ROBOTIC SURGICAL TABLE ADAPTER TO REDUCE EFFICIENCY OF ENERGY TRANSMISSION BETWEEN ATTACHED ROBOTIC ARMS

• US 20180147106A1
• Filed: 11/27/2017
• Published: 05/31/2018
• Est. Priority Date: 11/28/2016
• Status: Active Grant

• Current Assignee: Verb Surgical Inc. (Johnson & Johnson), MAQUET GmbH
• Original Assignee: Verb Surgical Inc. (Johnson & Johnson)
• Inventors: SOUNDARARAJAN, Vijay, CAGLE, David James, TIMM, Richard William
• Granted Patent: US 10,660,814 B2
• Time in Patent Office: Days
• 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 34/70 Manipulators specially adapted for use in surgery
• CPC Class Codes: A61B 90/50 Supports for surgical instruments, e.g. articulated arms
• 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 13/101 Clamping means for connecting accessories to the operating table supports as part of surgical instruments A61B90/50
• CPC Class Codes: B25J 9/0009 Constructional details, e.g. manipulator supports, bases
• CPC Class Codes: B25J 9/1679 characterised by the tasks executed
• CPC Class Codes: G05B 2219/39 Robotics, robotics to robotics hand
• CPC Class Codes: G05B 2219/41056 Compensation for changing stiffness, deformation of workpiece
• CPC Class Codes: G16H 40/40 for the management of medical equipment or devices, e.g. scheduling maintenance or upgrades
• CPC Class Codes: G16H 40/63 for local operation

Abstract

Apparatus and methods for providing a surgical table base with sufficient stiffness and adjustable support members with force feedback are described herein. In some embodiments, a base for a surgical table includes a base body to which other components of a surgical table can be coupled. A surgical table, and optionally a patient supportable by the surgical table, and any equipment to be carried by the surgical table, collectively representing a table load to be carried by the base body to support the surgical table on a surface. The base further includes a support assembly coupled to the base body to support the base body on the surface. The support assembly includes at least four support members. Each support member has a surface-engaging end and can transmit a portion of a total load represented by the weight of the base and the table load through the surface-engaging end to the surface. The surface-engaging ends of any three of the four support members define a plane. One of the support members is adjustable to move the one support member relative to a plane defined by the three of the other support members and thereby to change the portion of the total load carried by one of the support members. The base further includes a load sensor operably coupled to the support assembly and disposed to detect the portion of the total load carried by one of the support members.

Claims

1. An apparatus, comprising:

an adapter coupleable to, and supportable by, a surgical table below a tabletop of the surgical table, the surgical table having a support coupled to the tabletop and a base coupled to the support,

the adapter having a first section configured to be coupled to a proximal end portion of a first robotic arm and a second section configured to be coupled to a proximal end portion of a second robotic arm, the first section having a first stiffness and the second section having a second stiffness greater than the first stiffness, a distal end portion of the first robotic arm being coupleable to a first surgical tool and a distal end portion of the second robotic arm being coupleable to a second surgical tool.

2. The apparatus of claim 1, wherein the first section of the adapter has a first thickness and the second section of the adapter has a second thickness greater than the first thickness.

3. The apparatus of claim 1, wherein the first section of the adapter is formed from a first material and the second section of the adapter is formed from a second material different from the first material.

4. The apparatus of claim 1, wherein the adapter further includes a third section disposed between both the first section and the second section, the third section having a third stiffness greater than both the first stiffness and the second stiffness.

5. The apparatus of claim 4, wherein the third section has a third thickness greater than both the first thickness and the second thickness.

6. The apparatus of claim 1, wherein the adapter is coupled to the support of the surgical table.

7. An apparatus, comprising:

an adapter coupleable to, and supportable by, a surgical table below a tabletop of the surgical table, the surgical table having a support coupled to the tabletop and a base coupled to the support,

the adapter having a first section configured to be coupled to a proximal end portion of a first robotic arm and a second section configured to be coupled to a proximal end portion of a second robotic arm, the first second and the second section defining a gap therebetween; and

a damper disposed within the gap of the adapter to absorb crosstalk vibration between the first robotic arm and the second robotic arm.

8. The apparatus of claim 7, wherein the damper is formed of elastomeric material.

9. The apparatus of claim 7, wherein the adapter is coupled to the support of the surgical table.

10. An apparatus, comprising:

an adapter coupleable to, and supportable by, a surgical table below a tabletop of the surgical table, the surgical table having a support coupled to the tabletop and a base coupled to the support,

the adapter having a first section configured to be coupled to a proximal end portion of a first robotic arm and a second section configured to be coupled to a proximal end portion of a second robotic arm, the first second and the second section defining a gap therebetween; and

a spring-damper assembly disposed within the gap of the adapter to absorb crosstalk vibration between the first robotic arm and the second robotic arm.

11. The apparatus of claim 10, wherein the adapter is coupled to the support of the surgical table.