Robotic arm cart with fine position adjustment features and uses therefor

• US 10,485,623 B2
• Filed: 10/04/2017
• Issued: 11/26/2019
• Est. Priority Date: 06/01/2017
• Status: Active Grant

• Current Assignee: Verb Surgical Inc. (Johnson & Johnson)
• Original Assignee: Verb Surgical Inc. (Johnson & Johnson)
• Inventors: Wiggers, Robert T.
• Primary Examiner(s): Sterling, Amy J.
• Application Number:
  US15/725,093
• Publication Number:
  US 20180344420A1
• Time in Patent Office: 783 Days
• CPC Class Codes: A61B 2017/00477 Coupling A61B2017/0046 takes precedence
• CPC Class Codes: A61B 2090/571 for clamping a support arm to a bed or other supports
• CPC Class Codes: A61B 2560/0437 Trolley or cart-type apparatus
• CPC Class Codes: A61B 34/30 Surgical robots
• CPC Class Codes: A61B 50/13 Trolleys, e.g. carts
• CPC Class Codes: A61B 90/57 Accessory clamps
• CPC Class Codes: B25J 9/0009 Constructional details, e.g. manipulator supports, bases

Abstract

Some embodiments described herein relate to an arm cart operable to transport a robotic arm to and/or from a surgical table. The robotic arm can be coupled to the arm cart via a connector. The connector can be slideably mounted to the arm cart such that the connector and the robotic arm, collectively, can move relative to the arm cart. For example, when the arm cart is adjacent to the surgical table, the connector and the robotic arm can be movable to provide final, fine adjustments to align the robotic arm with a coupling portion of the surgical table.

Claims

1. A surgical robotic system comprising:

a robotic arm configured to be removeably coupled to a surgical table, the robotic arm including a socket configured to mate with a link of the surgical table;

an arm cart configured to contain the robotic arm and transport the robotic arm between the surgical table and a storage location; and

a connector, the robotic arm coupled to the arm cart via the connector, the connector slideably mounted to the arm cart such that the connector and the robotic arm can collectively move relative to the arm cart, wherein the connector is mounted to the arm cart such that the connector and the robotic arm can collectively move horizontally and vertically relative to the arm cart, thereby allowing fine adjustments to a position of the robotic arm.

2. The system of claim 1, wherein the connector is mounted to the arm cart such that angular movement of the connector and the robotic arm relative to the arm cart is impeded.

3. The system of claim 1, further comprising a plurality of springs, each spring from the plurality of springs being substantially horizontal, having a first end portion coupled to the arm cart, and having a second end portion coupled to the connector.

4. The system of claim 1, further comprising a plurality of springs, each spring from the plurality of springs being substantially horizontal, having a first end portion coupled to the arm cart, and having a second end portion coupled to the connector, the plurality of springs configured to provide elastic resistance to moving the connector relative to the arm cart.

5. The system of claim 1, further comprising:

a first plurality of springs, each spring from the first plurality of springs being substantially horizontal, having a first end portion coupled to the arm cart, and having a second end portion coupled to the connector;

a second plurality of springs, each spring from the second plurality of springs being substantially vertical, having a first end portion coupled to the arm cart, and having a second end portion coupled to the connector;

the first plurality of springs and the second plurality of springs each configured to provide elastic resistance to moving the connector relative to the arm cart.

6. The system of claim 1, wherein the socket is configured to contact a chamfer of the link and apply a force to the connector such that the connector and the robotic arm collectively move relative to the arm cart to align the robotic arm to the link.

11. The system of claim 5, wherein:

the connector includes a first block and a second block;

the second end portion of the first plurality of springs is coupled to the first block connector; and

the second end portion of the second plurality of springs is coupled to the second block connector.

7. A surgical robotic apparatus comprising:

an arm cart configured to move the robotic arm between a storage location and a surgical table, the arm cart having a connector configured to support the robotic arm, the connector slideably mounted to the arm cart such that a position of the robotic arm can be adjusted relative to the arm cart, the robotic arm configured to aligned with and coupled to a coupling portion of the surgical table wherein the connector is coupled to the arm cart via a horizontal prismatic joint and a vertical prismatic joint thereby allowing fine adjustments to a position of the robotic arm.

8. The apparatus of claim 7, wherein the robotic arm is coupled to the arm cart solely via the connector.

9. The apparatus of claim 7, wherein a link has a chamfer configured to contact a socket of the robotic arm and urge the robotic arm and connector into alignment with the link.

10. The apparatus of claim 7, wherein the arm cart includes a plurality of springs configured to maintain a socket of the surgical arm in a first vertical position approximately corresponding to a vertical position of a link of the surgical table, the plurality of springs configured to permit the socket of the surgical arm to move from the first vertical position to a second vertical position exactly corresponding to the vertical position of the link of the surgical table.