Trolley for a robotic arm and method and apparatus for loading a magazine or cassette for the arm

Abstract

The present invention is titled "Cart for a robotic arm and method and apparatus for loading a bin or cassette for the arm". The present invention discloses an apparatus and method for providing a robotic arm cart for transporting, delivering, and securing a robotic arm to an operating table having a tabletop on which a patient may be positioned. In some embodiments described herein, the arm cart may accommodate multiple robotic arms. A robotic arm may be selected and moved from a storage position within the arm cart to an extended position in which at least a portion of the robotic arm protrudes from the arm cart. The robotic arm in the extended position may be coupled to the operating table and disengaged from the arm cart.

Description

[0001] Cross - Reference to Related Applications

[0002] This application claims the benefit of priority to U.S. Patent Application Serial No. 62 / 522,494, filed Jun. 20, 2017, which is hereby incorporated by reference in its entirety. Background of the Invention

[0003] The embodiments described herein relate to devices and methods for a robotic arm cart for transporting, delivering, and securing a robotic arm to, for example, an operating table. Summary of the Invention

[0004] Devices and methods are described herein for providing a robotic arm cart for transporting, delivering, and securing a robotic arm to an operating table having a tabletop on which a patient may be positioned. In some embodiments described herein, the arm cart may accommodate multiple robotic arms. A robotic arm may be selected and moved from a storage position within the arm cart to an extended position in which at least a portion of the robotic arm protrudes from the arm cart. The robotic arm in the extended position may be coupled to the operating table and disengaged from the arm cart. Brief Description of the Drawings

[0005] Figure 1A and Figure 1B are a schematic side view and a schematic top view, respectively, of an operating table according to one embodiment.

[0006] Figure 1C is a schematic side view of a robotic arm according to one embodiment, where the robotic arm is shown in an extended or use configuration; and Figure 1D is Figure 1C a schematic side view of the robotic arm of

[0007] Figure 2A is a schematic top view of an operating table with a robotic arm coupled thereto according to one embodiment.

[0008] Figure 2B is a schematic top view of an operating table with a robotic arm and an arm adapter coupled thereto according to one embodiment.

[0009] Figure 3A is a schematic diagram of an arm cart according to one embodiment.

[0010] Figures 3B to 3G is a schematic side view of an arm cart with a robotic arm in various configurations according to one embodiment.

[0011] Figure 4A and Figure 4BSchematic diagram of an arm cart with a robotic arm in two configurations according to one embodiment.

[0012] Figure 5 Flowchart of a method for transporting and delivering a surgical robotic arm to an operating table using a surgical robotic arm cart according to one embodiment.

[0013] Figure 6A and Figure 6B Front schematic view of an arm cart with a rotating mechanism in two configurations according to one embodiment.

[0014] Figure 6C is Figure 6A and Figure 6B Side schematic view of the arm cart of Figure 6B with a rotating mechanism in the configuration shown.

[0015] Figure 6D is Figures 6A to 6C Schematic diagram of the rotating mechanism and the robotic arm of

[0016] Figure 6E is Figures 6A to 6D Schematic view of the arm cart of

[0017] Figure 6F Flowchart of a method for delivering a surgical robotic arm to an operating table using a surgical robotic arm cart according to one embodiment.

[0018] Figure 7 and Figure 8 Schematic diagrams of arm compartments configured to accommodate robotic arms according to two embodiments

[0019] Figure 9 Schematic diagram of an arm cart according to one embodiment. Detailed Description

[0020] This document describes devices and methods for providing a robotic arm cart for transporting, delivering, and securing a robotic arm to an operating table having a tabletop on which a patient can be positioned. In some embodiments, the device includes an arm cart that can receive and accommodate a plurality of robotic arms. The robotic arms within the arm cart are operable to move between a storage position and a deployed position. For example, a robotic arm in the storage position can be fully disposed within the arm cart, but a robotic arm in the deployed position can project at least partially from the arm cart. In some embodiments, the robotic arm can be vertically disposed in the storage position and pivoted to a horizontal position such that the robotic arm can be coupled to the operating table. In other embodiments, a rotation mechanism can simultaneously rotate a plurality of robotic arms to place a selected robotic arm in the deployed position. Once in the deployed position, the robotic arm can slide towards the operating table where the robotic arm can mate with a port or other suitable connection point. The robotic arm can then be detached from the arm cart, and the arm cart can be withdrawn.

[0021] As Figures 1A to 1B schematically illustrated, the operating table 100 includes a tabletop 120, a table support 122, and a table base 124. As Figure 1A schematically illustrated therein, the tabletop 120 has an upper surface on which a patient P can be positioned during a surgical procedure. The tabletop 120 is disposed on the support 122, which can be, for example, a pedestal located at a suitable height above the floor. The support 122 (also referred to herein as the pedestal) can permit the tabletop 120 to move with a desired number of degrees of freedom, such as translation in a vertical or Z direction (height above the floor), in a horizontal Y direction (e.g., along the longitudinal axis of the operating table), and / or in a horizontal X direction (e.g., along the transverse axis of the operating table), and / or rotation about the Z axis, Y axis, and / or X axis. The tabletop 120 can also include a plurality of sections that can move relative to each other along / around any suitable axis, for example, separate sections for each of the torso, one or two legs, and / or one or two arms, as well as a head support section. Movement of the tabletop 120 and / or its component sections can be performed manually, motor-driven, remotely controlled, or by any other suitable means. The support 122 for the tabletop 120 can be mounted to the base 124, which can be fixed to the floor of the operating room or can be movable relative to the floor (e.g., by using wheels on the base 124). In some embodiments, the height of the support 122 can be adjusted, which together with, for example, movement of the tabletop 120 (e.g., axial (longitudinal) or lateral movement) can permit the tabletop 120 to be positioned at a specific height above the floor (e.g., to allow access by a surgeon) and at a desired surgical site at a certain distance from the support 120. This can also permit a robotic arm (e.g., arm 130 discussed below) coupled to the table 100 to reach a desired treatment target of a patient P positioned on the tabletop 120.

[0022] In robotic-assisted surgery, one or more robotic arms 130 (schematically shown herein) can be positioned at a desired operative location relative to a patient disposed on a tabletop 120 of an operating table 100 (also referred to herein as the “table”). Figure 1C and Figure 1D One or more robotic arms can be used to perform a surgical procedure on a patient disposed on the operating table 100. Specifically, the distal end of each robotic arm can be positioned at a desired operative location such that a medical device coupled to the distal end of the robotic arm can perform a desired function.

[0023] As Figure 1C and Figure 1D schematically shown, each robotic arm 130 can include a distal end portion 137 and a proximal end portion 136. The distal end portion 137 (also referred to herein as the “operative end”) can include or have coupled thereto a medical device or tool 115. The proximal end portion 136 (also referred to herein as the “mounting end portion” or “mounting end”) can include a coupling portion to allow the robotic arm 130 to be coupled to the table 100. The robotic arm 130 can include two or more link members or segments 110 coupled together at joints, which can provide translation along one or more of the X-axis, Y-axis, and / or Z-axis and / or rotation about one or more of the X-axis, Y-axis, and / or Z-axis (e.g., as shown in Figure 1A and Figure 1B ). The coupling portion of the robotic arm 130 can include a coupling mechanism 139. The coupling mechanism 139 can be disposed at the mounting end 136 of the arm 130 and can be coupled to or incorporated within the segment 110. The robotic arm 130 further includes a target joint J1 disposed at or near the mounting end 136 of the robotic arm 130, which can be included within the coupling mechanism 139 and / or the coupling portion or can be disposed on a link or segment 110 of the robotic arm 130 coupled to the coupling portion. The target joint J1 is operable to allow the distal segment of the robotic arm 130 to pivot and / or rotate relative to the table 100. The robotic arm 130 can move between various extended configurations (such as those shown in Figure 1C ) for use during a surgical procedure and various folded or retracted configurations (such as those shown in Figure 1D ) for storage when not in use.

[0024] Figures 2A to 2BIllustrates various embodiments of a device and method for transporting, delivering, and securing a robotic arm to an operating table. As described above and according to various embodiments disclosed in more detail below, a robotic arm for performing a surgical procedure can be releasably coupled to an operating table. In some embodiments, the robotic arm can be coupled at a fixed position on the table or can be coupled such that the robotic arm can be moved to multiple positions relative to the tabletop. For example, as Figure 2A Schematically illustrated, the robotic arm 230 can be coupled to the tabletop 220 of the operating table 200. The operating table 200 can be the same as or similar to the operating table 100 described above in structure and function. For example, the tabletop 220 has an upper surface on which a patient P can be positioned during a surgical procedure. In some embodiments, the robotic arm 230 can be permanently or releasably coupled at a fixed or movable position to an arm support (also referred to herein as an arm adapter) that is coupled to or separated from the operating table. For example, as Figure 2B Schematically illustrated, the arm adapter 246 can be coupled to or separated from the tabletop 220, but the arm adapter is capable of engaging or coupling with the tabletop. The robotic arm 230 can be coupled to the arm adapter 246.

[0025] In preparing for a robot-assisted surgical procedure, as described with respect to Figure 2A and Figure 2B where one or more robotic arms are releasably coupled to the operating table and / or arm adapter, each robotic arm can be delivered and connected to the operating table and / or arm adapter via an arm cart. The arm cart can be configured to support one or more robotic arms. According to various embodiments, the arm cart is described in further detail below.

[0026] Figures 3A to 3G Illustrates various configurations of an arm cart 350 according to one embodiment. The arm cart 350 is configured to accommodate one or more robotic arms 330 or a bin for accommodating robotic arms. Although only two robotic arms 330 are shown, the arm cart 350 can be configured to accommodate, transport, and / or deliver any suitable number of robotic arms 330, such as one robotic arm, three robotic arms, or four robotic arms.

[0027] As Figure 3AAs shown, the arm cart 350 includes wheels 366, a front portion 364, and a rear portion 362. It may be intended to push the arm cart 350 in and / or out from the rear portion 362; for example, the rear portion 362 may include a handle 362. The arm cart 350 is operable to store the robotic arm 330 not in use and / or to transport the robotic arm 330 between a storage device and an operating table (such as operating table 100). As described in further detail herein, the front portion 364 of the arm cart 350 may be positioned close to the operating table (e.g., the front portion 364 may be disposed between the rear portion 362 and the operating table), and one or more robotic arms 330 may be transferred from the arm cart 350 to the operating table.

[0028] As Figures 3B to 3G shown, the first robotic arm 330A and the second robotic arm 330B are slidably disposed within the arm cart 350. It is also noted that the first robotic arm 330A and the second robotic arm 330B may move in the X direction, i.e., they may move between the front portion 364 and the rear portion 362 of the arm cart 330. Although Figures 3B to 3G the X-axis is shown, it should be understood that this X-axis is not necessarily the same as the Figure 1B X-axis shown in Figures 3B to 3G and the X direction in

[0029] The arm cart 350 may support the robotic arm 330 in a variety of configurations. In some embodiments and / or configurations, the arm cart 350 may support the robotic arm 330 such that the center of gravity of the robotic arm 330A is lower than the position of one or more support structures (e.g., brackets) of the arm cart 350 to increase the stability of the robotic arm 330A and the arm cart 350. In some embodiments, the arm cart 350 may support the robotic arm 330 such that the arm cart 350 bears most or all of the weight of the robotic arm 330, and the coupling mechanism (not shown) of the robotic arm 330 may be manually operated by the user without the user bearing most or all of the weight of the robotic arm. For example, the robotic arm 330 may be suspended from the structure of the arm cart 350 or rested on the structure of the arm cart 350. In some embodiments, the arm cart 350 may be configured to fix the robotic arm 330 to the arm cart 350.

[0030] The arm cart 350 may include an arm container 352 and a base 354. The arm container 352 is configured to support, protect, and / or promote the sterility of one or more robotic arms 330 (e.g., a first robotic arm 330A and an optional second robotic arm 330B) during storage of the robotic arms 330 in and / or transportation of the robotic arms 330, e.g., from a storage area to an operating area, and during transfer of the one or more robotic arms 330 from the arm cart 350 to an operating table for use in a surgical procedure. When the one or more robotic arms 330 are stored and / or transported by the arm cart 350, the one or more robotic arms 330 may be held mostly, substantially completely, or completely within the footprint of the arm cart 350 such that the one or more robotic arms 330 are less likely to suffer accidental collisions or damage. In some embodiments, the arm container 352 may be configured as a vertically extending protective frame that, together with the base 354, defines a space for storing the one or more robotic arms 330. In some embodiments, when the one or more robotic arms 330 are stored within the arm cart 350, the robotic arms may be held within the perimeter of the base 354 but may extend beyond the perimeter of the arm container 352.

[0031] The base 354 may be configured to support the arm container 352 and provide transportation of the arm cart 350 to the surgical area. The base 354 may include any suitable means for moving the arm cart 350 relative to the floor. For example, the base 354 may include wheels 366 such that a healthcare provider may push the arm cart into or pull the arm cart out of the operating area.

[0032] The arm cart 350 may include features that assist in aligning the one or more robotic arms 330 to transfer the one or more robotic arms to the operating table rotationally along and / or about the X, Y, and / or Z axes. For example, as described above, the base 354 may include any suitable means for moving the arm cart 350 such that the arm cart 350 may be moved relative to the operating table along the X and / or Y axes. Additionally, the arm cart 350 may include any suitable means for adjusting the height of the arm cart 350 and / or the one or more robotic arms 330 such that the height of the one or more robotic arms 330 may be adjusted relative to the operating table. Thus, the arm cart 350 may move the one or more robotic arms 330 rotationally along and / or about the X, Y, and / or Z axes such that a coupling portion of at least one of the one or more robotic arms may be aligned to engage a mating coupling portion on the table or table adapter.

[0033] In some embodiments, the arm cart 350 houses the one or more robotic arms 330 such that, during the approach of the arm cart 350 to the operating table and the transfer of the one or more robotic arms 330 to the operating table, the operator's line of sight from the arm cart 350 can be maintained to the portion of the operating table to which the one or more robotic arms 330 are to be transferred.

[0034] The one or more robotic arms 330 can be docked and / or mounted to the operating table using a variety of different types of coupling and / or mounting methods and mechanisms. The arm cart 350 can employ corresponding coupling methods and mechanisms to provide an efficient transfer of the robotic arm 330 from the arm cart 350 to any suitable position on the operating table and / or an arm support associated with the operating table. Thus, the arm cart 350 and the operating table can include a common interface such that the robotic arm 330 can be effectively and repeatedly coupled to and / or removed from the operating table and the arm cart 350.

[0035] Figures 3B to 3G An example sequence of configurations suitable for transferring the first robotic arm 330A from the arm cart 350 to the operating table 380 is shown, where the operating table 380 can be structurally and / or functionally similar to the operating table 100. As Figure 3B and Figure 3C shown, each of the first robotic arm 330A and the second robotic arm 330B is in a storage position and can be moved in the X direction within the arm container 352. As Figures 3B to 3E shown, the second robotic arm 330B can be moved toward the rear 362 of the arm cart 350 and the first robotic arm 330A can be moved toward the middle to provide sufficient clearance for the first robotic arm 330A to pivot about the Y axis in the Z direction from the storage position to the deployed position, where all or at least a portion of the first robotic arm 330A is disposed outside the arm container 352.

[0036] Figure 3F and Figure 3G show the first robotic arm 330A sliding in the X direction outside the arm container 352. For example, as Figure 3G shown, the first robotic arm 330A can cooperate with or otherwise be coupled to the operating table 380 when extended. In some embodiments, the base 354 of the operating table can be operated to adjust the height of the arm cart 330 and / or connect to the base of the operating table 380 for aligning or otherwise facilitating the transfer of the first robotic arm 330A to the operating table 380.

[0037] In some embodiments, after the first robotic arm 330A is coupled to the operating table 380, it can be deployed or otherwise change its configuration. Once coupled to the operating table, the first robotic arm 330A can be controlled via the operating table 380 and is capable of operating to move and / or articulate in any suitable manner.

[0038] In some cases, after the first robotic arm 330A is coupled to the operating table 380, the arm cart 350 can be moved away from the operating table 380 and set aside until the surgical procedure is complete. Then, the process shown can be reversed Figures 3B to 3G and the first robotic arm 330A can be placed back into the arm receptacle 352 of the arm cart 350.

[0039] In some cases, after the first robotic arm 330A is coupled to the operating table 380, the arm cart 350 can be moved to another location and the second robotic arm 330B can be transferred to the operating table 380 via a similar technique. In some cases, the arm cart 350 can be configured such that the first robotic arm 330A can be transferred to the operating table 380 when the front portion 364 is close to the operating table 380, and the second robotic arm 330B can be transferred to the operating table when the rear portion 362 is close to the operating table 380. In some embodiments, the first robotic arm 330A and the second robotic arm 330B are capable of operating to pivot in opposite directions. In other embodiments, one or both of the first robotic arm 330A and the second robotic arm 330B are capable of operating to pivot in any direction.

[0040] Although the robotic arm 330 is shown as being movable in the X direction, it should be understood that in other embodiments, the robotic arm 330 can be movable in the Y direction. For example, the arm cart 350 is capable of operating to couple the robotic arm via the left or right portion of the arm cart 350 (e.g., rather than via the front portion 364 and / or the rear portion 362). For example, in some such embodiments, the robotic arms 330 are arranged in a square within the arm receptacle 352. In some such embodiments, at least one robotic arm is capable of operating to be coupled to the operating table 380 via the front portion 364 and / or the rear portion 362 of the arm cart 350 while at least one other robotic arm is capable of operating to be coupled to the operating table 380 via the left and / or right portion of the arm cart.

[0041] Although Figures 3B to 3GIllustrated is that the first robotic arm 330A is positioned in front of the second robotic arm 330B and is coupled to the operating table 380 via the front portion 364 of the arm cart 350. However, it should be understood that in other cases, prior to the first robotic arm 330A being coupled to the operating table 380, the second robotic arm 330B, which is optionally shown positioned behind the first robotic arm 330A, may be selected and coupled to the operating table 380. For example, in some embodiments, the second robotic arm 330B may be coupled to the operating table via the rear portion 362 of the surgical cart 350 while the first robotic arm 330A remains in the storage position. In other embodiments, the second robotic arm 330B may slide over the first robotic arm and be coupled to the operating table 380 via the front portion 364 of the surgical cart while the first robotic arm 330A remains in the storage position.

[0042] Figure 4A and Figure 4B Illustrated is an arm cart 1050 and an operating table 1000 according to an embodiment similar to the embodiments shown and described above with reference to Figures 3A to 3G Illustrated and described. Figure 4A and Figure 4B Each of the robotic arms 1035 of Figures 3A to 3G is disposed within a respective arm bay 1030. The arm bays 1030A and 1030B may move within the arm cart 1050 in a manner similar to the movement of the robotic arm 330 described above with reference to Figure 4A As shown, the arm bay 1030A is at least partially disposed outside the arm cart 1050. The arm bay 1030A may include an actuator 1039 that is movable to eject the robotic arm 1035 from the arm bay 1030A. In some embodiments, the actuator 1039 may be manually moved to eject the robotic arm 1035. In other embodiments, for example, when the arm cart 1050 detects that it is properly aligned with the operating table 1000 and / or when the user actuates a motor or other suitable mechanism, the robotic arm 1035 may be automatically ejected from the arm bay 1030A. In embodiments where the robotic arm 1035 is automatically ejected from the arm bay 1030A (e.g., without the user applying a physical force to the actuator 1039), the arm bay 1030A may not include the actuator 1039. In other embodiments, when the robotic arm 1035 is partially and / or fully disposed within the arm bay 1030A, the robotic arm 1035 may be coupled to the operating table 1000; by moving the arm cart 1050 away from the operating table 1000, the robotic arm 1035 may be withdrawn from the arm bay 1030A.

[0043] As Figure 4BAs shown, the robotic arm 1035 has been ejected from the arm magazine 1030A and coupled to the operating table 1000. The operating table includes a coupling mechanism 1044 configured to receive the robotic arm 1035. In some embodiments, the surgical arm 1035 can be operated to rotate about the coupling mechanism 1044. The surgical arm 1035 can also receive power and / or control signals via the coupling mechanism 1044.

[0044] In addition or alternatively, the arm magazine 1030 can include a latch, such as Figure 9 the latch 939 shown. Figure 9 An arm cart 950 and an arm magazine 930 are shown, each of which is structurally and / or functionally similar to the arm cart 1050 and / or the arm magazine 1030, respectively. When the latch 939 is actuated, a robotic arm ( Figure 9 not shown therein) disposed within the arm magazine 930 can be held in a fixed position. When the latch is deactivated (e.g., by pressing the latch or deactivating the latch via an electronic device), the robotic arm can move freely within the arm magazine 930, such that the robotic arm can be transferred to the operating table. Figure 9 Further shown is an embodiment in which the arm magazine 930 can be operated to pivot in a direction opposite to the Figures 2A to 3G direction shown.

[0045] Figure 5 FIG. 400 is a flow chart of a method 400 for transporting and transferring a surgical robotic arm to an operating table using a surgical robotic arm cart, where the surgical robotic arm cart is, for example, the arm cart 350 and / or 1050 shown and described above. Method 400 includes loading one or more robotic arms onto the arm cart at 402. For example, the one or more robotic arms can be folded into a configuration suitable for transportation and / or loading into an arm magazine (e.g., the arm magazine 1030). It is also noted that the one or more robotic arms and / or the arm magazine can be releasably coupled to an arm support of the arm cart. For example, as Figures 3A to 3C shown, the robotic arm can be disposed within the arm cart in a vertical configuration. The arm support can be coupled to the base of the arm cart to support the one or more robotic arms above the base. The base can move freely on a support surface. At 404, the arm cart is then transported to the operating area and positioned adjacent to the operating table.

[0046] At 406, the robotic arm can be pivoted from a vertical orientation to a horizontal configuration, for example, as Figures 3C to 3E shown. At 408, the robotic arm can be slid towards the operating table, for example, as Figure 3E and Figure 3F shown. In embodiments where the robotic arm is disposed within a magazine, at 410, the robotic arm can be ejected from the magazine, for example, as Figure 4A and Figure 4BAs shown. At 412, the robotic arm can be coupled to the operating table. At 414, the robotic arm can then be released from the arm cart; and at 416, the arm cart is transported away from the operating area.

[0047] In some embodiments, if a second robotic arm is loaded onto the arm cart, the arm cart can couple the first robotic arm to the operating table, release the first robotic arm from the arm cart, and then transport the first robotic arm to a position near another part of the operating table. The second robotic arm can then be coupled to the operating table by repeating steps 406 to 414.

[0048] Figure 6A and Figure 6B are schematic front views of an arm cart 650 in two configurations according to one embodiment. Figure 6C is in Figure 6B is a schematic side view of the arm cart 650 in the configuration shown. The arm cart 650 can include an arm container 652 and a base 654, which are structurally and / or functionally similar to the arm container 352 and / or the base 354 shown and described above, respectively.

[0049] The arm cart 650 includes a plurality of robotic arms 630 coupled to a rotating mechanism 670. As shown, the rotating mechanism 670 is pentagonal and can be configured to receive four robotic arms 630 (a first robotic arm 630A, a second robotic arm 630B, a third robotic arm 630C, and a fourth robotic arm 630D), but it should be understood that the rotating mechanism 670 can be any suitable shape and can be configured to receive any suitable number of robotic arms 630. The rotating mechanism 670 is operable to move the robotic arms 630 and / or the portion of the rotating mechanism configured to receive the robotic arms into a loading / unloading area 635. The robotic arms 630 can be loaded onto and / or unloaded from the arm cart 650 via the loading / unloading area 635.

[0050] Figure 6A Shows the arm cart 650 in a storage configuration, where all four robotic arms 630 are disposed within the arm container 652 portion of the arm cart 650. Also noted is that in the storage configuration, the robotic arms 650 and / or the portion of the rotating mechanism 670 configured to receive the robotic arms may not be disposed in the loading / unloading area 635. The rotating mechanism 670 can be rotated (e.g., manually and / or by a drive device such as mechanical, electrical, hydraulic, etc.) such that all the robotic arms 630 move simultaneously and the first robotic arm 630A moves from the storage position to an extended position in the loading / unloading area 635, as Figure 6B shown. In some embodiments, in the extended position, the first robotic arm 630A is partially or fully outside the arm container 652.Figure 6C is a side view of the arm cart 650 in the configuration shown. For ease of illustration, the second robotic arm 630B and the fourth robotic arm 630D are not shown in Figure 6B . Figure 6C The second robotic arm 630B and the fourth robotic arm 630D are not shown.

[0051] Figure 6D is a schematic view of the first robotic arm 630A coupled to the rotating mechanism 670. The first robotic arm 630A and the remaining robotic arms 630 ( Figure 6D not shown in Figure 6E ) may be slidably coupled to the rotating mechanism 670. In some embodiments, the robotic arms 630 may be releasably latched to the rotating mechanism such that the robotic arms are fixed relative to the rotating mechanism until the latch is released. Thus, when the robotic arm 630 is disposed in the loading / unloading area 635, the robotic arm 630 may be (optionally unlocked and) slid horizontally in the forward (or backward) direction such that the robotic arm 630 can be received by the operating table 680, as Figure 6D shown. As

[0052] shown, the robotic arm 630 includes a target joint J1, which, as discussed above, may be coupled to the operating table 680. Once the robotic arm 630 is coupled to the operating table 680, the robotic arm 630 may be detached from the rotating mechanism 670, and the arm cart 650 may be withdrawn. Figure 6B , Figure 6C and Figure 6E show and describe the first robotic arm 630A coupled to the operating table 680, it should be understood that any of the robotic arms 630 disposed within the arm cart 650 may be selected and coupled to the operating table 680 by rotating the rotating mechanism 670 to an appropriate position. For example, in some embodiments, multiple robotic arms 630 may be coupled to a single operating table 680 for surgery.

[0053] Figure 6B , Figure 6C and Figure 6E also show and describe that when the robotic arm 630 is configured to be coupled to the operating table 680, the robotic arm 630 is disposed outside the arm container 652. It is also noted that Figures 6A to 6C shows that the loading / unloading area 635 is at least partially disposed outside the arm container 652. However, it should be understood that in other embodiments, the arm cart 650 may include ports or other similar openings through which the robotic arms 630 may slide. In such embodiments, the rotating mechanism 670 may be rotated such that the desired robotic arm 630 is aligned with the port, and the robotic arm 630 may slide through the opening without the robotic arm having to first move outside the arm container 652.

[0054] Figure 6F is a flow chart of a method 1600 for transporting and delivering a surgical robotic arm to an operating table using a surgical robotic arm cart, such as the arm cart 650 including a rotating mechanism 670 described and shown above with reference to Figures 6A to 6E The method 1600 includes loading one or more robotic arms onto the arm cart at 1602. For example, the one or more robotic arms may be folded into a configuration suitable for transportation and / or attachment to the rotating mechanism. At 1604, the arm cart is then transported to the operating area and positioned adjacent to the operating table.

[0055] At 1606, the rotating mechanism may be rotated, for example, as Figure 6A and Figure 6B shown. Rotating the rotating mechanism at 1606 may cause each of the robotic arms attached to the rotating mechanism to move simultaneously and may position one robotic arm in the deployed position (e.g., as Figure 6B and Figure 6C shown). Optionally, at 1608, the selected robotic arm may be slid towards the operating table, for example, as Figure 6D and Figure 6E shown. In other embodiments, rotating the rotating mechanism may position the selected robotic arm for attachment to the operating table. In such embodiments, the act of rotating the rotating mechanism may cause the target joint J1 of the robotic arm to contact the coupling mechanism of the operating table and / or, once the selected arm is in the deployed position, the entire arm cart may be moved so that the robotic arm contacts the coupling mechanism of the operating table.

[0056] At 1612, the robotic arm may be attached to the operating table. At 1614, the robotic arm may then be released from the arm cart; and at 1616, the arm cart is transported away from the operating area. In some embodiments, if a second robotic arm is loaded onto the arm cart, the arm cart may attach the first robotic arm to the operating table, release the first robotic arm from the arm cart, and then transport the first robotic arm to a position adjacent to another part of the operating table. The second robotic arm may then be attached to the operating table by repeating steps 1606 to 1614.

[0057] Figure 7 is a schematic diagram of a robotic arm 735 configured to be set and / or stored within a bin 730 according to one embodiment. The bin may in turn be configured to be stored within an arm container of the arm cart, such as described and shown above with reference to Figure 4A and Figure 4B shown. As Figure 7 shown, the robotic arm 735 may include multiple joints and may be articulated into a compact configuration for storage.

[0058] The robotic arm 735 includes a target joint J1 that can be disposed within the top of the arm magazine 730 when the robotic arm 735 is in a stowed configuration. In this way, the robotic arm 735 can be withdrawn from and / or placed into the arm magazine 730 via the target joint J1. For example, the robotic arm 735 can be placed into the arm magazine 730 or removed from the arm magazine through the open (or openable) top (or other side) of the arm magazine 730. The robotic arm 735 can be coupled to the operating table via the target joint J1. For example, when transferring the robotic arm between the arm magazine 730 and the operating table, the arm magazine 730 can be positioned close to the operating table, and the robotic arm 735 can be moved first from or last to the target joint J1 of the arm magazine 730. In this way, when the robotic arm 735 is transferred from the arm magazine 730 to the operating table, the target joint J1 can be the first part (and only in some embodiments) of the robotic arm 735 to contact the operating table, and / or when the robotic arm 735 is transferred to the arm magazine 730, the target joint J1 is the last part of the robotic arm 735 to enter the arm magazine 730.

[0059] The arm magazine 730 includes support features 732 that are operable to couple the arm magazine 730 to the arm cart. The support features can include bearings, hinges, cylindrical joints, rotational joints, and / or any other suitable features that are operable to allow the arm magazine 730 to slide, pivot, rotate, or otherwise move within the arm cart.

[0060] Figure 8 is a schematic view of an arm magazine 830 that houses a robotic arm 835 according to one embodiment. The arm magazine 830 can be similar to the arm magazine 730 described above. As Figure 8 shown, the arm magazine 830 includes a journal 832 and a handle 838. In the storage configuration, the arm magazine 830 is operable to be disposed vertically within the arm cart (e.g., in an orientation where the portion of the arm magazine 830 that includes the handle 838 is disposed below the portion of the arm magazine 830 that includes the journal 832). In use, the arm magazine 830 is grasped by the handle 838 and rotated about the journal 832, for example, to deploy or receive the robotic arm 835.

[0061] Although various embodiments have been described above, it should be understood that they are presented by way of example and not limitation. For example, as referenced Figure 8As shown and described, the arm bin 830 may include a handle. It should be understood that other arm bins and / or robotic arms described herein may include a handle or a similar structure. It should also be understood that the arm bin and / or robotic arm may be transported, loaded, unloaded, and otherwise manipulated by a hand via the handle or a similar structure. For example, the arm bin and / or robotic arm may be manually de-coupled between positions and / or loaded into an arm cart via the handle or other similar structure.

[0062] In cases where the above method indicates that certain events occur in a certain order, the ordering of certain events may be modified. Additionally, if possible, certain events may be performed simultaneously in parallel processes as well as sequentially as described above.

[0063] For example, in some embodiments, the robotic arm may move within an arm cart such that a coupling member associated with the robotic arm (e.g., the target joint J1) is presented at a suitable location for engaging a complementary coupling member associated with the table. For example, the arm cart may adjust the robotic arm to various height settings such that the robotic arm can mate with various operating tables and / or various coupling portions of the operating table at varying heights. For example, in some embodiments, the arm cart may perform a first macro stage of height adjustment within the arm cart, in which the robotic arm cart is set to a high, medium, or low height range. The arm cart may then be moved to a position relative to the operating table such that the coupling member of the robotic arm is aligned with the coupling member associated with the operating table relative to the X-axis and / or Y-axis. Then, in a second micro stage of height adjustment, the arm cart may move the coupling member of the robotic arm cart up or down along the Z-axis to engage the complementary coupling member of the operating table. After the arm cart sets the robotic arm to an appropriate high, medium, or low macro setting, the arm cart may be moved toward the operating table. When the arm cart is correctly aligned along the X-axis and Y-axis, the coupling member may be lowered (along the Z-axis) by the arm cart to engage the coupling member of the operating table. Alternatively, when the arm cart is correctly aligned along the X-axis and Y-axis, the robotic arm may be raised (along the Z-axis) to engage the coupling member of the operating table.

[0064] In cases where the schematic diagrams and / or embodiments described above depict certain components arranged in certain orientations or positions, the arrangement of the components may be modified. Although embodiments have been specifically shown and described, it should be understood that various changes in form and detail may be made. Any part of the devices and / or methods described herein may be combined in any combination other than mutually exclusive combinations. The embodiments described herein may include various combinations and / or sub-combinations of the functions, components, and / or features of the different embodiments described.

[0065] Some embodiments describe various features, axes, and / or directions as "horizontal" or "vertical". In general, the term "vertical" should be understood as a direction approximately parallel to (e.g., + / - 15 degrees) the direction of gravity. Similarly, "horizontal" should be understood as a direction approximately perpendicular to (e.g., + / - 15 degrees) the direction of gravity and / or approximately parallel to the ground plane (e.g., the floor). In cases where a component (e.g., a robotic arm and / or an arm bin) is described as vertical or horizontal, it should be understood to refer to the principal axis of the component being oriented in the vertical or horizontal direction. When used to describe a robotic arm, the robotic arm is "horizontal" if the joints of the robotic arm are primarily disposed in a generally horizontal plane. If the joints of the robotic arm are primarily disposed in a generally vertical plane, the robotic arm is "vertical". When used to describe an arm bin, the arm bin is "vertical" if the arm bin accommodates (or is configured to accommodate) a robotic arm in a vertical orientation. If the arm bin accommodates (or is configured to accommodate) a robotic arm in a horizontal orientation, the arm bin is "horizontal".

Claims

1. A method for transferring a robotic arm to an operating table, the method comprising: Moving an arm cart containing the robotic arm from a storage position to the operating table such that a front end of the arm cart faces the operating table; Rotating a rotating mechanism along a horizontal axis passing through a front end and a rear end of the arm cart such that the robotic arm moves from a first position to a second position; And After the robotic arm is in the second position, coupling the robotic arm to the operating table.

2. The method according to claim 1, further comprising, before coupling the robotic arm to the operating table, sliding the robotic arm in a horizontal direction from its second position towards the operating table to a third position.

3. The method according to claim 2, wherein the robotic arm is coupled to the rotating mechanism via a latch, and the method further comprises releasing the robotic arm from the latch before sliding the robotic arm in the horizontal direction.

4. The method according to claim 1, wherein the robotic arm is a first robotic arm, and the first robotic arm is coupled to a first position of the operating table, wherein the arm cart contains a second robotic arm, and rotation of the rotating mechanism causes each of the first robotic arm and the second robotic arm to move simultaneously from a respective first position to a respective second position, the method further comprising: After coupling the first robotic arm to the first position of the operating table, moving the arm cart from the first position of the operating table to a second position of the operating table; Rotating the rotating mechanism such that the second robotic arm moves from the respective second position to a respective third position; And After the second robotic arm is in the respective third position, coupling the second robotic arm to the second position of the operating table.

5. The method according to claim 1, wherein the robotic arm is a first robotic arm, wherein the arm cart contains a second robotic arm, and rotation of the rotating mechanism causes each of the first robotic arm and the second robotic arm to move simultaneously from a respective first position to a respective second position, and when each of the robotic arms is in its respective first position, the two robotic arms are in a storage configuration within the arm cart, and when the two robotic arms are in their respective second positions, the first robotic arm is in a deployed position at least partially outside the arm cart.

6. The method according to claim 5, wherein when the two robotic arms are in their respective second positions, the second robotic arm remains in the storage configuration within the arm cart.

7. The method according to claim 1, wherein the rotating mechanism is a pentagon having five sides, and each of the five sides is configured to be coupled to a robotic arm.

8. A device for transferring a robotic arm to an operating table, the device comprising: One or more robotic arms, each robotic arm being configured to be coupled to the operating table; An arm cart configured to include the one or more robotic arms, wherein a front end of the arm cart faces the operating table; and a rotation mechanism, each of the one or more robotic arms being configured to be coupled to the rotation mechanism, the rotation mechanism being configured to rotate along a horizontal axis passing through a front end and a rear end of the arm cart to simultaneously move the one or more robotic arms from one or more first positions to one or more second positions.

9. The apparatus according to claim 8, wherein the one or more first positions are all storage positions.

10. The apparatus according to claim 8, wherein one of the one or more second positions is a deployed position.

11. The apparatus according to claim 10, wherein the remaining positions of the one or more second positions other than the one position are storage positions.

12. The apparatus according to claim 8, wherein when the one or more robotic arms are in the one or more second positions, one of the one or more robotic arms is in a first deployed position, the one robotic arm being configured to slide along the rotation mechanism on the horizontal axis between the first deployed position and a second deployed position, in the second deployed position, the one robotic arm being configured to be coupled to the operating table.

13. The apparatus according to claim 12, wherein the robotic arm is coupled to the rotation mechanism via a latch, the latch being configured to release the robotic arm before the robotic arm slides along the rotation mechanism on the horizontal axis.

14. The apparatus according to claim 8, wherein: when the one or more robotic arms are in the one or more second positions, one of the one or more robotic arms is in a first deployed position, the one robotic arm being configured to slide along the rotation mechanism on the horizontal axis between the first deployed position and a second deployed position, in the second deployed position, the one robotic arm being configured to be coupled to the operating table; when the one or more robotic arms are in the one or more second positions, the remaining robotic arms of the one or more robotic arms other than the one robotic arm are in storage positions.

15. The apparatus according to claim 8, wherein the rotation mechanism is a pentagon having five sides, each of the five sides being configured to be coupled to a robotic arm.

16. A cart for one or more robotic arms, the cart comprising: an arm container configured to receive the one or more robotic arms; and a rotation mechanism, wherein each of the one or more robotic arms is releasably coupled to the rotation mechanism and is in a respective first position, in the respective first position the robotic arm is fully disposed within the arm container; Wherein, the rotation mechanism is configured to simultaneously rotate each of the one or more robotic arms from its respective first position along a horizontal axis passing through the front end and the rear end of the cart to a respective second position, at which at least one robotic arm is at least partially disposed outside the arm container, wherein the front end of the cart faces the operating table.

17. The cart according to claim 16, wherein when the one or more robotic arms are in their respective second positions, one of the one or more robotic arms is in a first deployed position, the one robotic arm being configured to slide along the rotation mechanism on the horizontal axis from the first deployed position to a second deployed position, the one robotic arm being configured to be coupled to the operating table at the second deployed position; and The remaining robotic arms, which include the one or more robotic arms other than the one robotic arm being in a storage position when the one or more robotic arms are in their respective second positions.

18. The cart according to claim 16, wherein when the at least one robotic arm is in its respective second position, the remaining robotic arms of the one or more robotic arms are fully disposed within the arm container.

19. The cart according to claim 16, wherein when each of the one or more robotic arms is in its respective second position, one of the one or more robotic arms is in a first deployed position, the one robotic arm being configured to slide along the rotation mechanism on the horizontal axis between the first deployed position and the second deployed position, at which the one robotic arm is configured to be coupled to the operating table.

20. The cart according to claim 19, wherein the robotic arm is coupled to the rotation mechanism via a latch, the latch being configured to release the robotic arm before the robotic arm slides along the rotation mechanism on the horizontal axis.

Images