Interface for movably interconnecting surgical table and gantry

Abstract

An interface for movably interconnecting a surgical table with a stationary gantry supporting a surgical robotic system is provided. The interface includes a ferrule portion, an actuator portion, and a locking portion. The ferrule portion is attached relative to a longitudinal cross-member of a surgical table via receipt of a portion of the longitudinal cross-member through the ferrule portion. The actuator portion is attached to the ferrule portion or attached to and / or supported by the gantry, and includes a gear arrangement operatively engaged to a gear arrangement attached to the longitudinal cross member. The locking portion is attached to and / or supported relative to the gantry and includes a shoulder portion configured to contact an outer surface of the ferrule portion and at least one engagement portion movable between a disengaged position and an engaged position. After the outer surface contacts the shoulder portion, the locking portion is movable from a disengaged position to an engaged position to maintain a position of the ferrule portion relative to the stationary gantry. And, after the ferrule portion is maintained in position relative to the stationary gantry, actuation of the actuator portion drives interaction of the gear arrangement to move a portion of the cross member into and out of the ferrule portion in a first linear direction and a second linear direction.

Description

Technical Field

[0001] The present technology generally relates to an interface for movably interconnecting a surgical table and a gantry relative to one another, wherein the gantry supports a surgical robotic system, and wherein the interface can move the surgical table and a patient supported on the surgical table in at least a cranio-cephalic direction relative to the gantry and the surgical robotic system supported by the gantry. Background Art

[0002] The use of conventional surgical robots and robotic systems during surgical operations has become common. Such conventional surgical robots and robotic systems are usually separated from conventional surgical tables that support patients, and their base portions are usually able to be positioned adjacent to the head, feet or sides of the patient and the corresponding portion of the surgical table. The movement of conventional surgical robots and robotic systems is usually independent of the movement of conventional surgical tables and is not coordinated with the movement of conventional surgical tables. For illustration, the base portion of conventional surgical robots and robotic systems can usually be positioned and repositioned relative to the surgical table and the patient supported by them on the ground, and the various arms of the surgical robots and robotic systems can usually be positioned and repositioned relative to the surgical table and the patient supported by them. And the surgical table can usually be positioned and repositioned relative to the surgical robot and robotic system on the ground, and the conventional surgical table can usually be adjusted / jointed to adjust / jointed the position of the patient supported by it. However, conventional surgical robots and robotic systems do not control the movement of conventional surgical tables, and vice versa. Therefore, coordinated movement between conventional surgical robots and robotic systems and conventional surgical tables may be very difficult. Therefore, there is a need for an interface for movably interconnecting a surgical table and a gantry relative to each other, wherein the gantry can support a surgical robotic system, and the interface can move the surgical table and a patient supported on the surgical table in at least a cranio-cephalic direction relative to the gantry and the surgical robotic system supported by the gantry. Portions of such an interface can be incorporated on the gantry or incorporated relative to the gantry and incorporated on the surgical table, and these portions can be used to move the surgical table relative to the gantry via actuation of the interface. The movement provided by the interface can be used to position and reposition the patient relative to the surgical robotic system, such that the operating area of ​​the surgical robotic system is correspondingly increased. Summary of the invention

[0003] The technology of the present disclosure generally relates to an interface for movably interconnecting a surgical table and a gantry relative to one another, wherein the gantry can support a surgical robotic system, and the interface can be used to position and reposition a patient supported by the surgical table relative to the surgical robotic system to facilitate use of the surgical robotic system with the patient.

[0004] In one aspect, the present disclosure provides an interface for movably interconnecting a surgical table with a fixed gantry supporting a surgical robotic system, the interface comprising: a collar portion, the collar portion being attached relative to a longitudinal cross member of the surgical table, the collar portion comprising a first end, an opposite second end, an internal cavity extending between the first end and the second end, an outer surface positioned between the first end and the second end, an inner surface defining a portion of the internal cavity, and at least one slide (truck) attached relative to the inner surface, a portion of the longitudinal cross member being received in the internal cavity, and the at least one slide being engaged to at least one track portion attached to the longitudinal cross member; an actuator portion, the actuator portion being attached to the collar portion or to the gantry and / or supported by the gantry, the actuator portion comprising a first gear portion, the first gear portion being configured to a second gear portion operatively engaged and attached to the cross member; and a locking portion, the locking portion being attached to the gantry and / or supported relative to the gantry, the locking portion comprising a shoulder portion configured to contact the outer surface of the collar portion and at least one engaging portion movable between a disengaged position and an engaged position; wherein, after the outer surface contacts the shoulder portion of the locking portion, the locking portion is movable from the disengaged position to the engaged position to maintain the position of the collar portion relative to the fixed gantry; and wherein, after the collar portion is maintained in an appropriate position relative to the fixed gantry, the first gear portion is operatively engaged to the second gear portion, and actuation of the actuator portion drives a portion of the cross member into and out of the internal cavity via interaction between the first gear portion and the second gear portion to correspondingly adjust the position of the surgical table relative to the gantry.

[0005] In another aspect, the present disclosure provides an interface for movably interconnecting a surgical table with a fixed table supporting a surgical robotic system, the interface comprising: a collar portion attached relative to a longitudinal cross member of the surgical table, the collar portion comprising a first end, an opposite second end, an interior cavity extending between the first end and the second end, an exterior surface positioned between the first end and the second end, an interior surface defining a portion of the interior cavity, at least one slide attached relative to the interior surface, and a receiving area, the receiving area being partially formed by a first side of the receiving area. One or more buffers attached to the collar portion and one or more buffers attached to the collar portion on the second side of the receiving area define that a portion of the longitudinal cross member is received in the internal cavity and the at least one slide is engaged to at least one track portion attached to the longitudinal cross member; an actuator portion, the actuator portion is attached to the collar portion or to the stand and / or supported by the stand, the actuator portion includes a first gear portion, the first gear portion is configured to operatively engage a second gear portion attached to the cross member; an outrigger portion (outrigger portion), the outrigger portion being attached to the stand and / or supported relative to the stand, the outrigger portion including a first side surface and a second side surface; and a locking portion supported by the outrigger portion, the locking portion including a shoulder portion configured to contact the outer surface of the collar portion and at least one engaging portion movable between a disengaged position and an engaged position; wherein the outrigger portion is capable of being received in the receiving area, and the contact of the one or more buffers on the first side of the receiving area with the first side surface of the outrigger and the contact of the one or more buffers on the second side of the receiving area with the second side surface of the outrigger are used to lock the sleeve The ring portion is guided into an appropriate position relative to the shoulder portion; wherein, after the outrigger portion is received in the receiving area and the outer surface contacts the shoulder portion of the locking portion, the locking portion is capable of moving from the disengaged position to the engaged position to maintain the position of the ring portion relative to the fixed platform; and wherein, after the ring portion is maintained in an appropriate position relative to the fixed platform, the first gear portion is operatively engaged to the second gear portion, and actuation of the actuator portion drives the portion of the cross member to move into and out of the internal cavity via the interaction between the first gear portion and the second gear portion to correspondingly adjust the position of the surgical table relative to the platform.

[0006] In yet another aspect, the present disclosure provides an interface for movably interconnecting a surgical table with a fixed gantry supporting a surgical robotic system, the interface comprising: a collar portion, the collar portion being attached relative to a longitudinal cross member of the surgical table, the collar portion comprising a first end, an opposite second end, an internal cavity extending between the first end and the second end, an outer surface positioned between the first end and the second end, an inner surface defining a portion of the internal cavity, and at least one slide attached relative to the inner surface, a portion of the longitudinal cross member being received in the internal cavity, and the at least one slide being engaged to at least one track portion attached to the longitudinal cross member; an actuator portion, the actuator portion being attached to the collar portion or to the gantry and / or supported by the gantry, the actuator portion comprising a circular gear configured to operatively engage the attached collar portion. a rack gear to the cross member; and a locking portion, the locking portion being attached to the gantry and / or supported relative to the gantry, the locking portion comprising a shoulder portion configured to contact the outer surface of the collar portion and at least one engaging portion movable between a disengaged position and an engaged position; wherein, after the outer surface contacts the shoulder portion of the locking portion, the locking portion is movable from the disengaged position to the engaged position to maintain the position of the collar portion relative to the fixed gantry; and wherein, after the collar portion is maintained in an appropriate position relative to the fixed gantry, the circular gear is operatively engaged to the rack gear, and actuation of the actuator portion drives the portion of the cross member into and out of the internal cavity in a first linear direction and a second linear direction, respectively, via interaction between the circular gear and the rack gear, to correspondingly adjust the position of the surgical table relative to the gantry.

[0007] The details of one or more aspects of the present disclosure are set forth in the following drawings and description. Other features, objectives, and advantages of the techniques described in the present disclosure will be apparent from the description and drawings, and from the claims. BRIEF DESCRIPTION OF THE DRAWINGS

[0008] The technology of the present disclosure generally relates to an interface for movably interconnecting a surgical table and a gantry relative to one another, the gantry supporting a surgical robotic system.

[0009] Figure 1A is a side perspective view of a surgical table illustrating the present disclosure;

[0010] Figure 1B is similar to Figure 1A exemplified Figure 1A A side perspective view of a surgical table with a patient positioned in a prone position on the surgical table;

[0011] Figure 1C It is an example Figure 1A A top plan view of a surgical table with a patient positioned on the surgical table;

[0012] Figure 2 It is an example Figure 1A a top perspective view of a slide portion and a rotatable portion of a first end portion of a surgical table;

[0013] Figure 3 It is an example of support Figure 1A an end perspective view of a slide portion and a rotatable portion of a first end portion of a first vertically oriented portion of a surgical table;

[0014] Figure 4 It is an example of support Figure 1A a top perspective view of a slide portion of a second end portion of a second vertically oriented portion of the surgical table;

[0015] Figure 5 It is an example of support Figure 1A an end perspective view of a slide portion of a second end portion of a second vertically oriented portion of the surgical table;

[0016] Figure 6 is an example of a patient being positioned in a prone position in a neutral position. Figure 1A a side elevation view of a patient on a surgical table, wherein a first portion of the patient is supported by the first platform portion and a second portion of the patient is supported by the second platform portion;

[0017] Figure 7 is an example of rising and falling slopes relative to each other. Figure 1A side elevation views of first and second portions of a surgical table and corresponding first and second portions of a patient supported on the first and second portions;

[0018] Figure 8 is an example of lowering and tilting upward relative to each other. Figure 1A side elevation views of first and second portions of a surgical table and corresponding first and second portions of a patient supported on the first and second portions;

[0019] Fig. 9 is an example of positioning in the neutral position Figure 1A A side perspective view of a patient on a surgical table with a first portion of the patient positioned on the first platform portion and a second portion of the patient positioned on the second platform portion;

[0020] Fig.10 is similar to Fig. 9, which shows a sagittal adjustment of the patient's position / orientation via movement of the first platform portion relative to the second platform portion;

[0021] Fig.11 is similar to Fig. 9 and Fig.10 , which shows torsional adjustment of the patient's position / orientation in addition to sagittal adjustment via movement of the first platform portion and the second platform portion relative to each other;

[0022] Fig.12 is similar to Figures 9 to 11 , which shows extension adjustment of the patient's position / orientation in addition to sagittal and torsional adjustment via movement of the first platform portion and the second platform portion relative to each other;

[0023] Fig.13 is a side perspective view illustrating a gantry of the present disclosure and a surgical robotic system supported by the gantry, wherein the gantry incorporates a portion of an interface for movably interconnecting the gantry to an embodiment of a surgical operating table of the present disclosure, the interface being in a disengaged position;

[0024] Fig.14 is similar to Fig.13 , which illustrates a portion of the interface of the stage in an engaged position;

[0025] Fig.15 is a side perspective view of a surgical table of the present disclosure illustrating a collar portion of the surgical table having an interface incorporated thereon, the collar portion including a first actuator for facilitating movement provided by the interface in a cranio-feet direction;

[0026] Fig.16 is included in Fig.15 surgical table and Fig.13 A side perspective view of a ferrule portion on a stand illustrating a partial positioning of the ferrule portion relative to an interface of the stand;

[0027] Fig.17 is included in Fig.15 surgical table and Fig.13 A side perspective view of a ferrule portion on a stand illustrating the ferrule portion in a proper position relative to a portion of an interface of the stand;

[0028] Fig.18 is an example of Fig.13 The stand positioning Fig.15 A side perspective view of a surgical table with a portion of the interface of the gantry in a disengaged position relative to a collar portion of the surgical table;

[0029] Fig.19 is similar to Fig.18 A side perspective view illustrating the Fig.13 The stand positioning Fig.15 a surgical table, wherein a portion of the interface of the gantry is in an engaged position relative to a collar portion of the surgical table;

[0030] Fig. 20 is relative to Fig.13 The stand positioning Fig.15 , illustrating the surgical table in a first head-to-foot position relative to the gantry prior to movement of the surgical table in a head-to-foot direction via actuation of a first actuator;

[0031] Fig.21 is similar to Fig. 20 A side perspective view illustrating the Fig.13 The stand positioning Fig.15 a surgical table, wherein after movement of the surgical table in the head-to-foot direction via actuation of the first actuator, the surgical table moves from a first head-to-foot position to a second head-to-foot position relative to the gantry;

[0032] Fig. 22 is a side perspective view of a portion of an interface included on a stand, illustrating the interface including means for facilitating Fig.15 A second actuator for facilitating movement of the surgical table in the head-to-foot direction Fig.15 Modification of both the actuatable slide portion of the surgical table for movement in a direction transverse to the head-foot direction;

[0033] Fig.23 yes Fig. 22 A side perspective view of the collar portion and stand of the interface of the embodiment of the present invention, which illustrates the modification of the collar portion in combination with the Fig.15 a surgical table and having a modified positioning of the collar portion relative to a portion of the interface of the table;

[0034] Fig.24 yes Fig.23 The ferrule part and Fig. 22 A side perspective view of a portion of a stand illustrating a Fig.15 The modified ferrule portion of the surgical table is in a proper position relative to the interface portion of the table;

[0035] Fig.25 Is combined with Fig.23 The ferrule part and Fig. 22 The stand Fig.15 A side perspective view of a surgical table illustrating the ferrule portion in position relative to the table frame;

[0036] Fig.26 is relative to being modified to include Fig. 22 The interface of the actuable slide portion of the stage positioning Fig.15 , illustrating the surgical table in a first lateral position relative to the gantry prior to movement of the surgical table in a direction transverse to the cranio-femoral direction via actuation of the actuatable slide portion; and

[0037] Fig. 27 is similar to Fig.26 A side perspective view of the Fig.15 The surgical operating table includes Fig. 22 The invention provides an actuatable slide portion of a modified interface, wherein upon movement of the surgical table in a direction transverse to the head-to-foot direction via actuation of the modified interface, the surgical table moves from a first lateral position to a second lateral position relative to the gantry. DETAILED DESCRIPTION

[0038] The preferred embodiment of the surgical operating table of the present disclosure is Figures 1A to 1C and Figures 6 to 12 1 and 10. The surgical table 10 includes a first end E1, a second end E2, and an intermediate longitudinal axis L1 extending through the first end E1 and the second end E2. The surgical table 10 includes a first platform portion 12, a second platform portion 14, and a support portion 16. The support portion 16 supports the first platform portion 12 and the second platform portion 14 above the ground, and the first platform portion 12 and the second platform portion 14 can each support a portion of a patient P thereon.

[0039] like Figures 1A to 1C and Figures 6 to 12 As depicted, the first platform portion 12 and the second platform portion 14 are spaced apart from each other across the gap G and can be independently positioned / oriented and repositioned / oriented relative to each other. Together, when the patient is thereby supported, the adjustment of the first platform portion 12 and the second platform portion 14 relative to each other can be used to manipulate the patient and provide access to the patient's spine. Manipulation of the patient P and the access provided by the gap G can assist in performing surgery on the patient P, and such surgery can include, for example, spinal surgery performed on the patient's spine.

[0040] like Figure 1A and Figures 6 to 12As depicted, support portion 16 includes a horizontally oriented portion 20, a first vertically oriented portion 22, and a second vertically oriented portion 24. Horizontally oriented portion 20 is used to support first vertically oriented portion 22 and second vertically oriented portion 24 relative to the ground, first vertically oriented portion 22 is used to support first platform portion 12 relative to horizontally oriented portion 20, and second vertically oriented portion 24 is used to support second platform portion 14 relative to horizontally oriented portion 20. As discussed below, surgical table 10 may include one or more controllers for controlling motorized actuators included in surgical table 10 to facilitate operation thereof.

[0041] like Figure 1A As depicted, the horizontally oriented portion 20 includes a first end portion 26 at a first end 27 thereof (juxtaposed with the first end E1), a second end portion 28 at a second end 29 thereof (juxtaposed with the second end E2), and a cross member 30 extending between the first end portion 26 and the second end portion 26. The cross member 30 can be aligned with the intermediate longitudinal axis L2 of the horizontally oriented portion 20, can be used to connect the first end portion 26 and the second end portion 28, and can be extended and retracted to extend and retract the length of the horizontally oriented portion 20 along the intermediate longitudinal axis L2.

[0042] like Figure 2 and Figure 3 As depicted, the first end portion 26 supports the first vertically oriented portion 22 and includes a slide portion 40 and a rotatable portion 42. As discussed below, the slide portion 40 is configured to move the first vertically oriented portion 22 in a direction transverse to the intermediate longitudinal axes L1 and L2, and the rotatable portion 42 is configured to rotate the first vertically oriented portion 22 about a vertically oriented axis. Figure 2 and Figure 3 As depicted, first end portion 26 includes a bottom portion 50 , an end wall portion 52 , a first side wall portion 54 , and a second side wall portion 56 .

[0043] The first end portion 26 includes an open end 58 adjacent to the first end 27, and the bottom portion 50, the end wall portion 52, the first side wall portion 54, and the second side wall portion 56 together define an area in which the slider portion 40 and the swivel portion 42 are disposed. In addition, the first side wall portion 54 and the second side wall portion 56 include recessed portions 60 and 62 having lower surfaces 64 and 66, respectively. A caster 68 may be attached to each of the lower surfaces 64 and 66, and along with the other casters, the caster 68 may be used to space the support portion 16 from the ground and facilitate movement of the support portion 16.

[0044] like Figure 2 and 3As depicted, the slider portion 40 includes a first track portion 70, a second track portion 72, a first slide 74 movable along the first track portion 70, a second slide 76 movable along the second track portion 72, and a platform portion 78 supported by the first slide 74 and the second slide 76. Using the movement of the first slide 74 and the second slide 76 on the first track portion 70 and the second track portion 72, respectively, the platform portion 78 can move between a first position and a second position in a left-right direction transverse to the middle longitudinal axes L1 and L2 relative to the bottom portion 50. In the first position, most of the platform portion 78 is located on one side of the middle longitudinal axis L2, and in the second position, most of the platform portion 78 is located on the other side of the middle longitudinal axis L2.

[0045] The linear movement of the platform portion 78 can be controlled via the operation of an actuator 80, which includes a motor and a transmission portion 82, which can be actuated to move the telescopic arm portion 84 inwardly and outwardly. The telescopic arm portion 84 is attached to an extension portion 86 that extends outwardly from the platform portion 78. Therefore, the inward and outward movement of the telescopic arm portion 84 is used to move the platform portion 78 (and the first vertically oriented portion 22 supported thereby) between its first position and second position. Therefore, the first platform portion 12 supported by the first vertically oriented portion 22 can be moved in the left-right direction relative to the intermediate longitudinal axes L1 and L2 via the actuation of the actuator 80 of the slide portion 40. In addition, the operation of the slide portion 40 and its actuator 80 can be controlled by a controller of the surgical table 10.

[0046] like Figure 3 As depicted, the platform portion 78 may support the swivel portion 42 thereon, and the swivel portion 42 may support the first vertically oriented portion 22 thereon. The swivel portion 42 may include a base portion 90, a rotatable portion 92, and an actuator 94. The rotation of the rotatable portion 92 may be controlled via the operation of the actuator 94, which includes a motor and a transmission portion 94 that may be actuated to rotate the rotatable portion 92 and the first vertically oriented portion 22 supported by the rotatable portion 92 around a vertically oriented axis. Thus, the first platform portion 12 may be rotated relative to the platform portion 78, the first end portion 26, and the support portion 16 via actuation of the actuator 94 of the swivel portion 42. In addition, the operation of the swivel portion 42 and its actuator 94 may be controlled by a controller of the surgical table 10.

[0047] like Figure 4 and Figure 5As depicted, the second end portion 28 supports the second vertically oriented portion 24 and includes a slider portion 100. As discussed below, the slider portion 100 is configured to move the second vertically oriented portion 24 toward and away from the first vertically oriented portion 22 in a direction aligned with the longitudinal axes L1 and L2. Figure 4 and Figure 5 As depicted, second end portion 28 includes a bottom portion 102 , an end wall portion 104 , a first side wall portion 106 , and a second side wall portion 108 .

[0048] The second end portion 28 includes an open end 110 adjacent to the second end 29, and the bottom portion 102, the end wall 104, the first side wall portion 106, and the second side wall portion 108 together define an area in which the slider portion 100 is disposed. An arm portion 112 extends outwardly from the first side wall portion 106 and an arm portion 114 extends outwardly from the second side wall portion 108, and the arm portions 112 and 114 include lower surfaces 116 and 118, respectively. A caster 120 may be attached to each of the lower surfaces 116 and 118, and together with the caster 68, the caster 120 may be used to space the support portion 16 from the ground and facilitate movement of the support portion 16.

[0049] like Figure 4 and Figure 5 As depicted, the slider portion 100 includes a first track portion 122, a second track portion 124, a first slide 126 movable along the first track portion 122, a second slide 128 movable along the second track portion 124, and a platform portion 130 supported by the first slide 126 and the second slide 128. Using the movement of the first slide 126 and the second slide 128 on the first track portion 122 and the second track portion 124, respectively, the platform portion 130 can be moved between a first position and a second position relative to the bottom portion 102 in a direction aligned with the longitudinal axes L1 and L2. In the first position, the platform portion 130 is positioned adjacent to the second end 29, and in the second position, the platform portion 130 is positioned adjacent to the end wall portion 104.

[0050] The linear movement of the platform portion 130 can be controlled via the operation of an actuator 132, which includes a motor and a transmission portion 134, which can be actuated to move the telescoping arm portion 136 inwardly and outwardly. The telescoping arm portion 136 is attached to an extension portion 138 that extends outwardly from the platform portion 130. Thus, the inward and outward movement of the telescoping arm portion 138 is used to move the platform portion 130 (and the second vertically oriented portion 24 supported thereby) between its first and second positions. Thus, the second platform portion 14 supported by the second vertically oriented portion 24 can be moved toward and away from the first platform portion 12 in a direction aligned with the intermediate longitudinal axes L1 and L2 via actuation of the actuator 132 of the slide portion 100. In addition, the operation of the slide portion 100 and its actuator 132 can be controlled by a controller of the surgical table 10.

[0051] As discussed below, the use of the slider portion 40 and the rotatable member portion 42 of the first end portion 26 and the use of the slider portion 100 of the second end portion 28 can provide independent movement and adjustment of the first platform portion 12 and the second platform portion 14 relative to each other. In addition, rather than using the slider portion 40 and the rotatable member portion 42, the first vertically oriented portion 22 is directly supported by the first end portion 26 and fixed in position relative to the first end portion, and rather than using the slider portion 100, the second vertically oriented portion 24 is directly supported by the second end portion 28. Therefore, if the slider portion 40, the rotatable member portion 42, and the slider portion 100 are not provided, portions of the first vertically oriented portion 22 and the second vertically oriented portion 24 can be used to facilitate independent movement and adjustment of the first platform portion 12 and the second platform portion 14 relative to each other.

[0052] like Figure 1A , Figure 1B and Figures 6 to 12 As depicted, each of the first vertically oriented portion 22 and the second vertically oriented portion 24 may include a telescoping column 140 for positioning / orienting and repositioning / reorienting the first platform portion 12 and the second platform portion 14 relative to the horizontally oriented portion 20. Each of the telescoping columns 140 may include a lower portion 142 and an upper portion 144. The upper portion 144 may telescopically move upward and downward relative to the lower portion 142 between a lower position and an upper position. The lower portion 142 of the telescoping column 140 is supported by the first end portion 26 and the second end portion 28. Thus, the telescopic extension and retraction of the telescoping column 140 may be used to correspondingly raise and lower the first platform portion 12 and the second platform portion 14 relative to the horizontally oriented portion 20.

[0053] like Figure 1A , Figure 1B and Figures 6 to 12 As depicted, each of the first vertically oriented portion 22 and the second vertically oriented portion 24 further includes a swivel / tilt positioner 150. Each swivel / tilt positioner 150 can be supported relative to the telescoping column 140 by a connecting fork 152 attached to the upper portion 144. The swivel / tilt positioners 150 each include: a swivel portion 154 including a motor and transmission 156 and a shaft 158; and a tilt portion 160 including a motor and transmission 162 and a shaft 164. As shown in FIG. Figures 1A to 1C As depicted, a portion of the motor and transmission 156 of the rotating portion 154 may be positioned between portions of the clevis 152, and a shaft 158 ​​may extend outwardly from the motor and transmission 156 and be attached to the first platform portion 12 and the second platform portion 14. Additionally, a motor and transmission 162 of the tilting portion 160 may be positioned on one side of the portion of the clevis 152, and a shaft 164 may be received through the clevis 152 and attached to a portion of the rotating portion 154. The operation of the motor and transmission 156 is used to rotate the shaft 158 ​​to rotate the first platform portion 12 and the second platform portion 14 attached thereto, and the operation of the motor and transmission 162 is used to rotate the shaft 164 to tilt the rotating portion 154 and the first platform portion 12 and the second platform portion 14 attached thereto.

[0054] Thus, to further position / orient and reposition / reorient the first platform section 12 and the second platform section 14, the platform section 12 and the second platform section 14 can each be raised and lowered via the extension and contraction of the telescoping column 140, the first platform section 12 and the second platform section 14 can each be rotated left and right by rotating the shaft 158 ​​using the motor and transmission 156, and the first platform section 12 and the second platform section 14 can be tilted up or down by rotating the shaft 164 using the motor and transmission 162. Rotation of the shaft 158 ​​can rotate the first platform section 12 and the second platform section 14 left and right in a vertical plane perpendicular to the intermediate longitudinal axes L1 and L2, and rotation of the shaft 164 can tilt the first platform section 12 and the second platform section 14 up and down in a vertical plane aligned with the intermediate longitudinal axes L1 and L2. As discussed below, the operation of the telescoping column 140, the motor and transmission 156, and the motor and transmission 162 can be controlled by a controller of the surgical table 10.

[0055] like Figures 1A to 1CAs depicted, the first platform portion 12 includes a first end portion 170 located at and near a first end 172 thereof, a second end portion 174 located at and near a second end 174 thereof, and respective rails located therebetween connecting the first end portion 170 and the second end portion 176 to one another. A portion of the first end portion 170 has a height sufficient to provide attachment relative to the axis 158 of the rotation / tilt positioner 150 of the first vertically oriented portion 22, and such attachment provides movement of the first end portion via operation of the rotation / tilt positioner 150.

[0056] The first platform portion 12 includes a first patient support portion 180 and Figure 1A and Figure 1C Each of the depicted rails may include a first outer rail 182 and a second outer rail 184 extending between the first end portion 170 and the second end portion 174. The first end portions of the first outer rail 182 and the second outer rail 184 may be attached to the first end portion 170, the opposing second end portions of the first outer rail 182 and the second outer rail 184 may be attached to the second end portion 174, and / or the first end portion and the second end portion may be attached to an intermediate portion (not shown) positioned between each rail and the first end portion 170 and / or the second end portion 174. In addition, the first outer rail 182 and the second outer rail 184 may be aligned with the intermediate longitudinal axis L3 of the first platform portion 12, wherein the first outer rail 182 is positioned on one side of the intermediate longitudinal axis L3 and the second outer rail 184 is positioned on the other side of the intermediate longitudinal axis L3.

[0057] In addition to providing structural rigidity to the first platform portion 12, the first outer rail 182 and the second outer rail 184 may also be used to support a first patient support portion 180 of the first platform portion 12. The patient support portion 180 may include a chest support portion 190 and a head support portion 192 that may be integrated or separate from each other. Figure 1C As depicted, the chest support portion 190 and the head support portion 192 are separated from each other. In addition, the chest support portion 190 and / or the head support portion 192 can be movably adjusted or fixed in an appropriate position along portions of the first outer rail 182 and the second outer rail 184 to accommodate patients of different sizes. Therefore, the first outer rail 182 and the second outer rail 184 serve as tracks to provide movement of the chest support portion 190 and the head support portion 192. Figure 1B and Figures 6 to 12As depicted, a patient P is supported in a prone position by a first patient support portion 180, with the patient's upper torso supported by a chest support portion 190, and the patient's head supported by a head support portion 192. The chest support portion 190 and the head support portion 192 can be constructed and operated in a manner similar to those disclosed in U.S. Serial Nos. 17 / 740,559 and 17 / 740,588, filed on May 10, 2022 (which patents are hereby incorporated herein by reference).

[0058] In addition to the chest support portion 190 and the head support portion 192, a first arm support 194 and a second arm support 196 may be provided as part of the first platform portion 12 to support the patient's arms relative to the rest of the patient. Figure 1C As depicted, the first arm support 194 is attached relative to the first outer rail portion 182, and the second arm support 196 is attached relative to the second outer rail portion 184. Thus, when the patient P is in a prone position with the patient's upper torso supported by the chest support portion 190 and the patient's head supported by the head support portion 192, the patient's right and left arms can be supported relative to the remainder of the first platform portion 12 by the first and second arm supports 194, 196, respectively.

[0059] like Figures 1A to 1C As depicted, the second platform portion 14 includes a first end portion 200 located at and near a first end 202 thereof, a second end portion 204 located at and near a second end 204 thereof, and respective rails located therebetween connecting the first end portion 200 and the second end portion 206 to one another. A portion of the second end portion 204 has a height sufficient to provide attachment relative to the axis 158 of the rotation / tilt positioner 150 of the second vertically-oriented portion 24, and such attachment provides movement of the second end portion via operation of the rotation / tilt positioner 150.

[0060] The second platform portion 14 includes a second patient support portion 210 and Figure 1A and Figure 1CEach of the depicted rails may include a first outer rail 212 and a second outer rail 214 extending between the first end portion 200 and the second end portion 204. The first end portions of the first outer rail 212 and the second outer rail 214 may be attached to the first end portion 200, the opposing second end portions of the first outer rail 212 and the second outer rail 214 may be attached to the second end portion 204, and / or the first end portion and the second end portion may be attached to an intermediate portion (not shown) positioned between each rail and the first end portion 200 and / or the second end portion 204. In addition, the first outer rail 212 and the second outer rail 214 may be aligned with the intermediate longitudinal axis L4 of the second platform portion 14, wherein the first outer rail 212 is positioned on one side of the intermediate longitudinal axis L4 and the second outer rail 214 is positioned on the other side of the intermediate longitudinal axis L4.

[0061] In addition to providing structural rigidity to the second platform portion 14, the first outer rail 212 and the second outer rail 214 can also be used to support the second patient support portion 210, which can include a first upper thigh support 220, a second upper thigh support 222, a first lower thigh support 224, and a second lower thigh support 226. The first upper thigh support 220, the second upper thigh support 222, the first lower thigh support 224, and the second lower thigh support 226 can be movably adjusted or fixed in appropriate positions along portions of the first outer rail 212 and the second outer rail 214 to accommodate patients of different sizes. Figures 1A to 1C As depicted, the first upper thigh support 220 and the first lower thigh support 224 are supported by the first outer rail 212, and the second upper thigh support 222 and the second lower thigh support 226 are supported by the second outer rail 214. Thus, the first outer rail 212 and the second outer rail 214 serve as tracks to provide movement of the first upper thigh support 220, the second upper thigh support 222, the first lower thigh support 224, and the second lower thigh support 226. In addition to the first upper thigh support 220, the second upper thigh support 222, the first lower thigh support 224, and / or the second lower thigh support 226, a calf support 228 of the second patient support portion 210 may also be provided. Figure 1B and Figures 6 to 12As depicted, patient P is supported in a prone position by a first upper thigh support 220, a second upper thigh support 222, a first lower thigh support 224, a second lower thigh support 226, and a calf support 228. The first upper thigh support 220, the second upper thigh support 222, the first lower thigh support 224, the second upper thigh support 226, and the calf support 228 may be constructed and operated in a manner similar to those disclosed in U.S. Serial Nos. 17 / 740,559 and 17 / 740,588, filed May 10, 2022, which are hereby incorporated herein by reference.

[0062] like Figure 1B and Figures 6 to 12 As depicted, adjustment of the relative position of the first platform portion 12 and the second platform portion 14 provides for positioning / orientation and repositioning / reorientation of the patient P supported thereby before, during, and after a surgical procedure. For illustration, the first platform portion 12 and the second platform portion 14 are independently adjustable relative to each other to position / orient and reposition / reorient a portion of the patient supported thereby. Independent adjustment of the relative position of the first platform portion 12 and the second platform portion 14 is provided by the spacing therebetween defined by the gap G, and such adjustment can be correspondingly used to change the position / orientation of a first portion of the patient P supported by the first platform portion 12 and a second portion of the patient P supported by the second platform portion 14 relative to each other.

[0063] like Figure 1B and Figures 6 to 12 As depicted, for example, the head and upper torso of the patient P are supported by the first platform portion 12, and the thighs and calves of the patient P are supported by the second platform portion 14. Also, while the head and upper torso of the patient P are supported by the first patient support portion 180 on the first platform portion 12 and the thighs and calves of the patient P are supported by the second patient support portion 210 on the second platform portion 14, the position of the patient P may be reversed, with the first patient support portion 180 supporting the head and upper torso of the patient P on the second platform portion 14 and the second patient support portion 210 supporting the thighs and calves of the patient P on the first platform portion 12. In addition, while in Figure 1B and Figures 6 to 12 The patient P is supported in a prone position, but the patient P can be supported on the first platform portion 12 and the second platform portion 12 in a supine position.

[0064] The first platform portion 12 can be raised and lowered via the operation of the corresponding telescopic column 140, can be rotated by rotating the corresponding shaft 158 ​​via the actuation of the corresponding motor and transmission device 156 of the corresponding rotating portion 154, can be tilted by rotating the corresponding shaft 164 via the actuation of the corresponding motor and transmission device 162 of the corresponding tilting portion 160, can be moved in the left and right directions relative to the middle longitudinal axes L1 and L2 via the actuation of the actuator 80 of the sliding member portion 40, and can be rotated around a vertically oriented axis relative to the support portion 16 via the actuation of the actuator 94 of the rotating member portion 42. In addition, the second platform portion 14 can be raised and lowered via operation of the corresponding telescoping column 140, can be rotated by rotating the corresponding shaft 158 ​​via actuation of the corresponding motor and transmission 156 of the corresponding rotating portion 154, can be tilted by rotating the corresponding shaft 164 via actuation of the corresponding motor and transmission 162 of the corresponding tilting portion 160, and can be moved toward and away from the first platform portion 12 in a direction aligned with the intermediate longitudinal axes L1 and L2 via actuation of the actuator 132 of the slider portion 100. In addition to such movement, the chest support portion 130, the head support portion 132, the first upper thigh support 220, the second upper thigh support 222, the first lower thigh support 224, the second lower thigh support 226, and the calf support 228 can also be adjusted to accommodate patients of different sizes.

[0065] When manipulating the patient P, the telescopic column 140 of the first vertically oriented portion 22 can be actuated to raise the position of the first platform portion 12, and the tilting portion 160 of the first vertically oriented portion 22 can be actuated to tilt the position / orientation of the first platform portion 12, and in doing so, the patient's body is moved from a neutral position / orientation ( Figure 6 ) bends to tilt the head and upper torso upward. Similarly, the telescoping platform 140 of the second vertically oriented portion 22 can be actuated to raise the position of the second platform portion 14, and the tilting portion 160 of the second vertically oriented portion can be actuated to tilt the position / orientation of the second platform portion 14, and in doing so, bends the patient's body to tilt the legs upward. In addition, as Figure 7 As depicted, the first support platform 12 and the second support platform 14 can be positioned / oriented to tilt both the head and upper torso of the patient P upwardly and the legs of the patient P upwardly. Thus, via actuation of the telescoping column 140 and the tilting portion 160 of the first vertically oriented portion 22 and the second vertically oriented portion 24, the patient P can be positioned / oriented upwardly. Figure 6 The depicted neutral position / orientation adjusts the position / orientation of the first support platform 12 and the second support platform 14 to allow the patient's body to flex to move the head and upper torso upward and / or move the legs upward, thereby introducing a degree of extension to the patient's spine.

[0066] Furthermore, the position / orientation of the first support platform 12 and the second support platform 12 can be adjusted via actuation of the telescoping columns 140 and the tilting portions 160 of the first vertically oriented portion 22 and the second vertically oriented portion 24 to adjust the patient's body from the vertical position to the horizontal position. Figure 6 The depicted neutral position / orientation bends to move the head and upper torso downward and / or move the legs downward, thereby introducing a degree of flexion into the patient's spine, e.g. Figure 8 Depicted.

[0067] In addition to the extension and flexion of the patient's spine discussed above, a first portion of the patient's body supported by the first platform portion 12 and a second portion of the patient's body supported by the second platform portion 16 can be twisted relative to each other to introduce a torsion therebetween via actuation of the rotating portion 154 of the first vertically oriented portion 22 and the second vertically oriented portion 24. In addition, the telescoping columns 140 of the first vertically oriented portion 22 and the second vertically oriented portion 24 can also be actuated (without tilting or twisting) to raise the first portion of the patient's body supported by the first platform portion 12 relative to the second portion of the patient's body supported by the second platform portion 16, and vice versa. Also, the sagittal position of the first portion of the patient's body relative to the second portion can be adjusted by operation of the slider portion 40 and the rotatable portion 42, and the patient's body can be stretched or contracted by operation of the slider portion 100.

[0068] like Fig. 9 As depicted, the patient P is positioned / oriented in a neutral position / orientation and thereafter Figures 10 to 12 In the embodiment, the independent adjustment of the first platform portion 12 and the second platform portion 14 relative to each other is used to adjust the position / orientation of a first portion of the patient's body supported by the first platform portion 12 and a second portion of the patient's body supported by the second platform portion 14 relative to each other. Fig.10 As depicted, the slider portion 40 can be actuated to move the first platform portion 12 in a direction transverse to the intermediate longitudinal axis L2, and the rotator portion 42 can be actuated to rotate the first platform portion 12 about a vertically oriented axis. In doing so, as shown in FIG. Fig.10 As depicted, the sagittal position / orientation of the patient P can be adjusted via relative adjustment of the first platform portion 12 relative to the second platform portion 14 using the slider portion 40 and the rotator portion 42. Then, as Fig.11 As depicted, the first platform portion 12 can be rotated via actuation of the rotating portion 154, and the second platform portion 14 can be moved closer to the first platform portion 12 via actuation of the slider 100 to adjust the torsional position / orientation of the first and second portions of the patient P relative to each other (in addition to the adjusted sagittal position). Fig.12 As depicted, the first platform portion 12 can be raised and tilted via corresponding actuation of the telescopic column 140 and the tilt portion 160 of the first vertically oriented portion 22, and the second platform portion 14 can be lowered via actuation of the telescopic column 140 of the second vertically oriented portion 24 to adjust the extended position / orientation of the first and second portions of the patient P relative to each other (in addition to the adjusted sagittal and torsional position / orientation).

[0069] Thus, the relative position and orientation of the first platform portion 12 and the second platform portion 16 can be independently adjusted using the actuation of the telescopic column 140, the rotating portion 154, the tilting portion 160, the slide portion 40, the rotating portion 42, and / or the slide portion 100. And the relative movement of the first platform portion 12 and the second platform portion 16 can be used to adjust the position / orientation of the patient's body P before, during, and after the surgical procedure. As discussed above, the surgical table 10 may include one or more controllers that are used to control the actuable portions of the surgical table to facilitate the operation of the actuable portions, thereby coordinating the movement between the actuable portions. And such coordinated movement via one or more controllers can be used, for example, to manipulate the patient and prevent hyperextension or hyperflexion of the patient's spine before, during, and after the surgical procedure. Thereafter, when the surgical procedure is completed, the patient can be removed from the first platform portion 12 and the second platform portion 14.

[0070] The preferred embodiment of the interface disclosed in this disclosure is Figures 13 to 27 10 ′ and gantry Y. Fig.15 As depicted, for example, surgical table 10' may include similar features as surgical table 10, and the same reference numerals will be used to refer to these similar features. Fig.13 , Fig.14 and Figures 16 to 27 As depicted, the gantry Y may be stationary and may be used in conjunction with a surgical robotic system R, which may be supported by and / or integrated with the gantry Y. Although the interface I is Fig.15 , Figures 16 to 21 and Figure 23 to Figure 27 1 is depicted as being used with surgical table 10', but interface 1 is not limited thereto and interface 1 may be used with other surgical tables.

[0071] As discussed below, the portion of the interface I that is coupled to the surgical table 10' can be positioned relative to the portion of the interface I that is coupled to the gantry Y or relative to the gantry and then docked therewith. Figures 16 to 19As depicted, the use of interface I allows the surgical table 10' to be docked sideways to the gantry Y from either side, and such side loading of the surgical table 10 provides for initial placement of a portion of the patient P in close proximity to the surgical robotic system R. The docking of the surgical table 10 is movably interconnected to the surgical table 10' relative to the gantry. Thereafter, actuation of interface I provides for movement of the surgical table 10' relative to the gantry Y ( Fig. 20 and Fig.21 ). The movement provided by the interface I can be used to position and reposition the patient P supported by the surgical table 10' in the head-foot direction relative to the gantry Y and the surgical robot system R. Therefore, the patient P can be positioned relative to the surgical robot system R before, during and after the surgical operation, so that the surgical robot system R can assist in performing a surgical operation on the patient P and / or perform a surgical operation on the patient. In addition, through the use of the interface I and the movement of the surgical table 10' relative to the gantry Y provided thereby, the operating area of ​​the surgical robot system R can be correspondingly increased. Therefore, the surgical robot system R can reach important parts of the bone anatomy of the patient P using the interface I, the surgical table 10' and the gantry Y.

[0072] like Fig.19 As depicted, the interface I includes a first portion 250 attached to the surgical table 10', which may include a first actuator 252 that may be actuated to facilitate movement of the surgical table 10' and adjust the position of the surgical table relative to the gantry Y and the surgical robotic system R. In addition, as Fig.13 and Fig.14 As depicted, interface I also includes a second portion 254 coupled to stage Y or relative to the stage.

[0073] The second portion 254 may be attached to and / or supported relative to the gantry Y and may include a shoulder portion 256 and an outrigger portion 258. Fig.13 and Fig.14 As depicted, a shoulder portion 256 may be attached to the table Y, and an outrigger portion 258 may extend outwardly from the shoulder portion 256. As discussed below, portions of the shoulder portion 256 may abut portions of the first portion 250 of the interface I, and portions of the first portion 250 of the interface I may dock to the outrigger portion 258 to facilitate interconnection of the surgical table 10' and the table Y. The shoulder portion 256 may include a recess 260 for receiving a portion of the first portion 250 of the interface I that is attached to the surgical table 10'.

[0074] In addition, if Fig.13 , Fig.14 , Fig.18 and Fig.19As depicted, the second portion 254 of the interface 1 may include a locking portion 262 for holding the portion of the first portion 250 of the interface 1 disposed on the surgical table 10' in an appropriate position relative to the second portion 254. The locking portion 262 may incorporate all or part of the shoulder portion 256 and may have an engagement portion in the form of one or more column portions 264 and a rotating member 266 included in the outrigger portion 258, and the one or more column portions 264 may be rotated in the undeployed position ( Fig.13 and Fig.18 ) and the expanded position ( Fig.14 and Fig.19 ) upward and downward between the outrigger portions 258. As discussed below, when in the undeployed position, the column portions 264 retract into the outrigger portions 258 to allow the first portion 250 attached to the surgical table 10' to pass, and when in the deployed position, one or more column portions 264 engage the first portion 250 attached to the surgical table 10' and hold the first portion in a proper position relative to the gantry Y. The locking portion 262 may include an actuator (not shown) for driving movement of the column portion 264, the actuator including a motor and a transmission (not shown). Although a motor and a transmission are used to automate the operation of the locking portion 262, the present disclosure is not limited thereto, and actuation of the locking portion 262 may be manual.

[0075] like Fig.19 As depicted, the first portion 250 of the interface 1 may include a collar portion 270 attached to and movably supported by the surgical table 10'. As discussed below, the modified longitudinal cross member 30' of the horizontally oriented portion 20 of the support portion 16 of the surgical table 10 is received through the collar portion 270. The collar portion 270 includes a first end 272, a second end 274, and a body portion 276 extending between the first end 272 and the second end 274. Fig.15 As depicted, the first actuator 252 is attached to the collar portion 270 and may include a motor and transmission (not shown). Actuation of the first actuator 252 is used to facilitate movement of the cross member 30' relative to the collar portion 270, the surgical robotic system R, and the gantry Y (when the collar portion 270 is attached relative to the gantry Y). And as discussed above, such movement can be used to adjust the position of the patient P supported by the surgical table 10' relative to the surgical robotic system R before, during, and after a surgical procedure.

[0076] The main body portion 276 includes an upper wall 280, a first side wall 282, a second side wall 284, a first lower wall 286, and a second lower wall 288. Fig.16As depicted, the first actuator 252 includes a housing 290 that can be attached to the second side wall 284. In addition, a first lower wall 286 extends inwardly from the first end 272 and a second lower wall 288 extends inwardly from the second end 274, the first lower wall 286 supports one or more of the buffers 292, and the second lower wall 288 also supports one or more of the buffers 292. Fig.16 As depicted, the bumper 292 may be a wheel for rolling along a portion of the outrigger portion 258. The wheel 292, the inner edge 294 of the first lower wall 286, the inner edge 296 of the second lower wall 288, the lower edge 300 of the first side wall 282, and the lower edge 302 of the second side wall 284 together with the bottom surface 304 of the cross member 30' define an outrigger receiving area 306 ( Fig.16 ).

[0077] When positioning the surgical table 10' relative to the gantry Y, as shown in FIG. Fig.16 and Fig.17 As depicted, the outrigger portion 258 can be inserted into the outrigger receiving area 306, and the wheels 292 can be used to guide the movement of the collar portion 270 of the first portion 250 of the interface I (via contact of the wheels 292 with the side walls of the outrigger portion 258). Such guidance provides for movement of the collar portion 270 (and the surgical table 10' attached thereto) into a suitable position so that the first side wall 282 (corresponding to the first orientation ( Figures 18 to 21 )) or second side wall 284 (corresponding to the opposite second orientation of surgical operating table 10' relative to table Y) contacts shoulder portion 256 of second portion 254 of interface I. If first side wall 282 contacts shoulder portion 256, housing 290 of first actuator 252 faces away from recess 260, and if second side wall 284 contacts shoulder portion 256, housing 290 of first actuator 252 is received in recess 260.

[0078] After the first side wall 282 or the second side wall 284 contacts the shoulder portion 256, the locking portion 262 can be actuated to move the column portion 264 from the undeployed position ( Fig.13 and Fig.18 ) to the expanded position ( Fig.14 and Fig.19). When the first side wall 282 contacts the shoulder portion 256 and the housing 290 of the first actuator 252 is opposite the recess 260, in the deployed position, the post portion 264 contacts the second side wall 284 and the side portion of the housing 290. And when the second side wall 284 contacts the shoulder portion 256 and the housing 290 of the first actuator 252 is received in the recess 260, the post portion 264 contacts the first side wall 282. The use of the post portion 264 in contacting the first side wall 282 and the second side wall 284, the contact of the post portion 264 with the side portion of the housing 290, and the reception of the housing 290 in the recess 260 are used to maintain the position of the first portion 250 of the interface I (including the collar portion 270) relative to the second portion 254 of the interface I (including the shoulder portion 256 and the outrigger portion 258) and the stand Y.

[0079] The modified cross member 30' of the horizontally oriented portion 20 of the support portion 16 is received through the collar portion 270. To this end, as shown in FIG. Fig.16 As depicted, the body portion 276 includes a cavity 310 extending between the first end 272 and the second end 274 for receiving the modified cross member 30'. The cavity 310 may be at least partially defined by the upper wall 282, the first side wall 284, the second side wall 286, the first lower wall 286, and / or the second lower wall 288. During movement of the cross member 30' relative to the collar portion 270, portions of the cross member 30' move into and out of the cavity 310. The first actuator 252 is configured to move the cross member 30' relative to the collar portion 270 of the gantry Y, and such movement re-adjusts the position of the surgical table 10' relative to the gantry Y and the surgical robotic system R. Thus, the position of the surgical table 10' may be adjusted before, during, and after a surgical procedure, and such adjustment may be used to position and re-position the surgical robotic system R relative to the patient P supported by the surgical table 10'.

[0080] To facilitate movement of the cross member 30' relative to the collar portion 270, as shown Fig.16As depicted, a portion of the cross member may include one or more tracks 312, and a portion of the collar portion 270 may include one or more slides 314 for operatively engaging the tracks 312. The operative engagement of the slides 314 with the tracks 312 allows the cross member 30' to move relative to the collar portion 270 by sliding within the cavity 310. The tracks 312 may be disposed on an upper surface 316 and a side surface 318 of the cross member 30'. To operatively engage the tracks 312, one or more slides 314 may be disposed on an inner surface 320 of the upper wall 280 and an inner surface 322 of the first side wall 282. The one or more slides 314 disposed on the inner surface 320 of the upper wall 280 engage the tracks 312 disposed on the upper surface 316, and the one or more slides 314 disposed on the inner surface 322 of the first side wall 282 engage the tracks 312 disposed on the side surface 318.

[0081] A first gear portion (not shown) in the form of a circular gear (or pinion) may be disposed in the cavity 310 and driven by the first actuator 252, and a second gear portion 324 in the form of a linear gear (or rack) may be disposed on the modified cross member 30' in addition to the track 312. Fig.18 and 19 As depicted, a linear gear 324 may be disposed on a side surface 326 of the cross member 30'. In addition, a circular gear may be attached to a shaft (not shown) extending through the second side wall 284, and the shaft may be rotated by operation of the first actuator 252. The circular gear may be engaged to the linear gear 324, and rotation of the circular gear via actuation of the first actuator 252 is used to move the cross member 30' relative to the collar portion 270. For example, rotation of the circular gear in a first rotational direction may move the cross member 30' in a first linear direction relative to the collar portion 270, and rotation of the circular gear in an opposite rotational direction may move the cross member 30' in an opposite second linear direction relative to the collar portion 270. Thus, rotation of the circular gear (via actuation of the actuator 252) is used to adjust the position of the surgical table 10' relative to the gantry Y and the surgical robotic system R, and to provide positioning and repositioning of the patient P supported by the surgical table 10' relative to the surgical robotic system R in the head-to-foot direction. Fig. 20 A first position P1 of the surgical table 10 ′ is depicted in FIG. Fig.21 The second position P2 of the surgical table 10' is depicted in FIG. Thus, such adjustment allows positioning of the patient P relative to the surgical robotic system R before, during, and after surgery so that the surgical robotic system R can perform surgery on the patient P and / or assist in performing surgery on the patient.

[0082] Rather than using a first actuator 252 attached to the collar portion 270, the stage Y may be modified so that the second portion 254 of the interface I may include a second actuator 330. For example, Fig.21 and Fig. 22 As depicted, a portion of the second actuator 330 may be attached to the shoulder portion 256, and other portions of the actuator 330 may extend over the outrigger portion 258. The portion of the second actuator 330 that extends over the outrigger portion 258 may include a protruding portion 332, a shaft 334 extending outwardly from the protruding portion 332, and a first gear portion in the form of a circular gear 336 attached to the shaft 334. Actuation of the second actuator 330 serves to rotate the shaft 334 and the circular gear 336 attached thereto.

[0083] like Fig.23 and Fig.25 As depicted, the collar portion 270 may include a first opening 340 formed in the modified first sidewall 282' and / or a second opening 342 formed in the modified second sidewall 284'. Fig.24 ), if the modified first side wall 282' contacts the shoulder portion 256, the protrusion 332, the shaft 334 and the circular gear 336 can be received through the first opening 340, and if the modified second side wall 284' contacts the shoulder portion 256, the protrusion 332, the shaft 334 and the circular gear 336 can be received through the second opening 342. When the circular gear 336 is inserted through the first opening 340, the circular gear can engage the first linear gear (or rack) 344 ( Fig.24 ). And when the circular gear 336 is inserted through the second opening 342, the circular gear may engage a second linear gear (or rack) 346 ( Fig.25 ). When engaged to the first linear gear 344 or the second linear gear 346, rotation of the circular gear 336 (via actuation of the actuator 330) is used to move the cross member 30' in a linear direction relative to the collar portion 270. Therefore, rotation of the circular wheel 336 provides for positioning and repositioning of the patient P supported by the surgical table 10' in a head-to-foot direction relative to the surgical robotic system R. Therefore, such adjustment allows positioning of the patient P relative to the surgical robotic system R before, during, and after a surgical procedure so that the surgical robotic system R can perform surgery on the patient P and / or assist in performing a surgical procedure on the patient.

[0084] In addition to being positionable and repositionable in the cranio-femoral direction, the table Y may be modified so that the second portion 254 of the interface I may include an adjustment portion 350 that is capable of moving the surgical table 10' and the patient P in a direction transverse to the cranio-femoral direction. Fig. 22 and Figure 25 to Figure 27 As depicted, the adjustment portion 350 includes an actuatable slider portion 352 and a recess 354 for receiving a portion of the slider portion 352. The slider portion 352 includes a base portion 360, a wall portion 362, and a locking portion 364, which includes one or more column portions 366 and a rotatable member portion 368. The base portion 360 is received in the recess 354, the wall portion 362 extends upward from the base portion 360, and the one or more column portions 366 are rotatably supported by the rotatable member portion 368 relative to the base portion 360. The one or more column portions 366 can be rotated in an undeployed position ( Fig.26 ) and the expanded position ( Fig. 27 ), and the wall portion 362 may include a recessed portion (not shown) for receiving the housing 290 of the first actuator 252. Depending on the orientation of the surgical table 10', the first side wall 282 or the second side wall 284 of the collar portion 270 may contact the wall portion 362. After the collar portion 270 is positioned relative to the slider portion 352, an actuator (not shown) including a motor and a transmission (not shown) may be used to rotate the rotating member portion 368 through the locking portion 364 to move one or more column portions 366 from the non-deployed position to the deployed position, thereby engaging the collar portion 270 and maintaining the collar portion in an appropriate position relative to the slider portion 352. Although a motor and a transmission are used to automate the operation of the locking portion 364, the present disclosure is not limited thereto, and actuation of the locking portion 364 may be manual. Thereafter, the slider portion 352 may be moved outwardly and inwardly relative to the shoulder portion 256 by, for example, a third actuator 370 positioned between the shoulder portion 256 and the wall portion 362. Fig.26 and Fig. 27 As depicted, such inward and outward movement may be used to move a patient P supported by the surgical table 10 ′ relative to the surgical robotic system R in a direction transverse to the head-to-foot direction discussed above.

[0085] It should be understood that the various aspects disclosed herein may be combined in combinations different from the combinations specifically presented in the description and drawings. It should also be understood that, depending on the example, certain actions or events of any process in the process of the method described herein may be performed in a different order, may be added, merged, or omitted entirely (e.g., all described actions or events may not be necessary for performing the technology). In addition, although for clarity, certain aspects of the present disclosure are described as being performed by a single module or unit, it should be understood that the technology of the present disclosure may be performed by a combination of units or modules associated with, for example, a medical device.

Claims

1. An interface for movably interconnecting a surgical table with a fixed gantry supporting a surgical robotic system, the interface comprising: a collar portion attached relative to a longitudinal cross member of the surgical table, the collar portion comprising a first end, an opposing second end, an interior cavity extending between the first end and the second end, an exterior surface positioned between the first end and the second end, an interior surface defining a portion of the interior cavity, and at least one slide attached relative to the interior surface, a portion of the longitudinal cross member being received in the interior cavity and the at least one slide engaging at least one track portion attached to the longitudinal cross member; an actuator portion attached to the collar portion or to and / or supported by the stage, the actuator portion including a first gear portion configured to operatively engage a second gear portion attached to a cross member; and a locking portion attached to and / or supported relative to the stand, the locking portion including a shoulder portion configured to contact the outer surface of the collar portion and at least one engagement portion movable between a disengaged position and an engaged position; wherein, after the outer surface contacts the shoulder portion of the locking portion, the locking portion is movable from the disengaged position to the engaged position to maintain the position of the collar portion relative to the fixed stand; and wherein, after the collar portion is maintained in an appropriate position relative to the fixed table, the first gear portion is operatively engaged to the second gear portion, and actuation of the actuator portion drives a portion of the cross member to move into and out of the internal cavity via interaction between the first gear portion and the second gear portion to correspondingly adjust the position of the surgical table relative to the table.

2. An interface according to claim 1, wherein the first gear portion is a circular gear and the second gear portion is a linear gear, and wherein rotation of the circular gear in a first rotational direction causes the cross member to move in a first linear direction relative to the collar portion, and rotation of the circular gear in an opposite second rotational direction causes the cross member to move in an opposite second linear direction relative to the collar portion.

3. The interface of claim 2 , wherein movement of the collar portion relative to the collar portion in the first linear direction and the second linear direction correspondingly moves the surgical table relative to the fixed table in the first linear direction and the second linear direction to provide positioning and repositioning of a patient supported by the surgical table relative to the surgical robotic system supported by the fixed table.

4. The interface according to claim 1, wherein: The actuator portion includes a shaft portion extending into the interior cavity, the shaft portion terminating at the first gear portion, and the first gear portion is engageable to the second gear portion in the interior cavity when the actuator portion is attached to the collar portion.

5. The interface of claim 1 further comprising an aperture formed in the ferrule portion, and wherein: When the actuator portion is attached to the stand and / or supported by the stand, the actuator portion includes a shaft portion extending over the shoulder portion and capable of being received in the internal cavity via the orifice formed in the collar portion, the shaft portion terminating at the first gear portion, and the first gear portion being capable of engaging to the second gear portion in the internal cavity.

6. An interface according to claim 1, wherein the at least one track portion includes a first track attached to a substantially horizontal portion of the longitudinal cross member and a second track attached to a substantially vertical portion of the longitudinal cross member, and wherein the at least one slide includes a first slide attached to an inner surface of the cross member and engaging the first track and a second slide attached to the inner surface of the cross member and engaging the second track.

7. An interface according to claim 6, wherein the first gear portion is a circular gear and the second gear portion is a linear gear, and wherein rotation of the circular gear in a first rotational direction causes the cross member to move in a first linear direction relative to the collar portion, and rotation of the circular gear in an opposite second rotational direction causes the cross member to move in an opposite second linear direction relative to the collar portion.

8. The interface according to claim 1 further comprises an outrigger portion, the outrigger portion being attached to the stand and / or supported relative to the stand, the outrigger portion comprising a first side surface and a second side surface; and wherein the collar portion comprises a receiving area, the receiving area being partially defined by one or more buffers attached to the collar portion on a first side of the receiving area and one or more buffers attached to the collar portion on a second side of the receiving area, the outrigger portion being capable of being received in the receiving area, and contact of the one or more buffers on the first side of the receiving area with the first side surface of the outrigger and contact of the one or more buffers on the second side of the receiving area with the second side surface of the outrigger being used to guide the collar portion to an appropriate position relative to the shoulder portion.

9. An interface according to claim 8, wherein the engaging portion of the locking portion includes a first column portion and a second column portion, and the first column portion and the second column portion are capable of rotating from an undeployed position to a deployed position, the undeployed position allowing the loop portion to pass over the locking portion, and the deployed position preventing the loop portion from moving when the outer surface of the loop portion contacts the shoulder portion.

10. An interface for movably interconnecting a surgical table with a fixed gantry supporting a surgical robotic system, the interface comprising: a collar portion attached relative to a longitudinal cross member of the surgical table, the collar portion comprising a first end, an opposing second end, an interior cavity extending between the first end and the second end, an exterior surface positioned between the first end and the second end, an interior surface defining a portion of the interior cavity, at least one slide attached relative to the interior surface, and a receiving area defined in part by one or more bumpers attached to the collar portion on a first side of the receiving area and one or more bumpers attached to the collar portion on a second side of the receiving area, a portion of the longitudinal cross member being received in the interior cavity, and the at least one slide engaging at least one track portion attached to the longitudinal cross member; an actuator portion attached to the collar portion or to and / or supported by the stage, the actuator portion including a first gear portion configured to operatively engage a second gear portion attached to the cross member; an outrigger portion attached to and / or supported relative to the stand, the outrigger portion comprising a first side surface and a second side surface; and a locking portion supported by the outrigger portion, the locking portion including a shoulder portion configured to contact the outer surface of the collar portion and at least one engagement portion movable between a disengaged position and an engaged position; wherein the outrigger portion is receivable in the receiving region, and contact of the one or more bumpers on the first side of the receiving region with the first side surface of the outrigger and contact of the one or more bumpers on the second side of the receiving region with the second side surface of the outrigger serve to guide the collar portion into a proper position relative to the shoulder portion; wherein the locking portion is movable from the disengaged position to the engaged position to maintain the position of the collar portion relative to the fixed stand after the outrigger portion is received in the receiving area and the outer surface contacts the shoulder portion of the locking portion; and wherein, after the collar portion is maintained in an appropriate position relative to the fixed table, the first gear portion is operatively engaged to the second gear portion, and actuation of the actuator portion drives a portion of the cross member to move into and out of the internal cavity via interaction between the first gear portion and the second gear portion to correspondingly adjust the position of the surgical table relative to the table.

11. An interface according to claim 10, wherein the first gear portion is a circular gear and the second gear portion is a linear gear, and wherein rotation of the circular gear in a first rotational direction causes the cross member to move in a first linear direction relative to the collar portion, and rotation of the circular gear in an opposite second rotational direction causes the cross member to move in an opposite second linear direction relative to the collar portion.

12. The interface of claim 11 , wherein movement of the collar portion relative to the collar portion in the first linear direction and the second linear direction correspondingly moves the surgical table relative to the fixed table in the first linear direction and the second linear direction to provide positioning and repositioning of a patient supported by the surgical table relative to the surgical robotic system supported by the fixed table.

13. An interface according to claim 10, wherein when the actuator portion is attached to the collar portion, the actuator portion includes a shaft portion extending into the internal cavity, the shaft portion terminates at the first gear portion, and the first gear portion is capable of engaging with the second gear portion in the internal cavity.

14. The interface of claim 10, further comprising an aperture formed in the ferrule portion, and wherein: When the actuator portion is attached to the stand and / or supported by the stand, the actuator portion includes a shaft portion extending over the shoulder portion and capable of being received in the internal cavity via the orifice formed in the collar portion, the shaft portion terminating at the first gear portion, and the first gear portion being capable of engaging to the second gear portion in the internal cavity.

15. An interface according to claim 10, wherein the engaging portion of the locking portion includes a first column portion and a second column portion, and the first column portion and the second column portion are capable of rotating from an undeployed position to a deployed position, the undeployed position allowing the loop portion to pass over the locking portion, and the deployed position preventing the loop portion from moving when the outer surface of the loop portion contacts the shoulder portion.

16. An interface for movably interconnecting a surgical table with a fixed gantry supporting a surgical robotic system, the interface comprising: a collar portion attached relative to a longitudinal cross member of the surgical table, the collar portion comprising a first end, an opposing second end, an interior cavity extending between the first end and the second end, an exterior surface positioned between the first end and the second end, an interior surface defining a portion of the interior cavity, and at least one slide attached relative to the interior surface, a portion of the longitudinal cross member being received in the interior cavity and the at least one slide engaging at least one track portion attached to the longitudinal cross member; an actuator portion attached to the collar portion or to and / or supported by the gantry, the actuator portion including a circular gear configured to operatively engage a rack gear attached to the cross member; and a locking portion attached to and / or supported relative to the stand, the locking portion including a shoulder portion configured to contact the outer surface of the collar portion and at least one engagement portion movable between a disengaged position and an engaged position; wherein, after the outer surface contacts the shoulder portion of the locking portion, the locking portion is movable from the disengaged position to the engaged position to maintain the position of the collar portion relative to the fixed stand; and wherein, after the collar portion is maintained in an appropriate position relative to the fixed table, the circular gear is operatively engaged with the rack gear, and actuation of the actuator portion drives the portion of the cross member to move into and out of the internal cavity in a first linear direction and a second linear direction respectively via interaction between the circular gear and the rack gear, so as to correspondingly adjust the position of the surgical operating table relative to the table.

17. The interface of claim 16, wherein: The actuator portion includes a shaft portion extending into the interior cavity, the shaft portion terminating at the circular gear, and the circular gear is engageable to the rack gear in the interior cavity when the actuator portion is attached to the collar portion.

18. The interface according to claim 16, further comprising: an aperture formed in the collar portion, and wherein, when the actuator portion is attached to and / or supported by the stand, the actuator portion includes a shaft portion extending over the shoulder portion and capable of being received in the internal cavity via the aperture formed in the collar portion, the shaft portion terminating at the circular gear, and the circular gear capable of engaging to the rack gear in the internal cavity.

19. An interface according to claim 16, wherein the at least one track portion includes a first track attached to a substantially horizontal portion of the longitudinal cross member and a second track attached to a substantially vertical portion of the longitudinal cross member, and wherein the at least one slide includes a first slide attached to an inner surface of the cross member and engaging the first track and a second slide attached to the inner surface of the cross member and engaging the second track.

20. The interface according to claim 16 further comprises an outrigger portion, the outrigger portion being attached to the stand and / or supported relative to the stand, the outrigger portion comprising a first side surface and a second side surface; and wherein the collar portion comprises a receiving area, the receiving area being partially defined by one or more buffers attached to the collar portion on a first side of the receiving area and one or more buffers attached to the collar portion on a second side of the receiving area, the outrigger portion being capable of being received in the receiving area, and contact of the one or more buffers on the first side of the receiving area with the first side surface of the outrigger and contact of the one or more buffers on the second side of the receiving area with the second side surface of the outrigger being used to guide the collar portion to an appropriate position relative to the shoulder portion.

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