SURGICAL PLATFORM WITH ADJUSTABLE ARM SUPPORTS

• US 20190216576A1
• Filed: 12/28/2018
• Published: 07/18/2019
• Est. Priority Date: 01/17/2018
• Status: Active Grant

• Current Assignee: Auris Health, Inc. (Johnson & Johnson)
• Original Assignee: Auris Health, Inc. (Johnson & Johnson)
• Inventors: Eyre, Nicholas J., Wilson, Colin Allen, O'Rourke, Andrew F., Covington, Travis C., Wehrmann, Sven
• Granted Patent: US 10,517,692 B2
• Time in Patent Office: Days
• CPC Class Codes: A61B 1/00149 using articulated arms
• CPC Class Codes: A61B 2034/301 for introducing or steering flexible instruments inserted into the body, e.g. catheters or endoscopes
• CPC Class Codes: A61B 2034/302 specifically adapted for manipulations within body cavities, e.g. within abdominal or thoracic cavities
• CPC Class Codes: A61B 2034/304 including a freely orientable platform, e.g. so called 'Stewart platforms'
• CPC Class Codes: A61B 2034/305 Details of wrist mechanisms at distal ends of robotic arms
• CPC Class Codes: A61B 2090/064 for measuring force, pressure or mechanical tension
• CPC Class Codes: A61B 2090/066 for measuring torque
• CPC Class Codes: A61B 2090/376 using X-rays, e.g. fluoroscopy
• CPC Class Codes: A61B 2090/571 for clamping a support arm to a bed or other supports
• CPC Class Codes: A61B 34/30 Surgical robots
• CPC Class Codes: A61B 34/37 Master-slave robots A61B34/35 takes precedence
• CPC Class Codes: A61B 90/37 Surgical systems with images on a monitor during operation
• CPC Class Codes: A61B 90/50 Supports for surgical instruments, e.g. articulated arms
• CPC Class Codes: A61G 13/04 tiltable around transverse or longitudinal axis
• CPC Class Codes: A61G 13/06 raising or lowering of the whole table surface A61G13/04 takes precedence
• CPC Class Codes: A61G 13/101 Clamping means for connecting accessories to the operating table supports as part of surgical instruments A61B90/50

Abstract

A robotic surgical system can include one or more adjustable arm supports that support one or more robotic arms. The adjustable arm supports can be configured to attach to either a table, a column support of the table, or a base of the table to deploy the adjustable arm supports and robotic arms from a position below the table. In some examples, the adjustable arm supports include at least four degrees of freedom that allow for adjustment of the position of a bar or rail to which the robotic arms are mounted. One of the degrees of freedom can allow the adjustable arm support to be adjusted vertically relative to the table.

Claims

1. A system, comprising:

a table configured to support a patient;

a column extending along a first 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 the base by at least a first joint configured to allow adjustment along the first axis relative to the table, the first arm support comprising a first bar having a proximal portion and a distal portion extending along a second axis different from the first axis, the first bar configured to support at least one robotic arm.

2. The system of claim 1, wherein the first axis is a vertical axis and the first joint is configured to allow adjustment of the first bar in a vertical direction.

3. The system of claim 1, wherein the first joint comprises a motorized linear joint configured to move along the first axis.

4. The system of claim 1, further comprising a first robotic arm mounted to the first bar, the first robotic arm configured to translate along the second axis.

5. The system of claim 4, further comprising a second robotic arm mounted to the first bar, the second robotic arm configured to translate along the second axis.

6. The system of claim 5, wherein the second robotic arm is configured to translate along the second axis independently of the first robotic arm.

7. The system of claim 5, further comprising a third robotic arm mounted to the first bar.

8. The system of claim 7, wherein at least one of the first robotic arm, second robotic arm or third robotic arm holds a camera.

9. The system of claim 1, wherein the first arm support comprises a second joint configured to adjust a tilt angle of the first bar.

10. The system of claim 1, wherein the first bar is capable of translation along a length of the table such that the first bar can extend beyond an end of the table.

11. A system, comprising:

a table configured to support a patient;

a column extending along a first 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 having a proximal portion and a distal portion extending along a second axis, the first bar coupled to at least one of the table, column or base by at least a first joint configured to allow adjustment of the first bar along the first axis, the first arm support configured to support at least one robotic arm; and

a second arm support comprising a second bar having a proximal portion and a distal portion extending along a third axis coupled to the column by at least a second joint configured to allow adjustment of the second bar along the first axis, the second arm support configured to support at least another robotic arm;

wherein the first arm support and the second arm support are configured such that the position of the first bar and the second bar along the first axis can be adjusted independently.

12. The system of claim 11, wherein the first axis is a vertical axis, the first joint is configured to allow adjustment of the first bar in a vertical direction, the second joint is configured to allow adjustment of the second bar in the vertical direction, and wherein the first bar and the second bar can be adjusted to different heights.

13. The system of claim 11, wherein 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. The system of claim 13, wherein the second side is opposite the first side.

15. The system of claim 11, wherein:

the first arm support comprises a third joint configured to adjust a tilt angle of the second axis of the first bar relative to the surface of the table; and

the second arm support comprises a fourth joint configured to adjust a tilt angle of the third axis of the second bar relative to the surface of the table.

16. The system of claim 15, wherein the tilt angle of the first bar axis and the tilt angle of the second bar axis can be adjusted independently.

17. The system of claim 11, wherein the first and second arm supports are configured to be stored below the table.

18. The system of claim 11, wherein one or more of the first joint and the second joint, are motorized or controlled by hydraulics.

19. The system of claim 11, wherein the first arm support supports at least two robotic arms that are linearly translatable relative to one another.

20. The system of claim 11, further comprising multiple robotic arms on the first arm support and multiple arms on the second arm support, wherein the number of arms on the first arm support is equal to the number of arms on the second arm support.