Swivel bed for a surgical robotics system

• US 9,636,184 B2
• Filed: 05/13/2016
• Issued: 05/02/2017
• Est. Priority Date: 05/15/2015
• Status: Active Grant

• Current Assignee: Auris Health, Inc. (Johnson & Johnson)
• Original Assignee: Auris Surgical Robotics, Inc. (Johnson & Johnson)
• Inventors: Lee, Jason, Yu, Alan, Moll, Frederic H., Richter, Benjamin, Olson, Mark H., Gonzalez, Jason, Tucker, Kyle Andrew, Maeder-York, Paxton, Schulte, Gregory T.
• Primary Examiner(s): CONLEY, FREDRICK C
• Application Number:
  US15/154,765
• Publication Number:
  US 20160331613A1
• Time in Patent Office: 354 Days
• Field of Search: 5613, 5600-601, 5604-605
• 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 34/30 Surgical robots
• CPC Class Codes: A61B 34/35 for telesurgery
• CPC Class Codes: A61B 34/70 Manipulators specially adapted for use in surgery
• CPC Class Codes: A61G 13/02 Adjustable operating tables; Controls therefor
• 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 13/08 the table being divided into different adjustable sections
• CPC Class Codes: A61G 13/102 Fluid drainage means for collecting bodily fluids from the operating table, e.g. for blood, urine drainage on the patient A61M1/00
• CPC Class Codes: A61G 13/1245 Knees, upper or lower legs
• CPC Class Codes: A61G 7/005 tiltable around transverse horizontal axis, e.g. for Trendelenburg position rocking beds for physical therapy A61H1/003; hanging patient inclined downwardly for drawing him out A61H2203/0493
• CPC Class Codes: A61G 7/008 tiltable around longitudinal axis, e.g. for rolling
• CPC Class Codes: A61G 7/015 divided into different adjustable sections, e.g. for Gatch position
• CPC Class Codes: A61G 7/0755 for the legs or feet
• CPC Class Codes: Y10S 901/02 Arm motion controller
• CPC Class Codes: Y10S 901/27 Arm part
• CPC Class Codes: Y10S 901/28 Joint

Abstract

A surgical robotics system with robotic arms is configurable to perform a variety of surgical procedures. The system includes a table, column, base, and robotic arms that are either column-mounted, rail-mounted, or mounted on a separate unit. In a column-mounted configuration, the column includes column rings that translate vertically and rotate about the column. The robotic arms are attached to the column rings. In a rail-mounted configuration, the base includes base rails that translate along the base. The robotic arms are attached to the base rails. In both, the robotic arms move independently from each other and include multiple arm segments. Each arm segment provides an additional degree of freedom to the robotic arm. Thus, the system may position the robotic arms into numerous configurations to access different parts of a patient'"'"'s body. The surgical bed may include a swivel segment that rotates laterally on the plane of the bed.

Claims

1. A surgical bed comprising:

a bearing mechanism including a first bearing subassembly and a second bearing subassembly, the first bearing subassembly movably coupled to the second bearing subassembly;

a bed base coupled to the first bearing subassembly, the bed base extending along a plane to support a patient; and

a swivel segment movably coupled to the bed base and configured to rotate about an axis orthogonal to the plane of the bed base, the swivel segment coupled to the second bearing subassembly, wherein the bearing mechanism is configured to rotate the swivel segment relative to the bed base and about the axis, wherein the swivel segment comprises a cutout section and a first curved edge, and wherein the bed base comprises a center segment with a second curved edge mated to the first curved edge.

2. The surgical bed of claim 1, further comprising a first pivot and a second pivot, wherein the surgical bed is configured to rotate about an axis of pitch using the first pivot, and wherein the surgical bed is configured to rotate about an axis of row using the second pivot.

3. The surgical bed of claim 1, further comprising a detachable segment physically coupled to the bed base and configured to be physically decoupled and re-coupled to the bed base.

4. The surgical bed of claim 1, further comprising:

a trapdoor; and

a drainage component coupled to the trapdoor, the trapdoor and the drainage component configured to collect waste from the patient on the surgical bed.

5. The surgical bed of claim 1, further comprising:

a foldable segment; and

a friction brake or clutch configured to lock the foldable segment at an angle relative to the bed base.

6. The surgical bed of claim 1, further comprising:

a base for supporting the surgical bed on a floor; and

a column coupled to the base and coupled to the surgical bed, the column having a center vertical axis oriented approximately perpendicular to the floor.

7. The surgical bed of claim 6, further comprising one or more rails coupled to the column, and wherein the surgical bed is configured to translate laterally along an axis parallel to the one or more rails.

8. The surgical bed of claim 6, further comprising a plurality of robotic arms, each robotic arm coupled to the column, each robotic arm comprising a plurality of arm segments, each arm segment configured to move independently from each other arm, and wherein one or more of the robotic arms are configured to manipulate a surgical instrument to perform a surgical procedure on the patient.

9. The surgical bed of claim 8, further comprising one or more column rings coupled to the column, each column ring coupled to one of the robotic arms, each column ring configured to vertically translate independently from each other ring along the central vertical axis and configured to rotate independently from each other ring about the central vertical axis.

10. The surgical bed of claim 9, wherein the base is configured to store the one or more column rings and the plurality of robotic arms, and wherein the base comprises one or more panels configured to cover the stored one or more column rings and the stored plurality of robotic arms.

11. The surgical bed of claim 9, further comprising:

a first set of actuators for moving the plurality of robotic arms;

a second set of actuators for moving the one or more column rings; and

a control system configured to provide control signals to the first set of actuators and to the second set of actuators, the control signals causing the robotic arms and the column rings to move simultaneously.

12. A surgical bed comprising:

a base for supporting the surgical bed on a floor;

a column coupled to the base and coupled to the surgical bed, the column having a center vertical axis oriented approximately perpendicular to the floor;

a plurality of robotic arms, each robotic arm coupled to the column, each robotic arm comprising a plurality of arm segments, each arm segment configured to move independently from each other arm, and wherein one or more of the robotic arms are configured to manipulate a surgical instrument to perform a surgical procedure on a patient;

a bed base comprising a first set of at least one curved rail, the bed base extending along a plane to support the patient; and

a swivel segment movably coupled to the bed base and configured to rotate about an axis orthogonal to the plane of the bed base and concentric to a curved rail of the first set, the swivel segment comprising a second set of at least one curved rail configured to telescope along a curved rail of the first set.

13. The surgical bed of claim 12, further comprising a first pivot and a second pivot, wherein the surgical bed is configured to rotate about an axis of pitch using the first pivot, and wherein the surgical bed is configured to rotate about an axis of row using the second pivot.

14. The surgical bed of claim 12, further comprising:

a trapdoor; and

a drainage component coupled to the trapdoor, the trapdoor and the drainage component configured to collect waste from the patient on the surgical bed.

15. The surgical bed of claim 12, further comprising:

a foldable segment; and

a friction brake or clutch configured to lock the foldable segment at an angle relative to the bed base.

16. The surgical bed of claim 12, further comprising a detachable segment physically coupled to the bed base and configured to be physically decoupled and re-coupled to the bed base.

17. The surgical bed of claim 12, wherein the swivel segment comprises a cutout section and a first curved edge, and wherein the bed base comprises a center segment with a second curved edge mated to the first curved edge.

18. The surgical bed of claim 12, wherein a center of mass of the surgical bed, the base, and the column is positioned above a footprint of the base up to a rotation angle of the swivel segment of 45 degrees about the axis, wherein the rotation angle is relative to a longitudinal axis of the bed base.

19. The surgical bed of claim 12, further comprising one or more column rings coupled to the column, each column ring coupled to one of the robotic arms, each column ring configured to vertically translate independently from each other ring along the central vertical axis and configured to rotate independently from each other ring about the central vertical axis.

20. The surgical bed of claim 19, wherein the base is configured to store the one or more column rings and the plurality of robotic arms, and wherein the base comprises one or more panels configured to cover the stored one or more column rings and the stored plurality of robotic arms.

21. A surgical bed comprising:

a bearing mechanism including a first bearing subassembly and a second bearing subassembly, the first bearing subassembly movably coupled to the second bearing subassembly;

a bed base coupled to the first bearing subassembly, the bed base extending along a plane to support a patient; and

a swivel segment movably coupled to the bed base and configured to rotate about an axis orthogonal to the plane of the bed base, the swivel segment coupled to the second bearing subassembly, wherein the bearing mechanism is configured to rotate the swivel segment relative to the bed base and about the axis;

a base for supporting the surgical bed on a floor;

a column coupled to the base and coupled to the surgical bed, the column having a center vertical axis oriented approximately perpendicular to the floor;

a plurality of robotic arms, each robotic arm coupled to the column, each robotic arm comprising a plurality of arm segments, each arm segment configured to move independently from each other arm, and wherein one or more of the robotic arms are configured to manipulate a surgical instrument to perform a surgical procedure on a patient; and

one or more column rings coupled to the column, each column ring coupled to one of the robotic arms, each column ring configured to vertically translate independently from each other ring along the central vertical axis and configured to rotate independently from each other ring about the central vertical axis.

22. The surgical bed of claim 21, wherein the bearing mechanism includes at least a cross roller bearing, and wherein the swivel segment supports a cantilevered load, from the patient on the swivel segment, of at least 500 pounds.

23. The surgical bed of claim 21, further comprising a first pivot and a second pivot, wherein the surgical bed is configured to rotate about an axis of pitch using the first pivot, and wherein the surgical bed is configured to rotate about an axis of row using the second pivot.

24. The surgical bed of claim 21, further comprising:

a trapdoor; and

a drainage component coupled to the trapdoor, the trapdoor and the drainage component configured to collect waste from the patient on the surgical bed.

25. The surgical bed of claim 21, further comprising:

a foldable segment; and

a friction brake or clutch configured to lock the foldable segment at an angle relative to the bed base.

26. The surgical bed of claim 21, further comprising a detachable segment physically coupled to the bed base and configured to be physically decoupled and re-coupled to the bed base.

27. The surgical bed of claim 21, wherein the swivel segment comprises a cutout section and a first curved edge, and wherein the bed base comprises a center segment with a second curved edge mated to the first curved edge.

28. The surgical bed of claim 21, further comprising one or more rails coupled to the column, and wherein the surgical bed is configured to translate laterally along an axis parallel to the one or more rails.

29. The surgical bed of claim 21, wherein the base is configured to store the one or more column rings and the plurality of robotic arms, and wherein the base comprises one or more panels configured to cover the stored one or more column rings and the stored plurality of robotic arms.

30. The surgical bed of claim 21, further comprising:

a first set of actuators for moving the plurality of robotic arms;

a second set of actuators for moving the one or more column rings; and

a control system configured to provide control signals to the first set of actuators and to the second set of actuators, the control signals causing the robotic arms and the column rings to move simultaneously.