Robotic surgical station

Abstract

A robotic surgical station (1) comprising: a wheeled base (100) configured to be placed on a floor; a partial ring structure (210) slidably coupled to the base (100) to be rotatable relative to the base (100) about a horizontal rolling axis (R) through a ring center (C); a patient's bed (600) constrained at a first mount (220) to a first arc segment (211) of the partial ring structure (210); a plurality of robotic arms (900) constrained at a second mount (250) to a second arc segment (212) of the partial ring structure (210); and a remote control unit (801) usable by a surgeon to command one or more of the plurality of robotic arms (900), wherein the second arc segment (212) is laterally rotatable relative to the first arc segment (211) in a manner that can allow the surgeon full access to the patient's bed (600).

Description

Technical Field

[0001] This invention relates generally to surgical robots, and more particularly to a robotic surgical station. Background Technology

[0002] Currently, the organization of operating rooms is primarily based on pre-robotic environments from the 19th century. With the introduction of surgical robots, especially within the framework of laparoscopic intervention, a new era of surgical procedures and operating room configurations has emerged.

[0003] Known robots for minimally invasive surgery are equipped with multiple robotic arms and end effectors, with surgical instruments connected to the end effectors. In a typical setup, the robot is placed next to the operating table and remotely controlled by the surgeon, for example, through special handles and pedals that allow selective actuation of the robotic arms and instruments, thus enabling surgical interventions on the patient.

[0004] WO2014 / 201340A1 discloses an integrated surgical station, which mainly includes a base fixed to the ground and a ring structure rotatable about a rolling axis and a pitch axis. The patient's bed and multiple robotic arms are mounted on the ring structure and can be moved integrally onto the ring structure.

[0005] Although the aforementioned robotic systems and integrated robotic stations are available, there is still a need for improved safety, versatility, and operational mobility, as well as a need to reduce their size and complexity without compromising the reliability and quality of surgical interventions. Summary of the Invention

[0006] The surgical robot station constructed according to the principles of this invention meets the above requirements.

[0007] This invention relates to a robotic surgical station, which mainly comprises a base to be placed on the ground and an arc-shaped structure, such as a suitable partially annular structure, which is movable relative to the base, and an operating table and multiple robotic arms that can be releasably mounted on the structure. The surgeon commands the robotic arms to perform surgical interventions on the patient via a remote control unit.

[0008] According to the invention, the partially annular structure has an operating section or segment on which a robotic arm is mounted, and the operating section or segment can move laterally, particularly rotate, to free up the area around the operating table in the operating room so that the surgeon or medical operator can take direct action on the patient as needed. In this way, the surgical station can be used for both robotic and non-robotic surgeries, and can also be quickly switched from one mode to another in specific situations (e.g., in emergency situations).

[0009] According to a preferred embodiment, the outline of the partial annular structure essentially defines an arc of approximately 270 degrees out of 360 degrees covering the entire annular outline.

[0010] Advantageously, the partial ring structure can rotate relative to the base about a rolling axis that is parallel to the ground and passes through the center of the geometric ring profile.

[0011] While the partially annular structure is stationary, the partially annular structure, the operating table, and / or the robotic arm—possibly via their respective mounts—can also rotate relative to the base about a pitch axis that is perpendicular to the rolling axis and parallel to the ground. Specifically, the pitch axis can be an axis that intercepts the diameter of the geometric annular profile.

[0012] According to exemplary embodiments of this disclosure, the operating table and / or robotic arm—via its respective mount—is also rotatable relative to a partially annular structure about a yaw axis perpendicular to the roll and pitch axes. For example, this (additional) degree of freedom can facilitate patient preparation or the setup of the robotic arm and associated surgical instruments or end effectors.

[0013] In a preferred embodiment, under standard conditions, the operating table can be positioned on the base substantially parallel to the pitch axis (i.e., extending longitudinally along the chord of the geometric ring profile).

[0014] Advantageously, the operating table and robotic arm, especially their respective mounting components, can be arranged on opposite sides of the partially annular structure.

[0015] The operating table and / or robotic arm can be supported on a corresponding mounting with a telescopic structure, thereby allowing adjustment of their (mutual) positions.

[0016] According to embodiments of the invention, the operating table can be configured to be removably mounted on a station base. Therefore, a patient can be positioned on the operating table and prepared for surgery before entering the operating room, wherein the operating table can be connected to the surgical station. Furthermore, removing the operating table after surgery allows the patient to comfortably return to his / her ward without having to be transferred to another bed or support structure.

[0017] For example, an operating table can often be configured as a patient's bed.

[0018] Preferably, the entire robotic surgical station, at its base, may be mounted on wheels or a similar mobile device, enabling the robotic surgical station to move within the surgical environment or from one environment (e.g., a room) to another.

[0019] According to an exemplary embodiment of the invention, the robotic arms may be modular or can be assembled on the structure at different locations to allow surgeons to position and rearrange them based on the requirements of a specific surgical intervention. For this purpose, the mounting components of the partial annular structure may include an annular frame.

[0020] The number of robotic arms that can be attached to the annular frame—or to an operable mounting structure—depends on the specific embodiment, which can vary according to specific surgical needs (i.e., the station operates on an "open platform"). Therefore, different and optimized configurations of the surgical station can be implemented, for example, for prostate surgery, lung surgery, etc.

[0021] Further advantages and features of the robotic surgical station according to the invention will become clear to those skilled in the art from the following detailed and non-limiting description of its embodiments. Attached Figure Description

[0022] Referring to the attached diagram, in which: - Figure 1 A perspective view of an embodiment of a robotic surgical station according to the present invention is shown, wherein a portion of the annular structure is in a default or static configuration, and the patient's bed is substantially parallel to the ground; - Figures 2 to 5 They are shown respectively Figure 1 Side view, top view, front view and rear view of the robotic surgical station; - Figure 6 It shows Figure 1 A side view of the robotic surgical station, in which a portion of the annular structure is rotated 90° clockwise about its rolling axis; - Figure 7 It shows Figure 1 A side view of the robotic surgical station, in which a portion of the annular structure rotates counterclockwise about its rolling axis; - Figure 8 It shows Figure 1 A partially exploded perspective view of a robotic surgical station, in which an example of a system for rotating a partial annular structure according to a rolling axis is visible; - Figure 9 and Figure 10 They are shown respectively Figure 1 A front view of the robotic surgical station, in which some of the annular structures rotate counterclockwise and clockwise about their pitch axis, respectively; - Figure 11 It shows Figure 1 A partially exploded perspective view of a portion of a robotic surgical station, in which an example of a system for rotating the patient's bed according to the pitch and yaw axes is visible; - Figure 12 and Figure 13They are shown respectively Figure 1 Top and front views of the robotic surgical station, in which the patient's bed can rotate 90 degrees around the yaw axis; - Figure 14 It shows Figure 1 A top view of the robotic surgical station, in which the operating section of the annular structure can rotate laterally about its yaw axis, particularly clockwise; - Figure 15 It shows Figure 1 A front view of the robotic surgical station, in which the operating section of the annular structure can rotate laterally about its yaw axis, particularly counterclockwise; - Figure 16 and Figure 17 They respectively showed according to Figure 1 Partial sectional view and partially exploded view of the vertical plane of a partially annular structure of a robotic surgical station, wherein an example of the displacement system of its surgical section is visible; and - Figure 18 An exemplary robotic surgical station based on the principles described herein is shown, which is configured to provide mobility and ease of use of the operating table. Detailed Implementation

[0023] This paper describes several embodiments and variations of the robotic surgical station and its components, but other embodiments are also envisioned.

[0024] When compatible, different implementations and variations can be used in combination.

[0025] First refer to Figures 1 to 5 The robotic surgical station according to an exemplary embodiment of the present invention is generally shown as 1. The robotic surgical station 1 may include a base 100 configured to be selectively placed on the ground, and a worktable and surgical instrument frame or structure, such as a partial ring structure 210, to which, if desired, a patient bed (i.e., operating table) 600 and a plurality of robotic arms 900 may be selectively constrained and operatively connected if necessary.

[0026] The robotic surgical station 1 may also include a remote control unit 801 (in Figure 1 (Illustrated schematically) According to the exemplary mode described below, the remote control unit 801 can be used by a surgeon to perform surgical interventions on a patient by actuating the annular structure 210, the patient's bed 600, and / or the robotic arm 900.

[0027] The base 100 can be advantageously mounted on a suitable movable support (e.g., wheels 110) to enable movement from one environment to another. The wheels 110 may be equipped with a locking system configured to prevent any undesirable movement, such as during surgical intervention, or, if necessary, to be retracted by the remote control unit 801 or otherwise secured to prevent rolling of the base 100 during system operation.

[0028] The base 100 may include a ground platform 101 that can be directly mounted on wheels 110 and a rack assembly 120 for integrating medical devices (including, for example, anesthesia equipment or other devices and supplies) for a specific procedure. Specifically, the rack assembly 120 may be associated with rack inserts 121, a monitor 122, and armrests 123. The base 100 may also include a coupling element 200 fixed to the ground platform 101 and configured to slidably receive a portion of the annular structure 210, such that the portion of the annular structure 210 can rotate about a rolling axis R. Specifically, the coupling element 200 may define an arcuate guide 111 that reproducing the outer contour of the portion of the annular structure 210, such that the portion of the annular structure 210 can be slidably accommodated therein (in the coupling element 200) according to a circular motion trajectory.

[0029] like Figure 1 As shown, the rolling axis R can be horizontal and perpendicular to the geometric ring or circumferential profile of the partial annular structure 210, arranged through the geometric center C of the profile.

[0030] Reference Figures 6 to 8 A brief description of the rotational configuration of the partial ring structure 210 and exemplary mechanisms or systems that allow such rotational movement.

[0031] Perpendicular to the rolling axis R, still in Figure 1 In the configuration, on the horizontal plane, the pitch axis P is defined, which intercepts the diameter of the stated geometry. The yaw axis Y, perpendicular to the ground (i.e., vertical), is also represented... Figure 1 In the middle, and together with the roll axis R and pitch axis P, the Cartesian reference system is defined, which can be advantageously regarded as fixed with the partially annular structure 210 and / or with the movable components of the robotic surgical station 1. Figure 1 In this configuration, the roll axis R and pitch axis P define a horizontal plane, and the yaw axis Y is arranged vertically. This positioning corresponds to the default or stationary configuration of the robotic surgical station 1. In a preferred embodiment, the patient bed 600 and / or the robotic arm 900 are rotatable about the pitch axis P and the yaw axis Y. (See reference...) Figures 9 to 13Briefly describe the rotational configuration of these components about these axes and exemplary mechanisms or systems that allow such movement(s)

[0032] As mentioned so far, structure 210 has a partially annular shape, specifically defining an arcuate profile that is substantially circumferentially shaped and centered at C. In this example, the circumferential arc covers 270 degrees of the entire annular / circumferential profile out of 360 degrees.

[0033] The partial annular structure 210 is made of a first (or lower) arcuate segment or portion 211 and a second (or upper) arcuate segment or portion 212. The upper segment 212 (which may also be referred to as the operating segment) is constrained to the robotic arm 900, while the lower segment 211 is constrained to the patient's bed 600. The upper segment 212 is movable relative to the lower segment 211, and in particular, rotatable. Specifically, the upper segment 211 can move laterally, and in particular rotate about a longitudinal axis L parallel to the yaw axis Y. (See reference...) Figures 14 to 17 Briefly describe the shift configuration of the operating section 212 and exemplary mechanisms or systems that allow such shift.

[0034] Still referencing Figure 1 The partial annular structure 210 is provided with a first mounting member, generally indicated by 220, which is configured to support the patient's bed 600; and a second mounting member, generally indicated by 250, which includes an annular frame 800 configured for mounting a robotic arm 900. In this embodiment, the first mounting member 220 and the second mounting member 250 are arranged opposite each other along the diameter of the partial annular structure 210.

[0035] Preferably, in a static configuration, the patient's bed 600 is arranged by mounting member 220 parallel to the pitch axis P and, in any case, according to the chord of the annular profile.

[0036] exist Figure 1 In the diagram, the first mounting member 220 and the second mounting member 250 are shown aligned in the vertical direction, i.e., their longitudinal axes are substantially perpendicular to the ground. As described above, this configuration defines the default or stationary state of the robotic surgical station 1, in which the patient's bed 600 is also substantially parallel to the ground.

[0037] As described above, the partial annular structure 210 is configured to be rotatable about the rolling axis R, particularly 360 degrees or more, preferably counterclockwise and clockwise.

[0038] Due to the aforementioned configuration of the robotic surgical station 1, the rotation of the partial annular structure 210 simultaneously determines the rotation of the patient's bed 600 mounted on the first mounting 220 and the robotic arm 900 constrained to the second mounting 800. In other words, the robotic arm 900 can move mechanically synchronized with the patient's bed 600 because they are mounted on the same partial annular structure 210. Therefore, if required, the patient's bed 600 and the robotic arm 900 can maintain their initial mutual positioning setting throughout the surgical intervention.

[0039] like Figure 6 As shown, the partial annular structure 210 can, for example, rotate 90 degrees counterclockwise around the rolling axis R in order to move the patient's bed 600 from, for example, the rolling axis R. Figure 1 The first position, which is basically parallel to the ground (corresponding to the traditional stationary position of the operating table), is moved to the second position (basically perpendicular to the ground). This is commonly used in laparoscopic surgery to utilize gravity as a means of moving the patient's internal organs in order to create space for better manipulation of surgical instruments.

[0040] Similarly, such as Figure 7 As shown, the partial annular structure 210 can rotate clockwise to position the patient's bed 600 at the angle required for a specific surgical procedure. Preferably, the permissible rearward rotation range is at least 30 degrees.

[0041] According to an embodiment of the present invention, the rotation of the partial annular structure 210 about the rolling axis R can be achieved by... Figure 8 The system is obtained as shown in the example.

[0042] Specifically, the partial annular structure 210 rotates about a rolling axis R via guide rails 214 obtained on the side surface of the lower portion 211 and guide rails 241 obtained on the side surface of the upper portion 212. These guide rails mate with guide rollers 202 and 203, respectively. The rollers are mounted on the guide frame 201 of the connecting element 200. This movement is actuated, for example, by two motor / gear units 260.

[0043] As described above, according to a preferred embodiment of the invention, the patient's bed 600 and the robotic arm 900 can also rotate about the pitch axis P via portions of their respective mountings 220 and 250.

[0044] Figure 9 and Figure 10 The diagram illustrates how the aforementioned components rotate clockwise or counterclockwise about the pitch axis P.

[0045] The rotation of the patient's bed 600 and the robotic arm 900 around the pitch axis P is electromechanically synchronized.

[0046] According to an embodiment of the present invention, the rotation of the patient's bed 600 about the pitch axis P can be achieved by... Figure 11 The system illustrated in the figure is obtained. The same or similar system can be used for the mounting part 250 of the robotic arm 900.

[0047] The rotation range can advantageously be + / -15 degrees, preferably + / -12 degrees.

[0048] Mounting element 220 has an arcuate profile element, preferably unfolded around or parallel to the pitch axis P. Mounting element 220 includes a guard 221, a gear or friction rim 222, a lower guide rail 223, and an upper guide rail 224 for mechanically defining movement around the pitch axis P. A flexible protective cover 225 protects the mechanism. Guide rails 223 and 224 engage with guide rollers 330 mounted on a telescopic support or outer cylinder 300 of the patient bed 600. In this example, the movement is actuated by a motor gear assembly 320. All ball bearings 310 allow the patient bed 600 to move along the yaw axis Y, as described below.

[0049] Due to this configuration of the robotic surgical station 1 according to an embodiment of the invention, the patient bed 600 and the robotic arm 900 can rotate simultaneously about two horizontal axes (i.e., the roll axis R and the pitch axis P) while maintaining their initial mutual positioning. This allows the surgeon to move the patient relative to the ground according to two rotational degrees of freedom.

[0050] Also refer to Figure 1 According to an embodiment of the invention, the first mounting member 220 and the second mounting member 250 may advantageously have a telescopic structure along the yaw axis Y to allow adjustment of the relative distance between the patient's bed 600 and the robotic arm 900, for example, during the initial setup phase. Therefore, in this embodiment, the first and second mounting members are capable of telescopic movement along the yaw axis Y.

[0051] Specifically, the first mounting element 220 realizes a basic T-shaped connector to the partially annular structure 210. It includes a telescopic structure comprising the aforementioned outer cylinder 300 and an inner cylinder 400 slidably fitted within the outer cylinder 300. The free end of the inner cylinder 400 includes a flange on which the patient's bed 600 is assembled and constrained.

[0052] The first mounting component 220 may include a hydraulic linear actuator or an electromechanical linear actuator.

[0053] The second mounting component 250 has a telescopic structure comprising an outer cylinder 700 and an inner cylinder 701 slidably fitted within the outer cylinder 700. The free end of the inner cylinder 701 includes or is fixed to an annular frame 800, which allows for the assembly of the robotic arm 900. The annular frame 800 is constrained to the inner cylinder 701 by, for example, radial members.

[0054] Similar to the first telescopic mount 220, the second telescopic mount 250 can also be configured as a hydraulic linear actuator or an electromechanical linear actuator.

[0055] According to an embodiment of the invention, the first mounting member 220 and the second mounting member 250, or portions thereof, are rotatable about a yaw axis Y. For this purpose, a geared motor may, for example, be arranged within the inner cylinders 400, 701 of each mounting member 220, 250.

[0056] In this way, the patient bed 600 and the robotic arm 900 can rotate relative to the partial annular structure 210 according to the specific needs of the surgery or surgeon. Therefore, the positioning of the patient bed 600 and / or the robotic arm 900 can be further optimized.

[0057] The patient bed 600 and the robotic arm 900 can rotate simultaneously around the yaw axis Y, similar to other movements of the surgical station, thus allowing the maintenance of mutual positioning settings.

[0058] The patient's bed 600 and robotic arm 900 may not rotate simultaneously around the yaw axis Y- and may also rotate relative to the pitch axis P-, for example, to allow preparation of the patient for surgery or to move him / her from the operating station to a hospital bed for transport to a hospital ward.

[0059] Figure 12 and Figure 13 The patient's bed 600 is shown in a configuration where it is rotated 90 degrees around the yaw axis Y.

[0060] Figure 14 and Figure 15 Possible configurations related to the rotation of the operating section 212 of the partial annular structure 210 about axis L are shown.

[0061] Figure 16 and Figure 17 Cross-sectional and exploded views of a rotating mechanism 230 are shown, which allows the upper section 212 to be rotated laterally to allow for surgical preparation of, for example, a robotic arm or free contact with the patient for non-robotic surgery.

[0062] The mechanism 230 includes a base plate 233, which is mounted, specifically fixed, to the lower section 211 of the partial annular structure 210. The base plate 233 houses a ball bearing 234. A rotating ring 235 with an inner sprocket is mounted on the ball bearing 234 via a retaining ring 236. A top plate 237 is fixed to the rotating ring 235 with screws. The top plate 237 is mounted on the upper section 212 of the partial annular structure 210. A geared motor 231 allows the upper section 212 to rotate. In the non-rotating position, the upper section 212 of the partial annular structure 210 is secured to the lower section 211 by two electromechanical or hydraulic clamping elements 232 or locking actuators.

[0063] Due to the overall configuration described above, the surgical station 1 can have three rotational degrees of freedom, namely rotation about the roll axis, pitch axis, and yaw axis.

[0064] According to embodiments of the present disclosure, the patient's bed 600 can be advantageously configured to be removably mounted on the first mounting member 220.

[0065] A control panel and / or medicine cabinet 500 may be provided below the patient's bed 600, for example, to receive operator input during surgery or during setup phases.

[0066] According to a preferred embodiment of the invention, the ring frame 800 is configured to allow the robotic arm 900 to be assembled at different operating positions.

[0067] In its broader definition, the invention also relates to the combination of base 100 with partial annular structure 210, wherein patient bed 600, robotic arm 900, and possibly their respective mounts and mounting components are provided separately and / or in later stages of assembly or manufacture.

[0068] exist Figure 18 In another embodiment shown, the robotic surgical station, generally indicated by 1800, can be configured such that rotation of structure 1810 simultaneously determines the rotation of the patient's bed 1820 mounted on a first mount 1830 and the robotic arm 1840 constrained to a second mount 1850. In other words, the movement of the robotic arm 1840 can be synchronized with the movement of the patient's bed 1820 because the robotic arm is mounted on the same structure 1810. Therefore, the patient's bed 1820 and the robotic arm 1840 can maintain their initial positions relative to each other, while allowing for synchronized repositioning if necessary.

[0069] Furthermore, according to the principles described herein, the patient's bed and robotic arm can rotate clockwise and counterclockwise around the pitch axis P via mounting parts 1830 and 1850, respectively, enabling multiple surgical positions to be achieved.

[0070] It should be understood that the above detailed description is merely illustrative and should not be considered as limiting the scope of the embodiments of the present invention. Various changes and modifications to the disclosed embodiments will be apparent to those skilled in the art.

[0071] Exemplary component list 1. Robotic surgical station 300 (220) outer cylinder 400 (220) inner tube 100 bases 101 Ground platform 700 (250) outer cylinder 120 rack assembly 701 (250) inner cylinder 121 Rack Insert 122 Monitor 230 Rotation mechanism around L 233 (230) substrate 110 wheel 234 (230) ball bearing 200 Connecting element 235 (230) swivel ring 111 Guide seat 236 (230) retaining ring 237 (230) top plate 600 patient beds, 231 (230) geared motors 900 robotic arms 801 Remote control unit 232 Clamping element 210 Partial Ring Structure 211 Lower section R rolling axis 212 Upper section P pitch axis 220 First installation component (patient's bed) Y-axis yaw 250 Geometric center of the C-ring profile of the second mounting component (robotic arm) 800 Circular Frame L Longitudinal Axis 214, 241 (210) guide rails 202, 203 guide rollers 201 (200) guide frame 260 Motor / Gear Unit 221 (220) shield 222 (220) gear or friction rim 223, 224 (220) guide rails 330 (220) guide rollers 225 (220) protective cover 320 (220) motor gear assembly 310 (220) ball bearing

Claims

1. A robotic surgical station (1), characterized in that, include: A base (100) configured to be placed on the ground; A partial annular structure (210) is slidably coupled to the base (100) so as to be rotatable about a rolling axis (R) orthogonal to and passing through the center (C) of the circumferential profile defined by the partial annular structure (210); Operating table (600), said operating table (600) is constrained at the first mounting member (220) to the first arcuate section (211) of said partial annular structure (210); Multiple robotic arms (900) are constrained at a second mounting (250) to a second arcuate segment (212) of the partial annular structure (210) and configured to be remotely actuated by a surgeon. The second arcuate segment (212) of the partial annular structure (210) is laterally movable relative to the first arcuate segment (211) in a manner that allows the surgeon to fully approach the operating table (600), and the second arcuate segment (212) of the partial annular structure (210) is laterally rotatable relative to the first arcuate segment (211) about a longitudinal axis (L) orthogonal to the rolling axis (R).

2. The robotic surgical station (1) according to claim 1, characterized in that, The partial annular structure (210) has an arc-shaped profile, which is formed as a circumferential arc.

3. The robotic surgical station (1) according to claim 2, characterized in that, The arc-shaped profile covers 270 degrees of the entire 360-degree circumferential profile.

4. The robotic surgical station (1) according to claim 1 or 2, characterized in that, Includes one or more locking actuators (232) located between the first arcuate segment (211) and the second arcuate segment (212) of the partial annular structure (210).

5. The robotic surgical station (1) according to claim 1 or 2, characterized in that, The partial annular structure (210) has a 360-degree rotation range around the rolling axis (R).

6. The robotic surgical station (1) according to claim 1 or 2, characterized in that, The partial annular structure (210) is rotatable counterclockwise and clockwise relative to the base (100) around the rolling axis (R).

7. The robotic surgical station (1) according to claim 1 or 2, characterized in that, The base (100) includes a displacement device so that it is movable in the environment.

8. The robotic surgical station (1) according to claim 7, characterized in that, The displacement device is a wheel (110).

9. The robotic surgical station (1) according to claim 7, characterized in that, The base (100) includes a ground platform (101) mounted on the displacement device.

10. The robotic surgical station (1) according to claim 1 or 2, characterized in that, The first mounting member (220) and / or the second mounting member (250) are rotatable relative to the base (100) about a pitch axis (P) perpendicular to the rolling axis (R).

11. The robotic surgical station (1) according to claim 10, characterized in that, The rotation of the first mounting member (220) and the second mounting member (250) about the pitch axis (P) is electromechanically synchronized.

12. The robotic surgical station (1) according to claim 11, characterized in that, In the static configuration of the robotic surgical station (1), the roll axis (R) and the pitch axis (P) are parallel to the ground.

13. The robotic surgical station (1) according to claim 1 or 2, characterized in that, The first mounting member (220) and / or the second mounting member (250) have telescopic structures.

14. The robotic surgical station (1) according to claim 1 or 2, characterized in that, The first mounting (220) and / or the second mounting (250) include hydraulic or electromechanical linear actuators.

15. The robotic surgical station (1) according to claim 1 or 2, characterized in that, The first mounting member (220) and / or the second mounting member (250), or a portion thereof, are rotatable about a yaw axis (Y) perpendicular to the rolling axis (R) and are configured to be perpendicular to the ground when the robotic surgical station (1) is stationary.

16. The robotic surgical station (1) according to claim 1 or 2, characterized in that, The operating table (600) is configured to be removably mounted on the partial annular structure (210).

17. The robotic surgical station (1) according to claim 1 or 2, characterized in that, The base (100) includes components for integrating medical devices.

18. The robotic surgical station (1) according to claim 17, characterized in that, The components are a rack insert (121) and a monitor (122), and the medical device is an anesthesia device.

19. The robotic surgical station (1) according to claim 1 or 2, characterized in that, Includes a remote control unit (801) configured for use by a surgeon to command one or more of the plurality of robotic arms (900).

20. The robotic surgical station (1) according to claim 1 or 2, characterized in that, The operating table (600) and the robotic arm (900) are arranged on opposite sides of the partial annular structure (210).

21. A robotic surgical station, characterized in that, include: Positioned structurally are a patient bed mount and a robotic arm mount, the structure including a partially annular structure slidably coupled to a base, thereby enabling rotation about a rolling axis (R) orthogonal to and passing through the center (C) of a circumferential profile defined by the partially annular structure, and the patient bed mount and robotic arm mount are configured to provide selective rotation about a pitch axis (P), perpendicular to the rolling axis (R), horizontal when the robotic surgical station is in a stationary position, and intersecting the diameter of the circumferential profile.

22. The robotic surgical station according to claim 21, characterized in that, The structure also includes wheels and a compact configuration, allowing it to be easily moved between rooms.

23. The robotic surgical station according to claim 21, characterized in that, It also includes a second robotic arm mount that can be attached to the structure and an anesthesia station.

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