Cart stabilization system, rolling cart element and method of use thereof

Abstract

A cart stabilization system and a rolling cart element for robotic surgical and other medical instruments are disclosed. The cart stabilization system includes a base and a lifting caster system coupled to a bottom of the base. Each lifting caster system includes a rolling element, a pivoting leg assembly movably coupled to the rolling element, and a hydraulic mounting base coupled to a portion of the pivoting leg assembly. Methods of assembling the lifting caster system and methods of using the cart stabilization system are also disclosed.

Description

CROSS-REFERENCE TO RELATED APPLICATIONS

[0001] This application completes and claims the benefit of priority to U.S. Provisional Patent Application No. 63 / 302,414, filed January 24, 2022, entitled "Cart Stabilization System, Rolling Cart Element, and Method of Using Same," which is incorporated herein by reference in its entirety. [Technical field]

[0002] The present disclosure relates generally to a cart stabilization system and a rolling cart element. More specifically, but not by way of limitation, the present disclosure relates to a cart stabilization system and a rolling cart element for transporting and stabilizing a robot, and a method of using the cart stabilization system and the rolling cart element. [Background technology]

[0003] Currently, robotic stabilized carts use stabilizing rolling cart elements or casters that must be energized or actuated to provide stability. Currently available systems use electrical, hydraulic, or mechanical inputs to actuate the stabilization system. In a passive state, the system allows free movement of the casters. In an actuated state, current stabilized carts extend or deploy legs that provide a stable path from the base to the floor. However, loss of energy during use compromises the stability of the cart and the robot's operation. For example, if a stabilized cart is used during robotic surgery and stability is compromised during surgery, it could have catastrophic consequences for the patient. Some existing systems have actuated casters, while others have actuated stabilizing legs. Those that include actuated casters can compromise mobility or deployment times. For example, extending the casters enough for the legs to clear obstacles can require a long retraction time to bring the legs into contact with the floor. Alternatively, if the legs are kept close to the floor in a moving state, this can negatively impact the type and size of obstacles the system can overcome. Furthermore, if energy is lost during use, additional energy must be added to return the system to a stable state, which can take time and delay use of the robot. Thus, to avoid lost time and money during robot use and potential catastrophic events due to energy loss, a cart stabilization system and rolling cart element that is stable during robot operation is needed. Summary of the Invention

[0004] Aspects of the present disclosure provide cart stabilization systems and rolling cart components, and methods of using the same.

[0005] In one aspect, provided herein is a cart stabilization system that includes a base and a lift caster system coupled to a bottom of the base.

[0006] In another aspect, provided herein is a lift caster system that includes a rolling element, a pivoting leg assembly movably coupled to the rolling element, and a hydraulic mounting base coupled to a portion of the pivoting leg assembly.

[0007] In another aspect, provided herein is a cart stabilizing system having a base, a plurality of lifting systems coupled to a bottom of the base, and an energizable system operably coupled to a rolling element and a leg. Each of the plurality of lifting systems includes a rolling element, a leg, and at least one rolling element independently movable relative to the leg. The energizable system is disposable in an energized state in which the plurality of lifting systems are energized to engage the rolling elements with a support structure such that the cart stabilizing system is movable relative to the support structure. In an unenergized state in which the plurality of lifting systems are not energized, the energizable system engages the leg with the support structure such that the cart stabilizing system is not movable relative to the support structure.

[0008] In yet another aspect, provided herein is a method of assembling a lift caster system, comprising obtaining a caster having a wheel and a brake coupled to a base member. The method also comprises positioning a spring between an upper surface of the base member and a foot base, and inserting a fastener into a swivel housing of the foot base through a through hole in the base member. The method further comprises inserting a second end of the lift shaft into the swivel housing, and sliding a foot mount onto the lift shaft to position a portion of the lift shaft within the swivel member within the foot mount. Additionally, the method comprises positioning a cap onto the shaft of the piston and positioning a cylinder body onto the piston. Finally, the method comprises engaging the cap into an internal groove of the cylinder body.

[0009] In yet another aspect, provided herein is a method of using a cart stabilization system, the method including energizing a lift caster system of the cart stabilization system to place a base in a moving condition. The method also includes moving the cart stabilization system to a location of use. Additionally, the method includes deploying legs of the lift caster system to engage a floor of the location of use. The method further includes removing pressure from the energized lift caster system to place the lift caster system in a passively stable condition.

[0010] These and other objects, features and advantages of the present disclosure will become apparent from the following detailed description of the various aspects of the disclosure, taken in conjunction with the accompanying drawings. [Brief description of the drawings]

[0011] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments of the present disclosure and, together with the detailed description herein, serve to explain the principles of the present disclosure. The drawings are for the purpose of illustrating preferred embodiments and are not to be construed as limiting the present disclosure. It is emphasized that, in accordance with standard practice in the industry, various features are not drawn to scale. In fact, dimensions of various features may be arbitrarily increased or decreased for clarity of discussion. The foregoing and other objects, features and advantages of the present disclosure will become apparent from the following detailed description taken in conjunction with the accompanying drawings.

[0012] [Figure 1] FIG. 1 is a perspective view of a cart stabilization system including a multiple lift caster system according to an aspect of the present disclosure. [Diagram 2] FIG. 2 is a first perspective view of one of the lift caster systems of FIG. 1 according to an embodiment of the present disclosure. [Diagram 3] FIG. 3 is a second perspective view of the lift caster system of FIG. 2 according to an embodiment of the present disclosure. [Figure 4] FIG. 3 is a first end view of the lift caster system of FIG. 2 according to an embodiment of the present disclosure. [Diagram 5]FIG. 3 is a second end view of the lift caster system of FIG. 2 according to an embodiment of the present disclosure. [Figure 6] FIG. 3 is a first side view of the lift caster system of FIG. 2 according to an embodiment of the present disclosure. [Figure 7] FIG. 3 is a second side view of the lift caster system of FIG. 2 according to an embodiment of the present disclosure. [Figure 8] FIG. 3 is a top view of the lift caster system of FIG. 2 according to an embodiment of the present disclosure. [Figure 9] FIG. 3 is a bottom view of the lift caster system of FIG. 2 according to an embodiment of the present disclosure. [Figure 10] 10 is a cross-sectional view of the lift caster system of FIG. 2 taken along line 10-10 of FIG. 8 according to an embodiment of the present disclosure. [Figure 11] 11 is a cross-sectional view of the lift caster system of FIG. 2 taken along line 11-11 of FIG. 8 according to an embodiment of the present disclosure. [Figure 12] FIG. 3 is a first perspective exploded view of the lift caster system of FIG. 2 according to an embodiment of the present disclosure. [Figure 13] FIG. 3 is an exploded second perspective view of the lift caster system of FIG. 2 according to an embodiment of the present disclosure. [Figure 14] FIG. 3 is an exploded first perspective view of a first end portion of the lift caster system of FIG. 2 according to an embodiment of the present disclosure. [Figure 15] FIG. 15 is an exploded second perspective view of the first end portion of FIG. 14 according to an embodiment of the present disclosure. [Figure 16] FIG. 15 is an exploded first end view of the first end portion of FIG. 14 according to an embodiment of the present disclosure. [Figure 17] FIG. 15 is an exploded second end view of the first end portion of FIG. 14 according to an embodiment of the present disclosure. [Figure 18] FIG. 15 is an exploded first side view of the first end portion of FIG. 14 according to an embodiment of the present disclosure. [Figure 19] FIG. 15 is an exploded second side view of the first end portion of FIG. 14 according to an embodiment of the present disclosure. [Figure 20]FIG. 15 is a top view of the first end portion of FIG. 14 according to an embodiment of the present disclosure. [Figure 21] FIG. 15 is a bottom view of the first end portion of FIG. 14 according to an embodiment of the present disclosure. [Figure 22] FIG. 3 is an exploded first perspective view of a middle portion of the lift caster system of FIG. 2 according to an embodiment of the present disclosure. [Diagram 23] FIG. 23 is an exploded second perspective view of the intermediate portion of FIG. 22 according to an embodiment of the present disclosure. [Figure 24] FIG. 23 is an exploded first end view of the intermediate portion of FIG. 22 according to an embodiment of the present disclosure. [Diagram 25] FIG. 23 is an exploded second end view of the intermediate portion of FIG. 22 according to an embodiment of the present disclosure. [Figure 26] FIG. 23 is an exploded first side view of the intermediate portion of FIG. 22 according to an embodiment of the present disclosure. [Figure 27] FIG. 23 is an exploded second side view of the intermediate portion of FIG. 22 according to an embodiment of the present disclosure. [Figure 28] FIG. 23 is an exploded top view of the middle portion of FIG. 22 according to an embodiment of the present disclosure. [Figure 29] FIG. 23 is an exploded bottom view of the middle portion of FIG. 22 according to an embodiment of the present disclosure. [Diagram 30] FIG. 3 is an exploded first perspective view of a second end portion of the lift caster system of FIG. 2 according to an embodiment of the present disclosure. [Diagram 31] FIG. 31 is an exploded second perspective view of the second end portion of FIG. 30 according to an embodiment of the present disclosure. [Diagram 32] FIG. 31 is an exploded first end view of the second end portion of FIG. 30 according to an embodiment of the present disclosure. [Diagram 33] FIG. 31 is an exploded second end view of the second end portion of FIG. 30 according to an embodiment of the present disclosure. [Diagram 34] FIG. 31 is an exploded first side view of the second end portion of FIG. 30 according to an embodiment of the present disclosure. [Diagram 35] FIG. 31 is an exploded second side view of the second end portion of FIG. 30 according to an embodiment of the present disclosure. [Diagram 36]FIG. 31 is an exploded top view of the second end portion of FIG. 30 according to an embodiment of the present disclosure. [Figure 37] FIG. 31 is an exploded bottom view of the second end portion of FIG. 30 according to an embodiment of the present disclosure. [Figure 38] 10 is a cross-sectional view of the lift caster system of FIG. 2 taken along line 10-10 of FIG. 8 in an energized moving state according to an embodiment of the present disclosure. [Figure 39] 10 is a cross-sectional view of the lift caster system of FIG. 2 taken along line 10-10 of FIG. 8 in a passively stable state, according to an embodiment of the present disclosure. [Diagram 40] FIG. 1 is a block diagram of a cart stabilization system according to an aspect of the present disclosure. [Diagram 41] FIG. 1 is a perspective view of an energizable system according to an aspect of the present disclosure. [Diagram 42] 1 is a flow chart of a process for using the cart stabilization system. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0013] Generally, disclosed herein are embodiments of a cart stabilization system and a rolling cart element. Also disclosed are methods of using the cart stabilization system and the rolling cart element.

[0014] In this detailed description and in the claims that follow, the terms proximal, distal, anterior, posterior, medial, lateral, superior, and inferior are defined according to standard usage to designate a particular portion of an instrument according to the relative placement of directional terms. For example, "proximal" refers to the portion of the instrument closest to the torso and "distal" refers to the portion of the instrument furthest from the torso. As regards directional terms, "anterior" refers to a direction toward the front of a body or object, "posterior" refers to a direction toward the rear of a body or object, "medial" refers to a direction toward the midline of a body or object, "lateral" refers to a direction toward or away from the midline of a body or object, "superior" refers to a direction toward an upward direction, and "lower" refers to a direction toward the underside of another object or structure.

[0015] Referring to the drawings, in which like reference numerals are used throughout the several views to indicate like or similar components, and with particular reference to FIGS. 1-41, components of a cart stabilization system 100 are illustrated. The cart stabilization system 100 may include a base 110 and a plurality of elevating caster systems 104. The cart stabilization system 100 may also include a robot 102. The base 110 may receive the robot 102 or a robot support structure on an upper surface 120 of the base 110. The base 110 may be any polygonal shape, for example, to correspond to the shape of the robot 102 or robot support structure that engages the base 110.

[0016] 2-11, the lift caster system 104 can include a first end piece, a plurality of rolling cart elements, rolling elements, or casters 130, a mid-section or swivel leg assembly 220, and a second end piece or hydraulic mounting base 340. The cart stabilization system 100 can also include a hydraulic system that can be driven by a custom manifold block with standard hydraulic cavity elements to control the flow rate, pressure sensors, and custom pedals to actuate the pumps and release valves.

[0017] 1-11, the cart stabilization system 100 supports the weight of the robot 102 and stabilizes a rolling base 110 that is coupled to or supports the robot 102. The system 100 is configured to stabilize the robot 102 to provide a robust ground path that reacts to internal forces during the operation of the robot 102 to reduce robot error due to movement during use. For example, heavy surgical equipment such as a surgical robot needs to be easily movable throughout a hospital or outpatient center while at the same time having high stability during active use. To achieve high stability during active use, the rolling element 130 of the cart stabilization system 100 needs to be reliable, fast, and easy to operate. While the robot 102 is shown as a surgical robot, in other embodiments, the robot 102 may be configured as a manufacturing, industrial, or other non-surgical robotic device or system. The term "surgical robot" as used herein with respect to the exemplary robot or robotic system 102 shown in FIG. 1 is not meant in a limiting sense, and any description herein directed to a "surgical robot 102" or the like applies equally to robots / robotic systems in general, or to manufacturing, industrial, or other non-surgical robots or robotic systems.

[0018] 1, the cart stabilization system 100 is passively stabilized and must be energized to move the base. The cart stabilization system 100 can, for example, use hydraulics to actuate the attachment points for the rolling element 130 (FIGS. 2-13), while providing rigid legs that can follow any pivoting motion of the rolling element 130.

[0019] The cart stabilization system 100 is at rest and passively stabilized when pressure is released. For example, the weight of the base 110 and robot 102 compresses the cylinder-shaft-caster assemblies 104, one of which is shown in FIG. 38, forcing the hydraulic fluid H out and moving the leg base 222 downward in the direction of arrow A1 and / or the rolling elements 130 upward in the direction of arrow A2 until a small clearance gap G between the leg base 222 and the base member 132 closes. The small gap includes and / or is maintained by a spring 270, such as a wave spring, and / or a stop 133. When the gap G closes, the weight of the robot base 110 (FIG. 1) is transferred through the leg base 222 directly to the surface of the floor F below each rolling element 130.

[0020] To make the cart stabilizing system 100 movable, for example, as shown in FIG. 39, a hydraulic pump can be used to apply hydraulic fluid H to extend a portion of the cylinder-shaft-caster assembly 104 to a certain height, e.g., the leg base 222 moves upward in the direction of arrow A3 and / or the rolling element 130 moves downward in the direction of arrow A4.

[0021] Once at the fixed height, the leg base 222 no longer contacts the floor F, the gap G widens, and the rolling element 130 engages the floor F, lifting the leg base 222 off the floor surface and allowing the leg base 222 to pivot along with the rolling element 130.

[0022] 40, the cart stabilization system 100 may also include, for example, the robot 102, a controller or control system 500, a hydraulic pump or system 550, a manifold 560, and a pressure sensor 580 to provide feedback to the control system 500 to notify a user or prevent use of the cart 100 until the pressure drops below a threshold known to indicate that the caster system 104 is completely stationary. The controller or control system may include a general purpose computer processor, a computer readable storage medium, and operatively connected input / output or I / O devices as further described below.

[0023] 1 and 38-40, when the cart stabilization system 100 is passively stable, the system 100 does not require energy to stabilize the base 110. Thus, if the system 100 experiences an energy supply failure during use, stability is not lost. Additionally, pressure relief can bring the base 110 to a stable state more quickly, reducing deployment time. Also, as described in more detail below, positioning the rigid leg base 222 within the rolling element 130 eliminates the need to compromise when selecting whether to further position the rolling element 130 or the leg base 222. Positioning the leg base 222 relative to the rolling element 130 can provide a more stable footprint for the system 100, for both mobile and stationary stability, for example. The system 100 can also include a locking mechanism on the rolling element 130, for example, when the rolling element 130 is extended.

[0024] The lift caster system 104 includes a shaft-piston assembly that is external to the hydraulic elements that is keyed to retain the ability to fully lock the rolling element 130. Thus, the hydraulic elements of the system can be fully assembled, filled, and tested prior to integration with other components. After the mounting base is attached to the cylinder, the system 100 can be mounted from inside the cart base 110 without the need to release the hydraulic connections.

[0025] Referring again to Figures 1-13 and with reference to Figures 14-21, a first end portion, rolling cart element, rolling element, or caster 130 is shown. The first end portion 130 may be, for example, a standard total locking caster, as well as an alternative caster or rolling element that allows the wheels to be locked from both rolling and rotating. Each of the casters 130 includes a base member 132 having two wheels 154, 166 and two brakes 180, 192 movably coupled to the base member 132. Additionally, each of the casters 130 receives a fastener or screw 204 (Figures 10 and 11) for attaching the caster 130 to the remainder of the elevating caster system 104. The base member 132 includes a through hole 134 that extends from the top of the base member 132 to the bottom of the base member 132. The caster 130 also includes a cover 136 (Figure 12) that extends from the base member 132. The cover 136 may, for example, be arched or curved to position the cover over the wheels 154,166.

[0026] Further, as shown in FIGS. 14-21, the caster 130 includes a first leg or first fork 138 coupled to and extending from a first portion of the base member 132, and a second leg or second fork 144 coupled to and extending from a second portion of the base member 132. The first leg 138 may be, for example, circular or circular to correspond to the shape of the wheel 154. The first leg 138 may include an outer surface 140 for receiving the wheel 154. Further, the first leg 138 may include an opening 142 located at the center of the first leg 138 and extending from the outer surface 140 through the caster 130 through the second leg 144. The first leg 138 may further include a through hole 143 located between the opening 142 and an outer edge of the first leg 138. The through hole 143 may extend through the first leg 138. The second leg 144 may be, for example, circular or circular to correspond to the shape of the wheel 166. The second leg 144 may include an outer surface 146 for receiving the wheel 166. Additionally, the second leg 144 may include an opening 148 located at the center of the second leg 144 and extending from the outer surface 146 through the second leg 144, through the caster 130, and through the first leg 138. The openings 142 and 148 intersect within the caster 130 to form openings 142, 148 that extend from the outer surface 140 of the first leg 138 to the outer surface 146 of the second leg 144. The openings 142, 148 are sized and shaped to receive an axle or axle bolts 152 for securing the wheels 154, 166 to the base member 132. The second leg 144 may further include a through hole 149 disposed between the opening 148 and the outer rim of the second leg 144. The through hole 149 may extend entirely through the second leg 144. The through hole 143 and the through hole 149 intersect to form a passage through the caster 130 for receiving a braking member 150 (FIG. 10). A portion of the braking member 150 (FIG. 10) may extend from each through hole 143, 149 to engage a portion of each wheel 154, 166, respectively.

[0027] 14-21, a first wheel 154 is shown and includes an outer surface 156 opposed to an inner surface 158. The first wheel 154 may also include an opening 160, for example, located at the center of the wheel 154. An inner channel 162 and an outer channel 164 are disposed around the opening 160 in the inner surface 158. The channels 162, 164 extend circumferentially around the inner surface 158 of the wheel 154. The inner channel 162 receives a portion of the brake member 150 (FIG. 10) to assist in locking the wheel 154 in place when desired. A second wheel 166 is shown and includes an outer surface 168 opposed to an inner surface 170. The second wheel 166 may also include an opening 172, for example, located at the center of the wheel 166. An inner channel 174 and an outer channel 176 are disposed around the opening 172 in the inner surface 170. The channels 174, 176 extend circumferentially around the inner surface 170 of the wheel 166. The inner channel 174 receives a portion of the brake member 150 (FIG. 10) to help lock the wheel 166 in place when needed.

[0028] A first brake 180 and a second brake 192 are also shown in Figs. 14-21. The first brake 180 includes a base member 182. The base member 182 includes an upper portion 184 and a lower portion 186. The upper portion 184 and the lower portion 186 may, for example, form a "T" shape. The first brake 180 may also include an extension member 188 extending from a first end of the base member 182. The extension member 188 may, for example, be curved from a point of attachment to the base member 182 at its first end to a second end, which may be a free end. The extension member 188 may, for example, have a concave curvature on the side coupled to the base member 182. The first brake 180 may also include a first pedal or foot pedal 190 coupled to the extension member 188 and extending from the extension member 188 on a side opposite the base member 182. The first pedal 190 may, for example, be disposed between the first and second ends of the extension member 188. The first pedal 190 may, for example, have a curved or semicircular shape.

[0029] The second brake 192 includes a base member 194. The base member 194 includes an upper portion 196 and a lower portion 198. The upper portion 196 and the lower portion 198 can form, for example, a "T" shape. The second brake 192 can also include an extension member 200 extending from a first end of the base member 194. The extension member 200 can be curved, for example, from a point of attachment to the base member 194 at its first end to a second end, which can be a free end. The extension member 200 can have, for example, a concave curvature on the side coupled to the base member 194. The second brake 192 can also include a second pedal or foot pedal 202 coupled to and extending from the extension member 200 on a side opposite the base member 194. The second pedal 202 can be disposed, for example, between the first end and the second end of the extension member 200. The second pedal 202 may have, for example, a curved or semicircular shape. The second ends of the base members 182, 194 of the brakes 180, 192 each extend into and are coupled to the base member 132 of the caster 130. The base members 182, 194 of the brakes 180, 192 are movable relative to the base member 132 and can engage the brake member 150 to secure the wheels 154, 166 in a locked position when desired.

[0030] The caster 130 also includes a fastener or screw 204, as shown in FIGS. 14-21. The fastener 204 can be used to couple the caster 130 to the leg assembly 220 and the hydraulic mounting base 340. The fastener 204 has a first end 206 opposite a second end 208. The first end 206 includes a head 210 having a drive aperture 212 extending from the first end 206 into the head 210. The fastener 204 also includes a shaft 214 extending from the second end 208 to the head 210. The shaft 214 can include, for example, a smooth portion 216 and a threaded portion 218. Although the shaft 214 is shown as being half smooth and half threaded, alternate amounts of smooth and threaded portions are contemplated to ensure engagement with the remainder of the lift caster system 104. The second end 208 of the fastener 204 can be inserted through the through hole 134 from the second end of the base member 132. At least a portion of the shaft 214 extends from the first end of the base member 132.

[0031] 22-29, a midsection, pivot leg assembly, or leg assembly 220 is shown. The leg assembly 220 includes a leg base or pivot leg multibody 222, a spring 270, a lift shaft 280, an O-ring 302, and a leg mount 310. The leg assembly 220 may be coupled to a hydraulic mounting base 340, for example, with a set screw 306. The leg base 222 includes a first end 224 and a second end 226. A base plate 228 extends from the first end 222 toward the second end 224. The base plate 228 includes a plurality of openings 229 for receiving fasteners. The base plate 228 may have a generally square or rectangular shape with rounded corners, for example. The leg base 222 may also include an extension member 230 that is attached to the base plate 228 by inserting a screw through the opening 229 and into an opening in the extension member 230. The extension member 230 may include a housing 232 that extends away from a top surface of the extension member 230. The housing 232 may have a circular or circular shape, for example. The housing 232 may be separate from the extension member 230 or may be integral with the extension member 230, for example. The housing 232 may include a through hole 234 that extends through the center of the housing 232. The housing 232 may also include a first channel 236 that is inlaid into the top surface of the housing 232 between the through hole 234 and an outer side surface of the housing 232. The housing 232 may further include a plurality of holes 238 that extend through the housing 232 from the top surface to the bottom surface. Additionally, the plurality of holes 238 may be disposed circumferentially around the housing 232 between the first channel 236 and the outer side surface.

[0032] 22-29, the extension member 230 may also include a pivot housing 240 (FIG. 22) disposed within the through hole 234 to allow the leg base to rotate about an axis extending through the center of the through hole 234. The pivot housing 240 includes a through hole 242 extending from the top surface to the bottom surface through the center of the pivot housing 240. When inserted into the through hole 234, the pivot housing 240 forms a second channel 244 between the outer surface of the pivot housing 240 and the inner surface of the housing 232. The extension member 230 also includes a first end 246 and a second end 248 opposite the first end 246. The second end 248 is the side that is coupled to the base plate 228. The second end 248 may be longer than the first end 246, for example. Additionally, extension member 230 includes a side member 250 extending between and coupled to first end 246 and second end 248. Side member 250 may be curved or arcuate, for example, such that side member 250 extends from first end 246 to second end 248. Extension member 230 further includes a recessed region 252 extending into extension member 230 from a bottom surface. Leg base 222 also includes a leg member 254 extending from a bottom surface of base plate 228. Leg member 254 may extend at an angle from base plate 228, for example, to position a portion of leg member 254 distally from extension member 230. Leg member 254 may also include a neck region 256 at a first end where leg member 254 is coupled to base plate 228. The neck region 256 may taper as it extends from the base plate 228, which has a first width, to the leg member 254, which has a second width. The first width is greater than the second width. A second end of the leg member 254 may include a leg 258. The leg 258 may be sized and shaped to engage, for example, a floor. The leg 258 may have an angled top surface and a flat or planar bottom surface. The bottom surface may also include a hole 260 recessed into the leg 258. The hole may be sized and shaped to receive a bumper 262. A first portion of the bumper 262 is received within the hole 260, and a second portion of the bumper 262 extends from the bottom surface of the leg 258 to engage the floor.As shown in Figures 6, 7 and 10, the leg member 254 and base member 132 are positioned between the two wheels 154, 166 to allow clearance over obstacles. Specifically, the angle of the leg member 254 and the position of the base member 132 provide greater clearance around the circumference of the wheels 154, 166, allowing each lift caster system 104 to have greater clearance, allowing the cart stabilization system 100 to roll over small steps or clear cables and other obstacles more easily. The spring or wave spring 270 includes a top surface 272, a bottom surface 274 opposite the top surface 272, and a through hole 276 extending through the spring 270 from the top surface 272 to the bottom surface 274. The spring 270 may also include a plurality of openings 278 extending through the spring 270 from the outer surface to the through hole 276.

[0033] As shown in FIGS. 22-29, the lift shaft 280 includes a first end 282 and a second end 284 opposite the first end 282. The lift shaft 280 includes a head 286 at the first end 282. The head 286 includes at least one key recess 288, 290 extending from the first end 282 toward the second end 284 on an outer surface of the head 286. The at least one key recess 288, 290 includes a first key recess 288 and a second key recess 290 located on opposite sides of the head 286. The key recesses 288, 290 may be narrow at the top and wide at the bottom, for example, and a portion of the key recesses 288, 290 may have a triangular shape. The key recesses 288, 290 may receive a portion of the shaft of the set screw 323. The lift shaft 280 may also include a mating opening 292 extending from the first end 282 into the head 286. The lift shaft 280 may also include a through hole 294 extending from the first end 282 to the second end 284 of the lift shaft 290 and through the mating opening 292. The lift shaft 280 may further include a shaft 296 extending from the bottom of the head 286 to the second end 284 of the lift shaft 280. The shaft 296 may include a first portion 298 extending from the bottom of the head 286 toward the second end 284 and a second portion 300 extending from the second end of the first portion 298 toward the second end 284. The first portion 298 may have a larger diameter than the second portion 300, for example, although alternative size arrangements are contemplated. Additionally, the head 286 can have a diameter that is greater than the diameter of both the first portion 298 and the second portion 300 .

[0034] 22-29, the leg assembly 220 also includes an O-ring 302. The O-ring 302 may be, for example, a square profile O-ring. The O-ring 302 may be received within the first channel 236 of the housing 232.

[0035] Finally, the leg assembly 220 includes a leg mount or pivot leg mount 310. The leg mount 310 includes a first end 312 and a second end 314 opposite the first end 312. The leg mount 310 also includes a first portion 316 extending from the first end 312 toward the second end 314, a second portion 326 extending from the second end 314 toward the first portion 312, and a third portion or protrusion 330 located between the first portion 316 and the second portion 326 and extending beyond the outer surfaces of the first and second portions 316, 326. The leg mount 310 further includes a through hole 318 extending through the first portion 316, the second portion 326, and the third portion 330 from the first end 312 to the second end 314 of the leg mount. The first portion 316 also includes at least one screw hole 320 extending through the first portion 316 from the outer surface into the through hole 318. The at least one recessed area 322 extends into a portion of the outer surface of the first portion 316 surrounding the at least one screw hole 320. As shown, the at least one screw hole 320 may be, for example, two screw holes 320 disposed on opposite sides of the first portion 316. Further, the at least one recessed area 322 may be, for example, two recessed areas 322 disposed to surround the two screw holes 320. The at least one screw hole 320 may receive at least one set screw 323. The at least one set screw 323 may be, for example, a hex head extended tip set screw. The at least one set screw 323 may be, for example, two set screws 323. A second end of the set screw 323 may be inserted into and engaged with the key recesses 288, 290 of the lift shaft 280. The first portion 316 may further include at least one inner surface groove 324 inlaid into an inner surface of the first portion 316 and extending from the through hole 318 toward the outer surface.

[0036] 22-29, the second portion 326 includes a diameter, the diameter of the second portion 326 being greater than the diameter of the first portion 316. A through hole 318 also extends through the second portion 326. A pivot member 328 is disposed within the through hole 318 and extends from the second end 314 of the through hole 318 toward the first end 312. As seen in FIGS. 22 and 23, the through hole 318 may include different diameters along its length between the first end 312 and the second end 314. The diameter of the through hole 318 extending from the second end 314 corresponds to the diameter of the outer surface of the pivot member 328. The first portion 298 of the lift shaft 280 is received within the pivot member 328. Finally, a third portion, intermediate member, or protrusion 330 extends from the outer surfaces of the first portion 316 and the second portion 326 forming a ring including a plurality of holes 332. The protrusion 330 and the plurality of holes 332 can receive the cart base 110. Fasteners can be inserted through the plurality of holes 332 to secure the lift caster system 104 to the base 110.

[0037] 2-21, the legs 258 do not roll into the center of the rolling elements 130. By not rolling into the center of the rolling elements 130, a larger range of motion and a larger clearance height are provided. Additionally, by locating the swivel legs 222 between the two wheels 154, 166 of each rolling element 130, the lift caster system 104 can have a larger approach angle.

[0038] 30-37, a hydraulic mounting base or mounting base 340 is shown which is a second end portion. The mounting base 340 includes a cap 342, a set screw 306, a piston 364, and a cylinder body 390. The cap 342 includes a first end 344 and a second end 346 opposite the first end 344. The cap 342 also includes a through hole 348 which extends through the cap 342 from the first end 344 to the second end 346. The through hole 348 can have, for example, a first diameter extending into the cap 342 at the first end 344 and a second diameter extending into the cap 342 at the second end 346. The second diameter of the through hole 348 can be, for example, larger than the first diameter of the through hole 348. The cap 342 may include an inner surface 350 surrounding the through hole 348 and an outer surface 352. The cap 342 may further include at least one recess 354 extending into the cap 342 from the second end 346 toward the first end 344.

[0039] 30-37, a set screw or pin 306 is shown. The set screw 306 includes a first end 358 opposite a second end 360. The set screw 306 also includes a drive aperture 362 extending from the second end 360 into the set screw 306. The second end 360 of the set screw 306 engages the first end 282 of the lift shaft 280 to couple the lift shaft 280 to the piston 364. The piston 364 includes a first end 366 and a second end 368 opposite the first end 366. The piston 364 also includes a head 370 extending from the first end 366 toward the second end 360. The head 370 includes a bore 372 extending into the head 370 from the top surface or first end 358 of the piston 364. The bore 372 may be located, for example, in the center of the head 370. The piston 364 also includes a shaft 374 that extends from a bottom surface of the head 370 to a second end 368 of the piston 364. The shaft 374 includes a first portion 376, a second portion 378, and a coupling end 380. The first portion 376 extends from a bottom surface of the head 370 toward the second end 368. The second portion 378 extends from a bottom surface of the first portion 376 toward the second end 368. The coupling end 380 extends from a bottom surface of the second portion 378 toward the second end 368. The first portion 376 has a first diameter that is greater than a second diameter of the second portion 378. Additionally, at least a portion of a width or diameter of the coupling end 380 is less than the first and second diameters of the first and second portions 376, 378, respectively. The coupling end 380 includes a first mating surface or first flat surface 382 and a second mating surface or second flat surface 384 opposite the first mating surface 382. The portion of the coupling end 380 extending between the mating surfaces 382, ​​384 may be arcuate or curved, for example. The coupling end 380 further includes an opening 386. The opening 386 is sized and shaped to receive the set screw 306, for example.

[0040] The cylinder body 390 is also shown in Figures 30-37 and includes a first end 392 and a second end 394 opposite the first end 392. The cylinder body 390 also includes a first portion 394 and a second portion 406. The first portion 394 extends from the first end 392 toward the second end 394. The second portion 406 extends from a bottom surface of the first portion 394 toward the second end 394. The first portion 394 also includes a first mating surface or first flat surface 398 and a second mating surface or second flat surface 400 inlaid into an outer surface of the first portion 394. The first mating surface 398 and the second mating surface 400 may be, for example, circumferentially spaced from each other and disposed opposite each other. The first portion 294 may further include a first through hole 402 extending through the first portion 394 from the first end 392 toward the second end 394. Additionally, the first portion 294 may include a recessed area 404 inlaid into an upper surface of the first portion 294 and disposed circumferentially around the first through hole 402. The second portion 406 may include a tapered edge 408 on an outer surface of the second end 394. The second portion 406 may also include a second through hole 410 extending through the second portion 406 from the second end 394 toward the first end 392. The second through hole 410 may have, for example, a larger diameter and a larger length than the first through hole 402. Finally, the second portion 406 includes an internal groove 412 inlaid into an inner surface of the second through hole 410. The internal groove 412 can be sized and shaped, for example, to receive the cap 342 , for example, an exterior surface of the cap 342 .

[0041] As shown in Figures 10, 11, 22, and 23, the lift caster system 104 may be assembled, for example, by obtaining the caster 130 with the wheels 154, 166 and the brakes 182, 194 coupled to the base member 132. The spring 270 may then be placed between the top surface of the base member 132 and the recessed area 252 (Figure 23) of the extension member 230 of the leg base 222. The fastener 204 may then be inserted into the through hole 134, through the base member 132, and into the swivel housing 240 (Figure 22) of the leg base 222 to secure the caster 130 to the leg base 222. The O-ring 302 may then be placed in the first channel 236, and the second end 284 of the lift shaft 280 may be inserted into the swivel housing 240. The foot mount 310 is then slid onto the lift shaft 280, positioning a portion of the lift shaft 280 within the pivot member 328. The set screw 323 is then inserted into the threaded hole 320, and the distal end engages the key recesses 288, 290 of the lift shaft 280 to secure the lift shaft 280 to the foot mount 310. After the foot mount 310 is coupled, the second end 360 of the set screw 306 is inserted into the through hole 294. The cap 342 is then placed onto the shaft 374 of the piston 364, and the first end 358 of the set screw 306 is inserted into the opening 386 to couple the lift shaft 280 to the piston 364. The cylinder body 390 can then be placed onto the piston 364 until the cap 342 engages the internal groove 412 of the cylinder body 390. Finally, the lift caster system 104 can be coupled to the base 110 of a cart, such as a robotic cart, by positioning a portion of the base 110 on the third portion 330 of the leg mount 310 and inserting fasteners into the base 110 through the holes 332.

[0042] 1, 38 and 39, a method of using the cart stabilization system 100 and the rolling cart element may include energizing the lift caster system 104 of the cart stabilization system 100 to place the base in a mobile state with the lift caster system, for example, as shown in FIG. 39. The method also includes moving the cart stabilization system 100 to a location of use, such as, for example, a surgical room. The method further includes deploying the legs 258 to engage a floor of the location of use, such as, for example, with the lift caster system, as shown in FIG. 38. The method further includes removing pressure from the energized lift caster system 104 to place the lift caster system 104 in a passively stable state, such as, for example, with the lift caster system, as shown in FIG. 38. The robot 102 can then be used, for example, to perform a surgical procedure. Finally, once use of the robot 102 is complete, the lift caster system 104 can be re-energized and the cart stabilization system 100 can be returned to a storage location or moved to a next location for use.

[0043] In further embodiments, the cart stabilization system can include a pneumatic system operable to energize and de-energize the lift system, hi further embodiments, the cart stabilization system can include electrical components such as motors, servo motors, rotary or linear actuators, or other operable devices to energize the lift system in a moving state and de-energize the lift system in a passive, non-moving state.

[0044] 41 illustrates components of a hydraulic pump subassembly 1550 having a manifold, a manual pump 1560, a reservoir 1570, and a number of hydraulic lines or hoses 1580 that may be attached to hydraulic cylinders, for example as disclosed above, according to one embodiment of the present disclosure. The hydraulic pump subassembly 1550 may further include a flow direction / pressure control valve, a pressure relief valve, a flow control valve, and a pressure sensor. A pump pedal may take the place of the handle rest of the manual pump. A pressure relief pedal may be attached to the manifold during integration with the cart.

[0045] 42 illustrates a method 600 for operating a cart stabilization system 100 (FIG. 1) having a plurality of lift caster systems 104 (FIG. 1). The cart stabilization system may further include a robot 102 (FIG. 1). The method 600 may include energizing a lift caster system of the cart stabilization system to place a base in a moving state at 610, moving the cart stabilization system to a location of use at 620, deploying legs of the lift caster system to engage a floor of the location of use at 630, releasing pressure on the energized lift caster system, and placing the lift caster system in a passively stabilized state.

[0046] It will be appreciated that the present disclosure includes operable control via a controller or control system, such as controller 500 (FIG. 40). For example, use of the cart and / or robot may be inhibited or prevented based on pressure data and / or stabilization of the cart being energized. Such functions and other functions may be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, or other programmable data processing device to generate a machine such that the instructions, executed via the processor of the computer or other programmable data processing device, create means for performing the functions / acts.

[0047] These computer program instructions, also referred to as software and / or program code, may be stored on a computer-readable medium that can instruct a computer, other programmable data processing apparatus, or other device to function in a particular manner, such as by storing instructions on the computer-readable medium. For example, a particular deployment may employ a desktop or workstation computer that uses a commercially available operating system, such as Windows, OSX, UNIX, or Linux-based implementations.

[0048] A computer-readable storage medium may be, for example, but not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any suitable combination thereof. Storage devices may include internal storage devices, attached storage devices, and / or network-accessible storage devices. More specific examples (non-exhaustive list) of computer-readable storage media include electrical connections having one or more wires, portable computer diskettes, hard disks, random access memories (RAMs), read-only memories (ROMs), erasable programmable read-only memories (EPROMs or flash memories), optical fibers, portable compact disk read-only memories (CD-ROMs), optical storage devices, magnetic storage devices, or any suitable combination of the foregoing. As used herein, a computer-readable storage medium may be any tangible medium that can store or store a program for use by or in connection with an instruction execution system, apparatus, or device.

[0049] Computer program code for performing operations for aspects of the present technology can be written in any combination of one or more programming languages, including object-oriented programming languages ​​such as Java, Smalltalk, C++, and traditional procedural programming languages ​​such as the "C" programming language, PHP, ASP, Assembler, or similar programming languages, as well as functional programming languages ​​and languages ​​for technical computing. The program code may run entirely on the user's computer, partially on the user's computer, as a standalone software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In the latter scenario, the remote computer may be connected to the user's computer via any type of network, including a local area network (LAN) or a wide area network (WAN), or the connection may be to an external computer (e.g., via the Internet using an Internet Service Provider). Additionally, multiple computers may be used to implement the program code, including, but not limited to, one or more resources in a cloud computing environment.

[0050] Input / output or I / O devices (including but not limited to keyboards, displays, pointing devices, DASDs, tapes, CDs, DVDs, thumb drives, and other memory media, etc.) may be coupled to the system either directly or through intervening I / O controllers. Network adapters may also be coupled to the system to enable the data processing system to couple to other data processing systems or remote printers or storage devices through intervening private or public networks. Modems, cable modems, and Ethernet cards are just a few of the available types of network adapters.

[0051] As can be recognized by those skilled in the art based on the teachings herein, numerous changes and modifications can be made to the above-mentioned and other embodiments of the present disclosure without departing from the scope of the present disclosure. The devices and / or systems as disclosed herein, including the accompanying abstract and drawings, may be replaced with alternative components or features as disclosed in another embodiment to achieve the same, equivalent or similar results, with alternative components or features serving the same, equivalent or similar purpose, as known by those skilled in the art, by such alternative components or features to provide similar functionality for the intended purpose. Furthermore, the devices and systems may include more or fewer components or features than the embodiments described and illustrated herein. Thus, this detailed description of the presently preferred embodiments should be taken as illustrative, as opposed to limiting, of the present disclosure.

[0052] The terms used herein are for the purpose of describing particular embodiments only and are not intended to be limiting of the disclosure. As used herein, the singular forms "a", "an", and "the" are intended to include the plural unless the context clearly indicates otherwise. Additionally, the terms "comprise" (and any form of comprising, such as "comprises", "comprising"), "have" (and any form of have, such as "has", "having"), "include" (and any form of include, such as "includes", "including"), and "contain" (and any form of contain, such as "contains", "containing") will be understood to be open-ended linking verbs. As a result, a method or apparatus that "comprises", "has", "includes", or "contains" one or more steps or elements has those one or more steps or elements, but is not limited to having only those one or more steps or elements. Similarly, a method step or apparatus element that "comprises," "has," "includes," or "contains" one or more features has those features or features, but is not limited to having only those features or features. Furthermore, a device or structure that is configured in a certain way is configured in at least that way, but may also be configured in ways not described.

[0053] This disclosure has been described with reference to preferred embodiments. It will be understood that the architectural and operational embodiments described herein are illustrative of multiple possible arrangements for providing the same general features, characteristics, and general system operation. Modifications and alterations will occur to others upon reading and understanding the preceding detailed description. It is intended that the disclosure be construed as including all such modifications and alterations.

Claims

1. 1. A cart stabilization system comprising: a base portion; and a plurality of lift caster systems coupled to a bottom of the base; Includes cart stabilization system.

2. The cart stabilizing system of claim 1 , wherein each of the plurality of lifting caster systems has a passive state and a movable state, and the plurality of lifting caster systems are energized in the movable state.

3. The cart stabilization system of claim 1 further comprising a robot coupled to said base.

4. Each of the plurality of lifting caster systems comprises: Rolling elements; a pivoting leg assembly movably coupled to the rolling element; and a hydraulic mounting base coupled to a portion of the pivoting leg assembly; 10. The cart stabilization system of claim 1, comprising:

5. The rolling element comprises: a base member; two legs coupled to and extending from the base member; two wheels, each wheel rotatably coupled to the two legs; and two brakes, each brake movably coupled to said base member; 5. The cart stabilization system of claim 4, including:

6. The rolling element further comprises:

6. The cart stabilizing system of claim 5, further comprising: a cover coupled to and extending from the base member, the cover positioned to extend over at least a portion of the two legs and the two wheels.

7. The pivoting leg assembly includes: Leg base; a spring received within a portion of the leg base; an elevating shaft movably coupled to the leg base; and a leg mount coupled to a first end of the lift shaft; 5. The cart stabilization system of claim 4, further comprising:

8. The pivoting leg assembly includes: The cart stabilizing system of claim 7 further comprising an O-ring disposed within a channel in the upper surface of the leg base.

9. The pivoting leg assembly includes: a setscrew, a second end of the setscrew being received within the lift shaft; 8. The cart stabilization system of claim 7, further comprising:

10. The hydraulic mounting base is cap; a piston, the cap being movably coupled to a shaft of the piston; and a cylinder body, the cap being attached to a portion of the inner surface of the cylinder body, thereby movably attaching the piston to the cylinder body; 5. The cart stabilization system of claim 4, including:

11. The hydraulic mounting base is a setscrew, a first end of the setscrew received within the piston; 11. The cart stabilization system of claim 10, further comprising:

12. a hydraulic system; and 1. A custom manifold block comprising: Hydraulic cavity elements; a pressure sensor; and pedals, including custom manifold blocks, 10. The cart stabilization system of claim 1, further comprising:

13. The hydraulic system includes: a pump; and at least one release valve; 13. The cart stabilization system of claim 12, comprising:

14. Base part; a plurality of lift systems coupled to a bottom of the base, each of the plurality of lift systems comprising: leg; at least one rolling element movable relative to said legs; a plurality of lift systems including; an energizable system operably coupled to the rolling element and the legs; 1. A cart stabilization system comprising: The energizable system is an energized state in which a plurality of lifting systems engage the rolling elements with the support structure and the cart stabilizing system is movable relative to the support structure; and a de-energized state in which the plurality of lifting systems engage the legs with a support structure and the cart stabilizing system is not movable relative to the support structure; Deployable cart stabilization system.

15. The energizable system comprises:

15. The cart stabilizing system of claim 14, wherein the plurality of lifting systems are placeable in an energized state to disengage the legs from the support structure.

16. The energizable system comprises:

16. The cart stabilizing system of claim 15, wherein the plurality of lifting systems are placeable in a de-energized state to disengage the rolling elements from the support structure.

17. The cart stabilization system of claim 14 further comprising a robot coupled to the base portion.

18. The energizable system comprises: hydraulic system; a pressure sensor; and a controller operably connected to the hydraulic system and the pressure sensor; 20. The cart stabilization system of claim 17, comprising:

19. 20. The cart stabilization system of claim 18, wherein the controller inhibits movement of the robot when the lift system is placed in the energized state.

20. 1. A method of assembling a lift caster system, comprising: Obtaining a caster having a wheel and a brake coupled to a base member; disposing a spring between the upper surface of the base member and the leg base; inserting a fastener through the through hole in the base member and into the pivot housing of the leg base; inserting a second end of the lift shaft into the pivot housing; sliding a leg mount onto the lift shaft to position a portion of the lift shaft within a pivot member of the leg mount; placing a cap on the shaft of the piston; placing a cylinder body over the piston; and Engaging the cap with the inner groove of the cylinder body; A method for assembling a lifting caster system including:

21. inserting a second end of the set screw into a first end of the lift shaft; and 21. The method of assembling a lift caster system of claim 20, further comprising inserting a first end of the set screw into a second end of the piston.

22. 21. The method of assembling a lift caster system of claim 20, further comprising: disposing the spring in a recess in the leg base extension member.

23. 21. The method of assembling a lift caster system of claim 20, further comprising placing an O-ring in a first channel of the leg base extension member housing.

24. Inserting a set screw into a threaded hole in the side of the leg mount; and 21. The method of assembling a lift caster system of claim 20, further comprising engaging the set screw with a key recess in the lift shaft that couples the lift shaft to the leg mount.

25. coupling the assembled lift caster system to the bottom of the base of the cart; and 21. The method of assembling a lift caster system of claim 20, further comprising coupling a robot to the top of the base of the cart.

26. 1. A method of using a cart stabilization system, comprising: energizing the lift caster system of the cart stabilization system to move the base; moving said cart stabilization system to a location of use; deploying the legs of the lift caster system to engage the floor of the location of use; and removing pressure from the energized elevating caster system and allowing the elevating caster system to enter a passive stable state.

27. 27. The method of claim 26, further comprising performing a surgical procedure.

28. re-energizing the lift caster system; and 30. The method of claim 27, further comprising removing the cart stabilization system from a use location.

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