 (for example, above the upper surface of the table). Such a configuration can be useful, for example, when an adjustable arm support is positioned behind a patient lying on his side.
[00181] [00181] In some embodiments, the adjustable arm support 1305 is fixed to the bed with a support structure that provides varying degrees of freedom (for example, elevation, lateral translation, inclination, etc.). In the illustrated embodiment of Figures 13A and 13B, the arm support 1305 is configured with four degrees of freedom, which are illustrated with arrows in Figure 13A. A first degree of freedom allows adjustment of the adjustable arm support in the z direction ("Z-lift"). For example, as will be described below, the adjustable arm support 1305 may include a conveyor 1309 configured to move up or down along or in relation to a column 1302 supporting table 1301. A second degree of freedom can allow the 1305 adjustable arm support to tilt. For example, the adjustable arm support 1305 can include a swivel joint, which can, for example, allow arm support 1305 to be aligned with a bed in a Trendelenburg position. A third degree of freedom can allow the adjustable armrest to pivot as shown. As will be described below, this degree of freedom can be used to adjust a distance between the side of the table 1301 and the adjustable arm support 1305. A fourth degree of freedom can allow translation of the adjustable arm support 1305 over a length longitudinal of the table. Arm supports 1305 that include one or more of these degrees of freedom can address one or more of the problems associated with some systems described above by providing a highly positionable support to which several robotic arms can be attached. The adjustable arm support 1305 can allow adjustment of the position of the robotic arms in relation, for example, to the table 1301. In some embodiments, these degrees of freedom can be controlled in series, in which one movement is carried out after another. In other modalities, different degrees of freedom can be controlled in parallel. For example, in some embodiments, one or more linear actuators can provide Z-elevation and inclination.
[00182] [00182] These degrees of Freedom, as well as other characteristics of the adjustable arm support 1305, will now be described in more detail with reference to Figures 13A and 13B, which are seen in isometric and end perspective, respectively, of the 1300 surgical robotic system , which includes the 1305 adjustable arm support according to a modality. In the illustrated embodiment, system 1300 includes table 1301. In some embodiments, table 1301 may be similar to the tables described above. In the illustrated embodiment, table 1301 is supported by a column 1302, which is mounted on a base 1303. The base 1303 can be configured to rest on a supporting surface, such as a floor. In this way, the base 1303 and the column 1302 support the table 1301 in relation to the support surface. Figure 13B illustrates a plane of the support surface 1331. In some embodiments, table 1301 can be supported by one or more supports, one of which supports column 1302. For example, table 1301 can be supported by a mechanism Stewart which comprises a plurality of parallel actuators.
[00183] [00183] The 1300 system can also include the adjustable arm support 1305. In the illustrated embodiment, the adjustable arm support 1305 is mounted on column 1302. In other embodiments, the adjustable arm support 1305 can be mounted on table 1301 or on base
[00184] [00184] Adjustable arm support 1305 can include a conveyor 1309, a bar or rail connector 1311 and a bar or rail 1307. The bar or rail 1307 can comprise a proximal portion and a distal portion. One or more robotic arms can be mounted on rail 1307, as shown, for example, in Figures 14A and 15B. For example, in some modalities, one, two, three or more robotic arms can be mounted on the 1307 rail. In addition, in some modalities, the robotic arms that are mounted on the rail can be configured to move (for example, translate) along the rail 1307, so that the position of the robotic arms on the rail 1307 can be adjusted in relation to each other, thereby reducing the risk of collision between the robotic arms. These features will be described in more detail below. In the illustrated embodiment, rail 1307 is connected to the bar or rail connector 1311. The bar or rail connector 1311 is connected to conveyor 1309. The conveyor is connected to column 1302. Other arrangements are possible.
[00185] [00185] Column 1302 can extend along a first geometry axis 1323. In some embodiments, the first geometry axis 1323 is parallel to the z axis, as shown. In some embodiments, the first 1323 geometry axis is a vertical geometry axis. For example, the first 1323 geometry axis can be perpendicular to the supporting surface or floor on which the 1300 system rests.
[00186] [00186] The conveyor 1309 can be fixed to the column 1302 by means of a first articulation 1313. The first articulation 1313 can be configured to allow the conveyor 1309 (and consequently the adjustable arm support 1305) to move in relation to the column 1302 In some embodiments, the first hinge 1313 is configured to allow conveyor 1309 to move along column 1302 (for example, up and down along column 1302). In some embodiment, the first hinge 1313 is configured to allow the conveyor 1309 to move along the first geometry axis 1323 (for example, back and forth along the first geometry axis 1323). The first hinge 1313 may comprise a linear or prismatic hinge. The first hinge 1313 may comprise a powered hinge, such as a motorized or hydraulic hinge. The first 1313 joint can be configured to provide the first degree of freedom ("z-elevation") for the 1305 adjustable arm support.
[00187] [00187] Adjustable arm support 1305 can include a second hinge 1315 as shown. The second articulation 1315 can be configured to provide the second degree of freedom (tilt) for the adjustable arm support 1305. The second articulation 1315 can be configured to allow the adjustable arm support 1305 to rotate around a second geometric axis 1325 which is different from the first 1323 geometry axis. In some embodiments, the second 1325 geometry axis is perpendicular to the first 1323 geometry axis. In some embodiments, the second 1325 geometry axis does not have to be perpendicular to the first 1323 geometry axis. For example, in some modalities, the second geometric axis 1325 forms an acute angle with the first geometric axis 1323. In some modalities, the second geometric axis 1325 extends in the y direction. In some embodiments, the second 1325 geometry axis can be on a plane that is parallel to the supporting surface or floor on which the 1300 system rests. The second hinge 1315 may comprise a pivot hinge. The second hinge 1315 may comprise a powered hinge, such as a motorized or hydraulic hinge.
[00188] [00188] In the illustrated embodiment, the second joint 1315 is formed between the conveyor 1309 and the column 1302, so that the conveyor 1309 can rotate around the second geometric axis 1325 in relation to the column 1302. In other embodiments, the second joint 1315 can be positioned in other locations. For example, the second hinge 1315 can be positioned between the conveyor 1309 and the rail connector 1311 or between the rail connector 1311 and the rail 1307.
[00189] [00189] As noted above, the second joint 1315 can be configured to allow the adjustable arm support 1305 to rotate around the second geometry axis 1325 to allow a second degree of freedom (tilt) for the adjustable arm support 1305. As will be described in more detail with reference to Figure 16 below, the rotation of the adjustable arm support 1305 around the second geometry axis 1325 may allow the adjustment of an angle of inclination of the adjustable arm support 1305. That is, an angle of inclination the rail 1307 can be adjusted by rotating the adjustable arm support 1305 around the second geometry axis 1325 (see Figure 16).
[00190] [00190] Adjustable arm support 1305 can include a third hinge 1317 as shown. The third hinge 1317 can be configured to provide the third degree of freedom (upward rotation) for the adjustable arm bracket 1305. The third hinge 1317 can be configured as a rotational hinge to allow the 1311 rail connector to rotate around a third geometry axis 1327 which is different from the first geometry axis 1323 and the second geometry axis 1325. In some embodiments, the third geometry axis 1327 may be perpendicular to the second geometry axis 1325. In other embodiments, the third geometry axis 1327 need not be parallel to the second geometry axis 1325. For example, the third geometry axis 1327 can form an acute angle with the second geometry axis 1325. In some embodiments, the third geometry axis 1327 extends in the x direction. In some embodiments, the third 1327 geometry axis can be on a plane that is parallel to the supporting surface or floor on which the 1300 system rests. The third geometry axis 1327 can be on the second geometry axis 1325. When the adjustable arm support 1305 is positioned as shown in Figures 13A and 13B, the third geometry axis 1327 can be perpendicular to the first geometry axis 1323; however, as the adjustable arm support 1305 is rotated around the second hinge 1315, the angle between the first geometry axis 1323 and the third geometry axis 1327 may vary. In some embodiments, the third geometry axis 1327 can be parallel to rail 1307.
[00191] [00191] When configured as a rotational joint, the third joint 1317 can allow the rail connector 1311 to rotate around the third geometry axis 1327. As the rail connector 1311 rotates around the third geometry axis 1327, a distance (for example, measured along the y-direction) between a table edge 1301 and the rail 1307 can be adjusted. For example, the distance between the edge of table 1301 and rail 1307 would increase as the rail connector 1311 is rotated down from the position shown in Figure 13B. In this way, the third hinge 1317 can be configured to provide a degree of freedom that allows adjustment of the position of the rail 1307 along the y direction. In addition, when configured as a rotational joint, the third joint 1317 may also allow for further adjustment of the position of the rail 1307 along the z direction. For example, the height of rail 1307 (along the z direction) would decrease as the rail connector 1311 is rotated down from the position shown in Figure 13B. In some embodiments, the third hinge 1317 may allow the rail 1307 to revolve upward in a "bicep flex" form from a retracted position to an elevated position.
[00192] [00192] As can be seen better in Figure 13B, in the illustrated mode, the third joint 1317 is positioned at a first end of the rail connector 1311 that connects the rail connector 1311 to the conveyor. An additional hinge 1319 can be included on a second end of the rail connector 1311 that connects the rail connector 1311 to the rail 1317. In some embodiments, the position of the third hinge 1317 and the additional hinge 1319 can be reversed. In some embodiments, the additional hinge 1319 is mechanically restricted to the third hinge 1317, so that the third hinge 1317 and the additional hinge 1319 rotate together. For example, the third hinge 1317 and the additional hinge 1319 can be mechanically restricted by means of a four bar mechanism. Other methods of mechanical restraint are also possible. The mechanical constraint between the third hinge 1317 and the additional hinge 1319 can be configured to maintain a rail orientation 1307 as the rail connector 1311 is rotated about the third geometry axis 1327. For example, the mechanical constraint between the third pivot 1317 and additional pivot 1319 can be configured so that, as the rail connector 1311 rotates, an upper surface of the rail 1307 (to which one or more robotic arms can be mounted) remains facing the same direction. In the illustrated example of Figures 13A and 13B, the top face of the rail 1307 faces upwards (in the z direction). The mechanical constraint between the third hinge 1317 and the additional hinge 1319 can be configured so that the top face of the rail 1307 remains upward (in the z direction) as the rail connector 1311 rotates. In some embodiments, the mechanical constraint can be replaced by a constraint defined by software. For example, each of the third joint 1317 and the additional joint 1319 can be a powered joint and the software can be used to restrict the rotation of each joint.
[00193] [00193] In some embodiments, the third articulation 1317 may comprise a linear articulation or prismatic articulation (in place of the rotating articulation described above and illustrated in the figures) configured to allow the linear displacement of the rail 1307 towards and in the opposite direction to the column 1302 (for example, along the y direction).
[00194] [00194] The third articulation 1317 can comprise an energized articulation. In some embodiments, the third hinge 1317 may comprise a hydraulic or motorized hinge.
[00195] [00195] Adjustable arm support 1305 can include a fourth joint 1321 as shown. The fourth joint 1321 can be configured to provide the fourth degree of freedom (translation)
[00196] [00196] The fourth joint 1321 can comprise a linear or prismatic joint. The fourth hinge 1321 may comprise a powered hinge, such as a motorized or hydraulic hinge. In the illustrated embodiment, the fourth joint 1321 is positioned between the bar or rail connector 1311 and the rail
[00197] [00197] As will be described in more detail below with reference to Figures 15A and 15B, the translation of the 1307 rail can be configured to provide greater longitudinal reach (for example, along the x direction) for the 1300 system. This can optimize the flexibility of the 1300 system, allowing the 1300 system to be used in a wider variety of surgical procedures.
[00198] [00198] In some embodiments, the adjustable arm support 1305 is configured to allow variable positioning of rail 1307 in relation to table 1301. In some embodiments, the position of rail 1307 remains below a plane of the supporting surface of table 1333 which is parallel to the upper surface of table 1301. This can be advantageous since it can optimize the ability to maintain a sterile field on the plane of the supporting surface of table 1333 during a medical procedure. In the surgical environment, medical personnel may wish to maintain a sterile field above the table surface. As such, there may be high requirements or more stringent procedures for equipment that is positioned above the table surface. For example, equipment positioned above the table surface may need to be placed under a surgical field. As such, it may be desirable, and certain medical personnel may prefer, that the armrest be kept below the surface of the table. In some cases, when the arm support is kept below the table surface, it may not need to be maintained in the surgical field. In other embodiments, however, the adjustable arm support 1305 can adjust the position of the rail 1307 so that it is positioned above the plane of the support surface of the table 1333.
[00199] [00199] In some embodiments, the adjustable arm support 1305 is fixed to the base 1303, to the column 1302 or to the table 1301 in a position below the plane of the support surface of the table 1333. As will be described below with reference to Figures 18A and 18B, this can advantageously allow the adjustable arm support 1305 (and any attached robotic arm) to be moved into a retracted configuration in which the adjustable arm support 1305 (and any attached robotic arm) is retracted under table 1301 (see Figure 18B). This can make the 1300 system advantageously less bulky and / or less impractical compared to previously known surgical robotic systems.
[00200] [00200] The movement of arm support 1305 (for example, the movement of one or more of the first, second, third or fourth joints 1313, 1315, 1317, 1321) can be controlled and / or commanded in several ways. For example, the 1300 system can include a controller (for example, a pendant) on the bed (patient side) or a surgeon console. As another example, buttons (or other actuation mechanisms) could be included in one or more of the components of the 1305 adjustable arm support (or in one or more of the connected robotic arms). As another example, the movement of the adjustable arm support 1305 can be provided automatically by the system software, for example, for adjustment within the robot's null space (while maintaining the position of the tool tip commanded by the surgeon). In addition, the movement of the adjustable arm support 1305 can be provided automatically by the system software during configuration, implantation, the surgical field or other work steps when tools are not inserted into the patient. Other examples are possible.
[00201] [00201] Figures 13A and 13B illustrate a modality that includes an adjustable arm support 1305. As noted earlier, some systems may include more than one adjustable arm support 1305, each supporting one or more robotic arms. In such systems, each adjustable arm support can be configured as described above. In addition, in such systems, each adjustable arm support can be controlled independently.
[00202] [00202] Figure 14A is an end view of a robotic surgical system 1400A with two adjustable arm supports 1305A, 1305B mounted on opposite sides of a table 1301 according to an embodiment. Each of the adjustable arm supports 1305A, 1305B can be configured as described above. In the illustrated embodiment, a first adjustable arm support 1305A is positioned on a first side of table 1301 (for example, the right side, as shown in the figure) and a second adjustable arm support 1305B is positioned on a second side of table 1301 (for example, the left side as shown in the figure). The second side can be opposite the first side.
[00203] [00203] Furthermore, a first robotic arm 1402A is illustrated attached to the bar or rail 1307A of the first adjustable arm support 1305A and a second robotic arm 1402B is illustrated attached to the bar or rail 1307B of the second adjustable arm support 1305B. As illustrated, the first robotic arm 1402A includes a base 1404A attached to rail 1307A. The distal end of the first robotic arm 1402A includes a drive mechanism for the 1406A instrument. The drive mechanism of the 1406A instrument can be configured to attach to one or more robotic medical instruments or tools. Similarly, the second robotic arm 1402B includes a base 1404B attached to the rail 1307B. The distal end of the second robotic arm 1402B includes a drive mechanism for the 1406B instrument. The drive mechanism for the 1406B instrument can be configured to attach to one or more robotic medical instruments or tools. Examples of robotic arms configured for use with 1305 adjustable arm supports are described in more detail below in Section XIII (see Figure 21).
[00204] [00204] Figure 14A illustrates that the adjustable arm supports 1305A, 1305B can be independently controlled and positioned. As illustrated, the first adjustable arm support 1305A is positioned at a first height along the first geometry axis 1323, and the second adjustable arm support
[00205] [00205] In the embodiment in Figure 14A, the conveyor 1309A of the first adjustable arm support 1305A is positioned at a first height along the first geometry axis 1323 and the conveyor 1309B of the second adjustable arm support 1305B is positioned at a second height at along the first 1323 geometry axis different from the first height. Thus, a height difference H1 may exist between conveyors 1309A, 1309B of the first and second adjustable arm supports 1305A, 1305B. In other embodiments, conveyors 1309A, 1309B of the first and second adjustable arm supports 1305A, 1305B can be positioned at the same height.
[00206] [00206] Also, Figure 14A illustrates the position of the bar or rail connectors 1311A, 1311B of the first and second adjustable arm supports 1305A, 1305B, which can also be independently adjusted to have different orientations. For example, as illustrated, the rail connector 1311A of the first adjustable armrest 1305A is rotated downward, and the rail connector 1311B of the second adjustable armrest 1305B is rotated upward. A height difference H2 may exist between the rails 1307A, 1307B of the first and second adjustable arm supports 1305A, 1305B, as shown. Also, in that position, each of the rail connectors 1311A, 1311B, the first and second adjustable arm supports 1305A, 1305B is positioned at a different distance from the first geometry axis 1323. For example, the rail connector 1311A of the first support adjustable arm 1305A is positioned at a first distance D1 from the first geometry axis 1323, and the rail connector 1311B from the second adjustable arm support 1305B is positioned a second distance D2 from the first geometry axis 1323. This distance D1 may be different from distance D2. In some embodiments, the rail connectors 1311A, 1311B, the first and second adjustable arm supports 1305A, 1305B can be rotated to the same degree and / or the distance D1 can be equal to the distance D2.
[00207] [00207] Figure 14A illustrates that the adjustable arm supports 1305A, 1305B can each be positioned or adjusted independently to provide different positions in which the robotic arms attached to them are supported. Figure 14A illustrates just one example among many. Adjustable arm supports 1305 can have continuous movement (for example, vertical or longitudinal) and can be stopped at any point, as desired by a surgeon or doctor. This can be beneficial, for example, in creating a height differential between the arm supports, which can be advantageous for certain types of surgery, such as when a set of robotic arms needs to reach below and another needs to reach above a patient. For example, as shown in Figure 14A, the second adjustable arm support 1305B with a fixed robotic arm 1402B is raised above the first adjustable robotic arm 1305A with a fixed robotic arm 1402A. This position can be especially useful when the patient is on his side (for example, lateral decubitus), as in a nephrectomy procedure, although the person skilled in the art will understand that a differential can also be beneficial in other procedures. Figures 14B and 14C provide additional examples.
[00208] [00208] Figure 14B is an isometric perspective view of a surgical robotic system 1400B with two adjustable arm supports 1305A, 1305B and a plurality of robotic arms 1402A, 1402B, 1402C, 1402D configured for a laparoscopy procedure according to a modality. In the illustrated embodiment, a first adjustable arm support 1305A supports a first robotic arm 1402A, and a second adjustable arm support 1305B supports a second robotic arm 1402B, a third robotic arm 1402C and a fourth robotic arm 1402D.
[00209] [00209] The first robotic arm 1402A can be configured to move back and forth along the rail 1307A of the first adjustable arm support 1305A. That is, the first robotic arm 1402A can be configured to move along the fourth geometry axis 1329A. This can allow adjustment of the first robotic arm 1402A in relation to the 1307A rail. Similarly, the second robotic arm 1402B, the third robotic arm 1402C and the fourth robotic arm 1402D can each be configured to move back and forth along the rail 1307B of the second adjustable arm support 1305B. That is, the second robotic arm 1402B, the third robotic arm 1402C and the fourth robotic arm 1402D can be configured to move along the fourth geometric axis 1329B of the second adjustable arm support 1305B. This may allow adjustment of the second robotic arm 1402B, the third robotic arm 1402C and the fourth robotic arm 1402D in relation to the 1307B rail. In addition, each of the second robotic arm 1402B, the third robotic arm 1402C and the fourth robotic arm 1402D can be moved independently along the rail 1307B so that the spacing between each of the second robotic arm 1402B, the third robotic arm 1402C and the fourth robotic arm 1402D can be adjusted. Among other things, Figure 14B illustrates that, in some embodiments, the position of each robotic arm 1402 along the corresponding rail 1307 of the corresponding arm support 1305 can be independently controlled and adjusted.
[00210] [00210] Still, Figure 14B illustrates another example of a height differential between the first and the second arm supports 1305A, 1305B. In the illustrated embodiment, a patient 10 is positioned on his side during a laparoscopic procedure. The first adjustable arm 1305A is positioned in a high position (but below the surface of table 1301) so that the first robotic arm 1402A can reach patient 10. As illustrated, the second adjustable arm support 1305B is positioned in a lower position so that the second robotic arm 1402B, the third robotic arm 1402C and the fourth robotic arm 1402D can access an anterior side of the patient.
[00211] [00211] In some modalities, one or more of the robotic arms 1402A, 1402B, 1402C, 1402D can operate laparoscopic surgical instruments or tools, and one or more of the others among 1402A, 1402B, 1402C, 1402D can operate a camera inserted laparoscopically in the patient . In some embodiments, the one or more laparoscopic surgical instruments and the camera can be sized and configured to extend through one or more laparoscopic ports on a patient.
[00212] [00212] Figure 14C is an isometric perspective view of a 1400C surgical robotic system with two adjustable arm supports 1305A, 1305B and a plurality of robotic arms 1402A, 1402B, 1402C, 1402D, 1402E configured for a laparoscopic procedure accordingly with a modality. In the illustrated embodiment, a first adjustable arm support 1305A supports a first robotic arm 1402A and a second robotic arm 1402B, and a second adjustable arm support 1305B supports a third robotic arm 1402C, a fourth robotic arm 1402D and a fifth robotic arm 1402E .
[00213] [00213] In the illustrated mode, table 1301 that supports patient 10 is positioned at an angle to the floor. That is, instead of being parallel, as illustrated, for example, in Figure 14B, a plane of the table surface 1333 is inclined with respect to a plane of the supporting surface 1331. The first adjustable arm support 1305A, positioned on the side bottom of table 1301, can be positioned in a low position so that the first robotic arm 1402A and the second robotic arm 1402B can access patient 10. As shown, the second adjustable support arm 1305B is positioned in a higher position ( which may be smaller than the support surface of table 1333) so that the third robotic arm 1402C, the fourth robotic arm 1402D and the fifth robotic arm 1402E can reach and access the patient 10.
[00214] [00214] Figure 15A is an isometric perspective view of a surgical robotic system with two adjustable arm supports 1305A, 1305B which are configured to translate to adjust the position of the adjustable arm supports 1305A, 1305B according to an embodiment. As previously described, the adjustable arm support 1305 can include a fourth hinge 1321 configured to allow rail 1307 to move along the fourth geometry axis 1329 with respect to base 1302, column 1302, table 1301, conveyor 1309 and / or to the rail connector 1311. Figure 15A illustrates that, in modalities that include two adjustable arm supports 1305A, 1305B, the rail 1307A, 1307B of each adjustable arm support 1305A, 1305B can be moved along its axis corresponding geometry 1329A, 1329B, regardless of the other rail. For example, in Figure 15A, rail 1307A can move back and forth along geometry axis 1329A, independently of rail 1307B, which can also translate back and forth along geometry axis 1329B.
[00215] [00215] In other modalities, the rails 1307 are not configured to move along the geometry axis 1329. For example, in some modalities, longer rails 1307 can already be used in place of translation rails. In some embodiments, the translation of the 1307 rails allows shorter rails 1307 to be used, while maintaining the overall versatility and flexibility of the system. In some embodiments, the shorter 1307 short rails (with or without translation) can improve the system's ability to collapse below table 1301 (see Figure 18B).
[00216] [00216] Figure 15B is an isometric perspective view of a 1500B surgical robotic system with an adjustable arm support 1305 and robotic arm 1402 configured for an endoscopy procedure according to a modality. Figure 15B illustrates that, in some embodiments, a system that includes an adjustable armrest 1305 can be configured to provide a longitudinal range of motion that can be useful, for example, in an endoscopy procedure, such as a ureteroscopy, where an endoscope is inserted into the patient through the groin area. For example, as shown in Figure 15B, rail 1307 can be moved all the way towards the foot of table 1301. From there, arm 1402 can extend more longitudinally to position an instrument between the legs of the patient 10 to access to the groin area. Although only one robotic arm 1402 is illustrated in Figure 15B, in other embodiments, multiple robotic arms, mounted on the same adjustable arm support 1305 or an additional arm support 1305 can be configured for use in an endoscopy procedure. Figure 15B provides just one example of an endoscopy procedure. Systems including 1305 adjustable arm supports can be used in other types of endoscopic procedures, such as bronchoscopy, for example.
[00217] [00217] Figure 16 is an isometric perspective view of a surgical robotic system 1600 with an adjustable arm support 1305 configured with a rail 1307 capable of tilting according to a modality. As discussed earlier, an armrest can include a second hinge 1315 configured to allow armrest 1305 to tilt. In the embodiment illustrated in Figure 16, the second joint 1315 is positioned between the conveyor 1309 and the rail connector 1311, although, as discussed earlier, other positions for the second joint 1315 are possible. The second hinge 1315 can be a rotational hinge configured to rotate or provide adjustment of the arm support 1305 around the second geometry axis 1325. As shown in Figure 16, by rotating or providing the adjustment of the arm support 1305 around the second axis 1325, a tilt angle 1335 of the axis 1329 can be adjusted. The angle of inclination 1335 can be measured between, for example, the geometric axis 1329 (of the rail 1307) and the x axis, the plane of the support surface 1331 or the plane of the table surface
[00218] [00218] In some embodiments, the second joint 1315 allows the rail to be tilted in relation to table 1301. In some embodiments, table 1301 can also rotate or tilt (for example to a Trendelenburg position), and the second joint 1315 can allow the adjustable arm support 1305 to follow the rotation or inclination of the table 1301. This can allow the arms 1402 to remain in position in relation to the patient 10 and / or the table 1301, as the table 1301 rotates or is tilted . This can be advantageous since a surgeon or doctor may wish to rotate or tilt table 1301 intraoperatively. In some embodiments, the second hinge 1315 rotates or tilts to allow rail 1307 to remain parallel to table 1301 as the table is tilted.
[00219] [00219] Figures 17A and 17B illustrate that systems including adjustable arm supports 1305 can provide better access for medical imaging devices. As described above, the position of the adjustable arm support 1305 can be adjusted to allow access to or accommodate a medical imaging device, such as a C-arm. In addition to providing improved access for medical imaging devices, the supports Adjustable armrests also provide improved access to doctors.
[00220] [00220] Figure 17A is an isometric perspective view of a 1700A surgical arm system with adjustable arm supports 1305A, 1305B positioned to allow access to a C arm 1704 of a medical imaging device 1702 according to an embodiment. As shown, the second adjustable arm 1305B is positioned close to the floor so as to be positioned below the C arm 1704 of the medical imaging device. The first adjustable arm 1305A is positioned close to table 1301 so that the robotic arm can access the patient.
[00221] [00221] Figure 17B is an isometric perspective view of the surgical robotic system 1700B with the adjustable arm supports 1305A, 1305B positioned to allow access to the C arm 1704 of the medical imaging device 1702 according to another embodiment. In the illustrated embodiment, the first adjustable arm support 1305A is positioned close to table 1301, so that the C arm 1704 partially surrounds the first adjustable arm support 1305A.
[00222] [00222] The adjustable arm supports 1305 can advantageously allow the systems to work with other types of medical imaging devices.
[00223] [00223] Figures 18A and 18B illustrate that systems including adjustable arm supports 1305 can be configured to allow adjustable arm supports 1305 and corresponding robotic arms 1402 to be conveniently retracted under table 1301. This can advantageously provide that systems are less bulky and less practical than some surgical robotic systems. Adjustable arm supports 1305 can transition between a collapsed configuration (Figure 18B) and an open configuration (Figure 18A).
[00224] [00224] Figure 18A is an isometric perspective view of a 1800A surgical robotic system with adjustable arm supports 1305 positioned in an open configuration according to an embodiment. As shown, adjustable arm support 1305 has been adjusted in such a way that rail 1307 is positioned adjacent to one side of table 1301, and a robotic arm 1402 has been opened to access patient 10. Figure 18A also illustrates that the base 1303 can include a recess 1337. The recess 1337 can be configured to receive arm support 1305 in the collapsed configuration, as shown for example in Figure 18B.
[00225] [00225] Figure 18B is an isometric perspective view of a 1800B surgical robotic system with adjustable arm supports 1305A, 1305B positioned in a retracted configuration according to a modality. As shown, the bars or rails 1307A, 1307B of each arm support are received into recesses 1337 in the base 1303. In some embodiments, the robotic arms 1402A, 1402B, 1402C can bend over arm supports 1305A, 1305B, as shown. A collapsed configuration, for example, with arm supports 1305A, 1305B stored in recesses 1337 below table 1301, as shown in Figure 18B, can advantageously make the system less bulky and heavy.
[00226] [00226] In some embodiments, systems including 1305 adjustable arm supports can be configured to be mobile. For example, in some embodiments, base 1301 may include wheels to allow the system to be easily repositioned (see, for example, Figure 14A). For example, the system could have a separate transport cart that lifts it off the floor and moves it. In some embodiments, the system is not permanently attached to the operating room.
[00227] [00227] Figure 19 is a flow chart illustrating a 1900 method for operating a surgical robotic system with adjustable arm supports according to a modality. For example, method 1900 can be used to operate any of the systems described above with reference to Figures 13A and 18B. In some embodiments, the 1900 method can be stored as computer-readable instructions stored in memory. A processor can access memory and execute computer-readable instructions to execute the 1900 method.
[00228] [00228] Method 1900 begins at block 1902 which involves receiving a command. In some modalities, the command is received from a doctor, nurse, assistant physician, surgical personnel, etc. The command may be related to the positioning of at least one of a first robotic arm, a medical instrument coupled to an end actuator of the first robotic arm and / or an arm support coupled to a base of the first robotic arm. In some embodiments, the command can be a command to collect or open the system.
[00229] [00229] In some embodiments, a first command activates at least one articulation to adjust the position of the arm support along a vertical geometric axis of the column, a second command activates a second articulation to pivot the arm support upwards, a third command triggers a third joint to tilt the armrest and a fourth command causes the armrest to translate longitudinally.
[00230] [00230] In block 1904, method 1900 involves the actuation of at least one joint of an adjustable arm support to adjust a position of a bar or a rail of the arm support based on the command received. For example, method 1900 can act on one or more of the first joint, the second joint, the third joint and / or the fourth joint. This can cause the armrest to move in one or more of its degrees of freedom.
[00231] [00231] Method 1900 may also include raising the arm support, the first robotic arm and the second robotic arm from a position retracted under the table; positioning the arm support, the first robotic arm and the second robotic arm adjacent to the table; adjust a position of the arm support in relation to the table using at least one of the first command, the second command, the third command or the fourth command and adjust a position of the first robotic arm in relation to the second robotic arm along the rail of the support joint in preparation for a surgical procedure. In some embodiments, the arm support is positioned below an upper table surface.
[00232] [00232] In some modalities, the 1900 method is executed by a controller to execute one or more commands based on a kinematic model, in which the one or more commands control the positioning of one or more among the first robotic arm, the medical instrument coupled to an end actuator of the first robotic arm; and an arm support coupled to a base of the first robotic arm and to a column that supports a table to support the patient, the arm support comprising at least one joint and a bar configured to support the first robotic arm.
[00233] [00233] Figure 20 is a block diagram of a 2000 surgical arm system with adjustable arm supports 1305A, 1305B according to an embodiment. As shown, the 2000 system includes a 2002 processor in communication with a 2004 memory. The 2002 processor and the 2004 memory can be configured to perform, for example, the 1900 method described above.
[00234] [00234] The system also includes table 1301. In the illustrated modalities, two adjustable arm supports 1305A, 1305B are attached to table 1301. Adjustable arm supports 1305A, 1305B can be attached to table 1301, to a column 1302 that supports a table, or a base 1303 that supports the column. Each of the adjustable arm supports 1305A, 1305B is in communication with the processor 2002 so that the process can adjust the position of the adjustable arm supports 1305A, 1305B.
[00235] [00235] In the illustrated mode, a set of robotic arms is attached to each of the adjustable arm supports 1305A, 1305B. For example, the robotic arms 1402A, 1402B are attached to the adjustable arm holder 1305A, and the robotic arms 1402C, 1402D are attached to the adjustable arm holder 1305B. In other embodiments, other numbers of robotic arms (for example, one, three, four, etc.) can be attached to each arm support 1305A, 1305B. Examples of robotic arms are described in Section XIII below. In some embodiments, as the arm support supports multiple robotic arms, the rigidity of the arm support can be increased. This increased stiffness provides an added benefit of stability when used with multiple arms, as this can reduce the agitation of the robotic arms during a surgical process.
[00236] [00236] In some modalities, the 2002 processor is configured to execute the instructions stored in the 2004 memory to adjust a position of the bar or rail along the first geometry axis in response to receiving a command. The remote may comprise a remote to adjust a position of a robotic medical tool attached to a robotic arm attached to the arm support. In some embodiments, the 2002 processor is further configured to carry out instructions to make the system at least adjust a position of a rail or arm supports 1305A, 1305B in response to a procedure selected by the physician. In some embodiments, the 2002 processor is still configured to execute the instructions to make the 2000 system adjust at least one position of the bar to avoid a collision between the robotic arm and at least one among: the table, a patient, an arm additional robotic and medical imaging device. The 2000 system can also be configured to avoid collisions with other items in the system environment, such as pendants, stirrups, things that are attached to the bed rail, a nurse, etc. In addition to collision avoidance, the 2002 processor can also be configured to adjust the position of the 1305A, 1305B arm supports to optimize posture or improve the manipulation of the 1402A, 1402B, 1402C, 1402D robotic arms. XIII. Robotic arms associated with adjustable arm supports
[00237] [00237] The adjustable arm supports described above can be configured to be mounted on the table, column or base and are adjustable (movable in varying degrees of freedom) to support the robotic arms positioned on the adjustable arm supports. As the adjustable arm supports can be configured to be mounted below the table surface, according to some modalities, it may be advantageous to employ certain types of robotic arms with the adjustable arm supports. In particular, robot arms that have greater movement and flexibility may be desirable, since the robot may have to start from a lower position to avoid collisions (for example, with the table). This section describes certain features of robotic arms configured for use with adjustable arm supports.
[00238] [00238] For example, in some modalities, the robotic arms configured for use with adjustable arm supports differ from the remote central robotic arms in parallelogram. In one example, a robotic arm configured for use with the adjustable arm supports may comprise a shoulder with at least two degrees of freedom, an elbow with at least one degree of freedom and a wrist with at least two degrees of freedom. The kinematics associated with such an arm allows the base of the arm to be positioned arbitrarily in relation to the workspace, allowing configurations that would be challenging for a remote central robot in parallelogram mounted next to a bed.
[00239] [00239] Also, in some modalities, a robotic arm configured for use with the adjustable arm supports may include a semi-spherical or spherical wrist configured with at least three degrees of freedom. This pulse may allow the robotic arm to rotate the wrist joint so that an instrument trigger mechanism positioned at the distal end of the robotic arm can be below the wrist of the arm. This can allow procedures in which the target workspaces are doors far above.
[00240] [00240] Some surgical robotic arms include a mechanically restricted remote center without redundant degrees of freedom (for example, parallelogrammed robotic arms). That is, for any remote central position, the distance to the base is mechanically restricted. The robotic arms coming from under the bed, as is the case with the robotic arm mounted on the adjustable arm supports described above, can be limited by their mounting structures and cannot reach their ideal configurations to make the robotic arms in parallel stand out. To resolve this issue, robotic arms configured for use with adjustable arm supports described above may include one or more redundant degrees of freedom. The redundant degrees of freedom can allow the arms to be shaken into their null space without moving the tool tip, allowing the prevention of intraoperative collision that is not possible with previously known surgical robotic arms.
[00241] [00241] Figure 21 is an isometric perspective view of a robotic arm 2100, according to a modality, which can be configured to provide one or more of the features or advantages described above. The 2100 robotic arm can be configured for use with the 1305 adjustable arm supports described above. The robotic arm 2100 can comprise a plurality of components arranged in series. The components can be connected by one or more articulations (for example, motorized or hydraulic articulations) configured to enable the movement or articulation of the 2100 robotic arm.
[00242] [00242] In the illustrated example, shoulder 2117 includes three joints, elbow 2119 includes one joint and wrist 2121 includes two joints. In other words, in some embodiments, one or more of the shoulder 2117, the elbow 2119 or the wrist 2121 can provide more than one degree of freedom for the robotic arm 2100. In the illustrated embodiment, the shoulder 2117 is configured to provide three degrees of freedom, elbow 2119 is configured to provide one degree of freedom and pulse 2121 is configured to provide two degrees of freedom. In other embodiments, the shoulder 2117, elbow 2119 or wrist 2121 can be configured with other numbers of joints and / or to provide other numbers of degrees of freedom.
[00243] [00243] Shoulder 2117 can be generically located in a proximal portion 2101 of robotic arm 2100. Pulse 2121 can be generically located in a distal portion 2103 of robotic arm 2100. Elbow 2119 can be located generically between the proximal portion 2101 and the distal portion 2103. In some embodiments, the elbow 2119 is located between a proximal connection 2109 and a distal connection 2111. In some embodiments, the robotic arm 2100 may include other joints or joint regions in addition to those illustrated in Figure 21. For example, robotic arm 211 could include a second elbow (comprising one or more joints) between elbow 2119 and wrist 2121 and / or between elbow 2110 and shoulder 2117.
[00244] [00244] Shoulder 2117, elbow 2119 and wrist 2121 (and / or other joints or components of or associated with the robotic arm) can provide varying degrees of freedom. For the illustrated modality, the degrees of freedom are illustrated with arrows. The arrows are intended to indicate the movements provided by each degree of freedom. The illustrated mode includes the following degrees of freedom. Not all degrees of freedom need to be included in all modalities, and in some modalities, additional degrees of freedom may be included. The joints that provide the various degrees of freedom can be energized joints, such as motorized or hydraulic joints, for example.
[00245] [00245] As illustrated, the robotic arm 2100 includes a degree of freedom allowing translation of the shoulder. The 2100 robotic arm can also include a degree of freedom that allows the shoulder to yaw. The 2100 robotic arm may also include a degree of freedom that allows the shoulder to pass. The 2100 robotic arm can also include a degree of freedom that allows the elbow to turn. The 2100 robotic arm can also include a degree of freedom that allows the wrist to twist. The 2100 robotic arm can also include a degree of freedom that allows the pulse to pass. The 2100 robotic arm can also include a degree of freedom that allows the driver to rotate. This degree of freedom can be configured to allow an instrument attached to the instrument driver (or the instrument driver itself) to be rotated around its geometric axis.
[00246] [00246] A degree of freedom of insertion can also be associated with the robotic arm 2100. The degree of freedom of insertion can be configured to allow the insertion (or retraction) of the instrument (or tool) attached to an actuation mechanism of the instrument 2115 to the along a geometric axis of the instrument or a geometric axis of the instrument driver 2115.
[00247] [00247] These and other features of robotic arms configured for use with the 1305 adjustable arm supports described above are described in more detail in the application entitled "Surgical Robotics System" filed on the same date as this application. XIV. Software
[00248] [00248] In some modalities, one or more aspects of an adjustable system including adjustable arm supports can be controlled using software. For example, the system can be designed so that all actuations are robotically controlled by the system, and the system knows the position of all end actuators in relation to the table top. This can provide a unique advantage that existing robotic surgery systems do not have. In addition, this can allow for advantageous workflows including: adjusting the table top intraoperatively (for example, tilt, Trendelenburg, height, flexion, etc.) while the arms and arm positioning platforms move in sync; the movement of the robotic arms can move them away from the surgical field to the surgical field or loading the patient; after a doctor speaks the type of procedure for the system, the robotic arms can move to the approximate positions close to where the doors are typically placed (surgeons could modify and set the door presets for how they prefer to perform the surgery ); and perform final anchoring with cameras on the end actuators and cannula vision targets (other non-optical sensors around the end actuator could provide similar functionality).
[00249] [00249] Still, some incarnations of robotic arm joints may require the application of intense forces to the arm to retract the engines and transmissions. This can be reduced with torque sensors on the arm joints or a force sensor or joystick on the end actuator to let the robot know where the doctor is trying to push and move properly (admittance control) to reduce feedback forces obtained at the exit. Such feedback regulation can be done in software in some modalities. XV. Additional considerations
[00250] [00250] Upon reading this description, those skilled in the art will also consider additional alternative structural and functional designs through the principles presented in the present invention. Thus, although specific modalities and applications have been illustrated and described, it should be understood that the modalities disclosed are not limited to the precise construction and components disclosed here. Various modifications, alterations and variations, which will be evident to those skilled in the art, can be made in the arrangement, operation and details of the method and apparatus presented in the present invention without deviating from the spirit and scope defined in the attached claims.
[00251] [00251] As used herein, any reference to "one (1) modality" or "a modality" means that a specific element, resource, structure or characteristic described in relation to the modality is included in at least one modality. The appearance of the phrase "in one modality" in several places in the specification does not necessarily refer to the same modality.
[00252] [00252] Some modalities can be described using the expression "coupled" and "connected" together with their derivatives. For example, some modalities can be described using the term "coupled" to indicate that two or more elements are in direct physical contact or in electrical contact. The term "coupled", however, can also mean that two or more elements are not in direct contact with each other, but still cooperate or interact with each other. The modalities are not limited in this context unless explicitly stated otherwise.
[00253] [00253] For use in the present invention, the terms "comprises", "which comprises", "includes", "which includes", "has", "has", or any other variation thereof, are intended to cover a non-exclusive inclusion. For example, a process, method, article or device that comprises a list of elements is not necessarily limited to just those elements, but may include other elements not expressly listed or inherent in such a process, method, article or device. Except where expressly stated otherwise, "or" refers to an "or" inclusive and not an "or" exclusive. For example, a condition A or B is satisfied by any of the following: A is true (or is present) and B is false (or is not present), A is false (or is not present) and B is true (or is present), and both A and B are true (or are present).
[00254] [00254] Furthermore, the use of "one" or "one" is intended to describe elements and components of the modalities of the present invention. This is done merely for convenience, and to give a general meaning to the invention. This description needs to be read to include one or at least one, and the singular also includes the plural, except where the intention to the contrary is evident.

权利要求:
Claims (20)
[1]
1. System characterized by comprising: a table configured to support a patient; a column extending along a first geometric axis between a first end and a second end, the first end coupled to the table; a base coupled to the second end of the column; and a first arm support coupled to at least one of the table, column or base by at least one first joint configured to allow adjustment along the first geometric axis in relation to the table, the first arm support comprising a first bar that has a proximal portion and a distal portion that extends along a second geometric axis that is different from the first geometric axis, the first bar configured to support at least one robotic arm.
[2]
2. System according to claim 1, characterized in that the first geometry axis is a vertical geometry axis and the first articulation is configured to allow an adjustment of the first bar in a vertical direction.
[3]
System according to claim 1, characterized in that the first joint comprises a motorized linear joint configured to move along the first geometric axis.
[4]
System according to claim 1, characterized in that it also comprises a first robotic arm mounted on the first bar, the first robotic arm configured to move along the second geometric axis.
[5]
5. System, according to claim 4, characterized in that it also comprises a second robotic arm mounted on the first bar, the second robotic arm configured to move along the second geometric axis.
[6]
6. System according to claim 5, characterized in that the second robotic arm is configured to move along the second geometric axis independently of the first robotic arm.
[7]
System according to claim 5, characterized in that it also comprises a third robotic arm mounted on the first bar.
[8]
8. System according to claim 7, characterized in that at least one of the first robotic arm, the second robotic arm or the third robotic arm holds a camera.
[9]
System according to claim 1, characterized in that the first arm support comprises a second articulation configured to adjust an angle of inclination of the first bar.
[10]
System according to claim 1, characterized in that the first bar is able to travel along a length of the table, so that the first bar can extend beyond one end of the table.
[11]
11. System characterized by comprising: a table configured to support a patient; a column extending along a first geometric axis between a first end and a second end, the first end coupled to the table; a base coupled to the second end of the column; a first arm support comprising a first bar that has a proximal portion and a distal portion that extend along a second geometric axis, the first bar coupled to at least one of the table, column or base for at least one first articulation configured to allow an adjustment of the first bar along the first geometric axis, the first arm support configured to support at least one robotic arm; and a second arm support comprising a second bar that has a proximal portion and a distal portion that extend along a third geometric axis coupled to the column by at least one second joint configured to allow an adjustment of the second bar along the first geometric axis, the second arm support configured to support at least one other robotic arm; wherein the first arm support and the second arm support are configured so that the position of the first bar and the second bar along the first geometry axis can be adjusted independently.
[12]
System according to claim 11, characterized in that the first geometry axis is a vertical geometry axis, the first articulation is configured to allow an adjustment of the first bar in a vertical direction, the second articulation is configured to allow an adjustment of the second bar in the vertical direction and the first bar and the second bar can be adjusted at different heights.
[13]
13. System according to claim 11, characterized in that the first arm support is configured to be positioned on a first side of the table, and the second arm support is configured to be positioned on a second side of the table.
[14]
Surgical instrument according to claim 13, characterized in that the second side is opposite the first side.
[15]
The system according to claim 11, characterized in that: the first arm support comprises a third articulation configured to adjust an angle of inclination of the second geometric axis of the first bar in relation to the table surface; and the second arm support comprises a fourth hinge configured to adjust an angle of inclination of the third geometric axis of the second bar with respect to the table surface.
[16]
16. System according to claim 15, characterized in that the angle of inclination of the first axis of the bar and the angle of inclination of the second axis of the bar can be adjusted independently.
[17]
17. System according to claim 11, characterized in that the first and second arm supports are configured to be retracted under the table.
[18]
18. System according to claim 11, characterized in that one or more of the first joint and the second joint are motorized or controlled by hydraulics.
[19]
19. System according to claim 11, characterized in that the first arm support supports at least two robotic arms that are linearly translatable to each other.
[20]
20. System according to claim 11, characterized in that it also comprises multiple robotic arms in the first arm support and multiple robotic arms in the second arm support, the number of arms in the first arm support being equal to the number of arms on the second arm support.

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同族专利:

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公开号 | 公开日

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KR102264368B1|2021-06-17|

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JP6999824B2|2022-01-19|

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EP3740152A4|2021-11-03|

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JP2021508571A|2021-03-11|

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CN111885980A|2020-11-03|

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法律状态:
2021-12-07| 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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US201862618489P| true| 2018-01-17|2018-01-17|

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US62/618,489|2018-01-17|

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