Systems, devices, and methods for assisting and / or positioning patients before, during, or after medical procedures.

Abstract

To provide a system for supporting or positioning a patient before, during or after a medical procedure.SOLUTION: The system includes a platform configured to support at least a portion of a patient. A support column is positioned beneath the platform. A base is positioned beneath the support column and configured to support the support column. The base can include at least one drive wheel configured to contact a ground surface and assist in moving the platform with respect to the ground surface. A drive assist user interface module is operatively connected to the at least one drive wheel. The drive assist user interface module is configured to permit an operator of the system to selectively control movement of the at least one drive wheel. The drive assist user interface module is part of or attached to an attachment that includes a plate having a top surface.SELECTED DRAWING: Figure 1

Description

Technical Field

[0001] Cross-Reference to Related Applications This application claims the benefit of U.S. Patent Application No. 15 / 610,486, filed on May 31, 2017. The subject matter of that application is incorporated by reference in its entirety.

Background Art

[0002] Patient support apparatuses such as operating tables, examination tables, and hospital beds are well known. These apparatuses are expected to support a patient's weight before, during, and after a medical procedure, while providing the medical team with unobstructed access to a surgical site and the ability to move, position, or reposition the patient. Certain prior art devices can detect changes in weight distribution, which helps the medical team properly position or reposition the patient and prevent undesirable or inadvertent movement of the patient.

[0003] For example, U.S. Pat. No. 7,784,126 discloses an operating table having a support column and a table panel attached to the support column. The table has a force measurement system for measuring the weight of the table panel and the weight of a patient on the table panel. The weight measurement is used to prevent the table from tipping over.

[0004] U.S. Patent Application Publication No. 2012 / 047655 discloses a patient bed having a base, an upper frame on the base, and a lifting system that raises and lowers the upper frame relative to the base between a low position and a high position. The bed may include a scale system coupled to or included as part of a control circuit. The scale system senses the weight supported by the upper frame. A threshold angle, that is, an angle at which adverse conditions such as tipping may occur, can be adjusted based on the weight sensed by the scale system.

[0005] U.S. Patent No. 7,610,637 discloses a patient support having various weight sensors for determining the patient's weight. A user interface is provided that indicates the weight of a medical device, such as an IV pole, to be added to the patient support, so that the weight of the medical device can be taken into consideration.

[0006] U.S. Patent No. 7,255,366 discloses a system for monitoring a patient's weight on a patient support and detecting patient movement, such as an attempt to move off the support. Load cells are used to monitor the weight on different parts of the support. A control system modifies the measurements based on the position or configuration of the support.

[0007] U.S. Patent No. 5,628,078 discloses an operating table having several removable parts that enable various possible configurations. A sensor detects the table configuration and transmits an appropriate signal to a controller. Each of the above patents and publications is incorporated herein by reference in whole.

[0008] The above and other conventional devices have several limitations. For example, with at least some conventional devices, it can be difficult to achieve accurate measurement of changes in weight distribution. Some conventional devices are difficult or cumbersome to operate. The Steris® 5085 SRT operating table has fixed handles at the head or foot, which in certain situations makes the overall length of the table unnecessarily long. Certain conventional tables are particularly unstable and can be expensive to manufacture. For example, many conventional operating tables utilize a vertical hydraulic column with a telescopic block section to raise and lower the patient support platform. These tables are expensive to manufacture and contain oil in the hydraulic system that can leak unintentionally, especially if they are designed to move downwards close to the ground. [Overview of the project]

[0009] In one embodiment, the technology of the present disclosure relates to a system for supporting or positioning a patient before, during, or after a medical procedure. The system includes a platform configured to support at least a portion of the patient. A support column is positioned beneath the platform. A base is positioned beneath the support column and configured to support the support column. The base includes at least one drive wheel that contacts the ground and is configured to assist a user in moving the platform relative to the ground. A drive-assist user interface module is operably connected to the at least one drive wheel. The drive-assist user interface module is configured to allow an operator of the system to selectively control the movement of the at least one drive wheel. The drive-assist user interface module forms part of an attachment including a plate having a top surface, or is attached to the attachment. In one configuration or position, the top surface of the plate of the attachment is configured to be coplanar with or extend parallel to the top surface of the platform when the attachment is attached to the platform. In one or more other configurations and positions, the upper surface of the attachment plate is configured to extend at an angle with respect to the upper surface of the platform when the attachment is mounted on the platform.

[0010] In another embodiment, the technology of the present disclosure relates to a system for supporting or positioning a patient before, during, or after a medical procedure. The system may include a platform configured to support at least a portion of the patient. A support column is located beneath the platform. At least a portion of the support column (e.g., its cover) surrounds a support and lifting mechanism configured to support and raise the platform. The support and lifting mechanism includes a first linkage system and a second linkage system. The first linkage system includes at least one upper four-bar linkage and at least one lower four-bar linkage. The second linkage system includes at least two link bars connected in series and configured to move in a plane perpendicular to the first linkage system. A base is located beneath the support column and configured to support the support column. The base includes at least one drive wheel that contacts the ground and is configured to move the platform relative to the ground.

[0011] In yet another embodiment, the technology of the present disclosure relates to a system for supporting or positioning a patient before, during, or after a medical procedure. The system includes a platform configured to support at least a portion of the patient. A support column is positioned beneath the platform. A base is positioned beneath the support column and configured to support the support column. The base includes at least three spaced-apart casters, each caster in contact with the ground and configured to allow the platform to move relative to the ground. The base also includes at least one drive wheel in contact with the ground and configured to allow the platform to move relative to the ground. Furthermore, the base includes at least three load-sensing / floor-lifting mechanisms in contact with the ground and configured to prevent the platform from moving inadvertently relative to the ground. Each of the at least three load-sensing / floor-lifting mechanisms includes a support foot and a motor. The motor is configured to raise the support foot so that the caster wheel makes contact with the ground. Furthermore, the motor is configured to lower the support legs and raise the platform at least slightly, preventing one or more of the caster wheels from contacting the ground. [Brief explanation of the drawing]

[0012] The above summary, as well as the following detailed description of the present invention, will be better understood when read in conjunction with the accompanying drawings. For illustrative purposes, the drawings show various exemplary embodiments of the present invention. However, it should be understood that the present invention is not limited to the exact arrangements and means shown.

[0013] [Figure 1] These are cross-sectional side views of at least a portion of a system or apparatus according to embodiments of the present disclosure, where certain components may be shown as transparent or translucent for clarity, or omitted.

[0014] [Figure 2]FIG. 1 is a perspective view of a support and lifting mechanism according to an embodiment of the present disclosure, the mechanism being shown in a deployed or expanded configuration.

[0015] [Figure 3] Another perspective view of the mechanism shown in FIG. 2.

[0016] [Figure 4] A side view of the mechanism shown in FIG. 3.

[0017] [Figure 5] A front view of the mechanism shown in FIG. 3.

[0018] [Figure 6] A top view of the mechanism shown in FIG. 3.

[0019] [Figure 7] A perspective view of the mechanism shown in an intermediate or partially expanded configuration.

[0020] [Figure 8] A side view of the mechanism shown in FIG. 7.

[0021] [Figure 9] A front view of the mechanism shown in FIG. 7.

[0022] [Figure 10] A perspective view of the mechanism shown in a compressed or folded configuration.

[0023] [Figure 11] A side view of the mechanism shown in FIG. 10.

[0024] [Figure 12] A front view of the mechanism shown in FIG. 10.

[0025] [Figure 13] A top view of the mechanism shown in FIG. 10.

[0026] [Figure 14A] This is a perspective view of a platform or first attachment according to one embodiment of the present disclosure, in which the user interface module is shown on the platform or attachment in an upward or extended position.

[0027] [Figure 14B] This is another perspective view of the attachment shown in Figure 14A.

[0028] [Figure 14C] Figure 14A is another perspective view of the attachment shown (certain components have been removed for clarity), with the module shown in a downward or stowed position.

[0029] [Figure 14D] Figure 14C is a perspective view of the attachment, with the module shown between the deployed and retracted positions.

[0030] [Figure 15] Figure 14 is an enlarged, partially exploded perspective view of the attachment shown, with certain features removed for clarity.

[0031] [Figure 16] This is a bottom perspective view of at least a part of a system or apparatus of one embodiment of the present disclosure.

[0032] [Figure 17] This is an enlarged view of a socket or receptacle according to one embodiment of the present disclosure.

[0033] [Figure 18] This is a bottom perspective view of a portion of an attachment according to one embodiment of the present disclosure, with the attachment segments omitted for clarity.

[0034] [Figure 19]This is a perspective view of at least a portion of the base according to one embodiment of the present disclosure.

[0035] [Figure 20] Here's another perspective.

[0036] [Figure 21A] This is a magnified perspective view of at least a part of it.

[0037] [Figure 21B] Figure 21A is a side cross-sectional view showing the drive assist mechanism in an upper or retracted position.

[0038] [Figure 21C] This diagram is similar to Figure 21B, but the drive assist mechanism is shown in a downward position.

[0039] [Figure 22] Figure 19 is a cross-sectional view of at least some of the base components shown, taken through a load cell beam, with the feet in the retracted position.

[0040] [Figure 23] Figure 22 is another cross-sectional view of the structure shown, with the legs in the extended position.

[0041] [Figure 24] This is a cross-sectional view of at least a portion of the base components shown in Figure 19, taken through the centerlines of the drive and driven pulleys.

[0042] [Figure 25] This is a schematic diagram of a computing system according to one embodiment of the present disclosure. [Modes for carrying out the invention]

[0043] Systems, apparatus, and methods are described herein as examples and embodiments, but those skilled in the art will recognize that the systems, apparatus, and methods of the currently disclosed technology are not limited to the embodiments or drawings described. It should be understood that the drawings and descriptions are not intended to be limited to any particular form disclosed. Rather, their intent is to cover all modifications, equivalents, and substitutes that fall within the spirit and scope of the appended claims. All headings used herein are for organizational purposes only and are not intended to limit the description or claims. Where used herein, the terms “is” and “may” are used in an acceptable sense (i.e., potentially) rather than a required sense (i.e., “must”). Similarly, the word “includes” means to include, but is not limited to. Unless otherwise specified herein, the singular (the terms “a,” “an,” and “the”) should be read not as limited to one element, but rather as “at least one.” Hereinafter, the term “actuator” is broadly defined to mean any component of a mechanism, part, or system that can initiate at least movement or control, including triggers, buttons, switches, or other enabling devices. The terminology includes the words listed above, their derivatives, and words with similar meanings.

[0044] By referring to the drawings in detail, similar reference numerals throughout indicate similar elements, and the art of this disclosure relates to at least partially modular, multi-component systems, apparatus and methods that enable surgeons and / or medical teams to better monitor, support, position, reposition and / or manipulate patients before, during and / or after surgery by electrical and / or mechanical means. The art of this disclosure enables surgeons and / or medical teams to support patients vertically on the floor or ground, enable surgeons and / or medical teams to move or position patients more quickly and easily, and / or provide other functions. The term “patient” is broadly defined herein to include human patients of any size, sex and demographic, as well as animals (e.g., for veterinary purposes). A system or apparatus (generally indicated by 100) may be referred to herein as an operating table. Operating tables may be of any of various types or styles and may be modified in size, shape and and / or configuration from those shown and described herein.

[0045] Figure 1 shows one embodiment of an operating table 100 of the technology of the present disclosure. The operating table 100 may include an upper platform 102, a lower base 400, a support column 300 between them, and a table support or first attachment 500. The operating table 100 may also include additional attachments or modules such as (but not limited to) a second attachment 800 and a third attachment 900. In one embodiment, the attachments 500, 800, and 900 help to extend the length of the operating table 100, thereby enabling the operating table 100 to fully support patients of different sizes and lengths. The patient may be placed directly on or lying on the platform 102 (or at least partially extended on the attachment 500 or one or more other attachments), and at least a portion of the base 400 may be in contact with the floor or ground 104. The support column 300 is selectively adjustable, as will be described in detail below, allowing the surgeon and / or surgical team to adjust the position of the platform 102 relative to the base 400.

[0046] As will be described in more detail below, the operating table 100 may include a drive assist assembly which may include a drive assist mechanism 700 and a drive assist user interface module 508. The mechanism 700 may reside on the base 400, and the module 508 may reside on one or more attachments to the upper platform 102 or be connected to any end of such one or more attachments. The mechanism 700 may include at least one drive wheel 600, and the mechanism 700 may be configured to move or pivot at least one drive wheel 600 between a stowed position and a use position to engage and disengage from the ground 104. The module 508, in combination with one or more other components or parts of the operating table 100, may enable a surgeon or medical team to position the operating table 100, control various functions of the operating table 100, and / or to quickly and efficiently position, reposition or move the operating table 100.

[0047] Referring to Figures 1 to 13, one or more embodiments of the support column 300 may include a support and lifting mechanism generally indicated by 302, having a first linkage system 304 and a separate second linkage system 306 (see Figure 2). The two linkage systems 304, 306 may be connected or attached at one, two, or more points and complement each other to efficiently, stably, and / or compactly raise and / or lower the platform 102. As will be apparent from the structures described below, at least the first linkage system 304 (alone or in combination with the second linkage system 306) can provide resistance to moments of the operating table 100 around roll or tilt (i.e., x-axis), pitch or Trendelenburg (i.e., y-axis), and yaw or torsion of the table around the vertical axis (i.e., z-axis), and / or lateral forces. When the first and second linkage systems 304, 306 are mounted on a vertical plane, this combination also provides resistance to longitudinal forces.

[0048] The first linkage system 304 may include at least one or two spaced-apart parallel sets 308a, 308b of upper four-bar linkages connected by a shaft and supported on bearings such as tapered roller bearings, ball bearings, or bushings. One set of upper four-bar linkages 308a may be on the left side of the mechanism 302, and the other set of upper four-bar linkages 308b may be on the right side of the mechanism 302. The first linkage system 304 may also include at least one or two spaced-apart parallel sets 310a, 310b of lower four-bar linkages connected by a shaft and supported on tapered roller bearings. One set of lower four-bar linkages 310a may be on the left side of the mechanism 302, and the other set of lower four-bar linkages 310b may be on the right side of the mechanism 302. Overall, in one embodiment, the first linkage system 304 may include four four-bar linkages. Those skilled in the art understand that a four-bar linkage is considered the simplest movable closed chain linkage. This consists of four bodies called bars or links, connected in a loop by four joints. Generally, the joints are configured so that the links move in parallel planes.

[0049] The upper and lower sets of four-bar linkages 308a, 308b, 310a, and 310b are arranged in series with respect to each other and can be joined or connected by a common element such as a "floating" or movable torque reactor 312. An upper torque reactor 314, which can form part of each of the upper four-bar linkages, can connect the remainder of the upper four-bar linkages to a Trendelenburg shaft mount 316 and a Trendelenburg actuator mount 318. In one embodiment, the upper torque reactor 314 can support and / or enclose a printed circuit board (PCB) 315 (see Figures 10 and 12), thereby allowing the surgeon and / or medical team to move or reposition the operating table 100 and / or mechanism 302. At least one or two spaced lower support mounts 320a, 320b, which can form part of each of the lower four-bar linkages, can connect the remainder of the lower four-bar linkages (directly or indirectly) to the base 400.

[0050] In one embodiment, the lower four-bar linkage sets 310a, 310b can be spaced at least slightly outward from the upper four-bar linkage sets 308a, 308b. As a result, at least a portion of the upper four-bar linkage sets 308a, 308b can be positioned between at least a portion of the lower four-bar linkage sets 310a, 310b. This configuration allows the mechanism 302 to have a generally compact configuration when folded or compressed (see Figures 10-13).

[0051] The second linkage system 306 (e.g., a crosslink) may be formed from two or more link bars 330a, 330b, 330c connected in series and a lower support block 332 attached (directly or indirectly) to the base 400 by any of the following means (screws, bolts, welding, etc.). The link bars 330a, 330b, 330c of the second linkage system 306 are configured or positioned to pivot with hinges such that the axes of each link bar 330a, 330b, 330c extend perpendicular to the axes of the upper and lower four-bar linkage. The second linkage system 306 can be positioned relative to the first linkage system 304 such that the mechanism has a generally compact configuration when folded or compressed (see Figures 10-13). This compact configuration allows the upper platform 102 to move lower and closer to the ground 104 than conventional equipment.

[0052] In the operation of one embodiment of the technology of this disclosure, the movement of the four-bar linkage mechanism can be restricted to movement only in the x and z planes (i.e., no movement in the y plane). The movement of the link bars 330a, 330b, and 330c can be restricted to movement only in the y and z planes (i.e., no movement in the x plane). The first and second linkage systems 304 and 306 can be connected to each other at or by the upper torque reactor 314 and / or at or by the base 400. In one embodiment, when the first and second linkage systems 304 and 306 are combined, the only movement they are permitted to perform is along the z axis (e.g., up and down). Thus, when the first and second linkage systems are combined, they can provide resistance to all movement except for the raising and lowering of the upper platform 102.

[0053] A vertical upward or vertical force toward or relative to the upper platform 102 may be provided by a lifting mechanism 350, such as a lead screw or piston, and / or an actuator or motor 352 operably connected thereto. The lifting mechanism 350 may be concentric and / or nested, and may be a threaded rod and nut, a ball screw, or a roller screw. In one embodiment, a concentric design with double parallel screws can be used. In another embodiment, double concentric screws (i.e., a total of four screws) can be used, which can be less expensive. In yet another embodiment, the lifting mechanism 350 may be a push chain that can be hinged to bend in one direction, but may be limited to bending in the other direction.

[0054] The lifting mechanism 350 can be located within or surrounded by the first and second linkage systems 304, 306. Thus, when the lifting mechanism 350 expands or folds (for example, through the rotation of a part thereof), the first and second linkage systems 304, 306 can expand or contract around the lifting mechanism 350 to create an efficient and compact structure. In one embodiment, the lifting mechanism 350 and / or actuator 352 provide all the lift to the upper platform 102, while the first and second linkage systems 304, 306 contribute to reducing moment loads and / or increasing lateral stiffness, or increasing the stability of the operating table 100.

[0055] Figures 14A-15 show embodiments of the platform or first attachment 500 of the table with one or more other components of the system. The first attachment 500 may take the form of a head platform configured to be detachably attached to at least a portion of the upper platform 102. The first attachment 500 may be configured to support at least a portion of the head and / or upper body of a patient during surgery. As described above, the system may also include one or more other platforms or attachments, each of which may be detachably attached to each other and / or to the upper platform 102, and may be configured or designed to support other parts of the patient (e.g., the lower body or lower limbs) during surgery. In one embodiment, the first attachment 500, the second attachment 800, and the third attachment 900 may each be arbitrary patient support units designed to be detachably attached to the rest of the operating table. For example, as described above, the first attachment 500 may take the form of a detachable head support unit. The second attachment 800 can be in the form of a removable back support, and the third attachment 900 can be in the form of a removable leg or lower body support.

[0056] Figures 14A to 14D show a first attachment 500 having a drive assist user interface module 508 that can provide the operator with the ability to move, maneuver, position, and / or reposition the operating table 100 quickly, easily, and / or efficiently, as will be described in detail below. Depending on its position and configuration, the combination of the drive assist user interface module 508 and the first attachment 500 can also provide the operator with improved comfort or a better "feel" when moving the operating table 100. In one embodiment, the user interface module 508 may include one or more actuators that provide the ability (e.g., via a motor) to selectively steer and / or adjust the speed of at least one drive wheel 600 of the operating table 100. For example, the interface module 508 may be configured to control the linear speed of the operating table 100 relative to the ground 104 (e.g., very slow (creep), medium speed, and fast speed) and / or the direction of movement of the operating table 100 (e.g., forward or reverse). The positioning of the combination of the drive-assist user interface module 508 and the first attachment 500 relative to the rest of the operating table 100, the ergonomic nature of the combination, and the functions of the drive-assist user interface module 508 provide the operator with more control than that provided by prior art devices.

[0057] As will be described in detail below, the drive-assist user interface module 508 or one or more parts thereof allows an operator (e.g., a surgeon or any member of a medical team) to control the movement of the operating table 100 with both hands, ensuring that the first attachment 500 and / or the operating table 100 are always firmly grasped. In certain prior art tables, one hand of the operator needs to grasp a separate hand pendant or its own module beside or on top of the table. In contrast, the drive-assist user interface module 508 of the technology of this disclosure can be on or with the operating table 100 so that the operator does not need to find and install the attachment, but can be stored or mounted in a manner that has minimal or beneficial effect on the use of the operating table 100.

[0058] The first attachment 500 may include or be attached to a drive assist user interface module 508 and may be formed of any lightweight and high-strength material such as a durable plastic like glass-filled nylon. The first attachment 500 may include a plate 502 supported by at least one or two spaced parallel arms 504a, 504b and a rail or crossbeam 506 connecting the two ends of the arms 504a, 504b. The plate 502 may include an upper surface 502a and an opposing lower surface 502b. When the first attachment 500 is properly attached to the rest of the operating table 100, the plate 502 may be substantially coplanar with the upper platform 102. Each arm 504a, 504b may include side rails 505a, 505b attached thereto and spaced at least slightly outward from there. For clarity, the side rails 505a and 505b, as with other specific components of the technology of this disclosure, are omitted in Figures 14C and 14D.

[0059] In one embodiment, the drive assist user interface module 508 can be swivelably and / or detachably mounted to at least a portion of the crossbeam 506. In another embodiment, the module 508 can be mounted to arms 504a, 504b via one or more brackets or pivot points 520 (see Figures 14B and 14C) such that the module 508 is swiveling around an axis extending parallel to the crossbeam 506. Regardless of how it is mounted to the first attachment, the user interface module 508 may include the electronics, power supply (e.g., battery), actuator or button, latch magnet and / or connectors necessary to achieve the functions described herein.

[0060] In one embodiment, module 508 may be movable between a downward or retracted (e.g., unused) position (see Figure 14C) and an upward or used position (see Figures 14A and 14B). In the deployed or used position, at least a portion of module 508 may enclose and / or cover at least a portion of the crossbeam 506. Figure 14D shows module 508 in a position between the retracted and deployed positions. An electrical connector 509 may extend outward from module 508 and be electrically connected to the rest of the operating table 100 by a cable or wire (not shown). Thus, the connector 509 may be configured to power one or more batteries and communicate with module 508 during initialization. However, during use of one embodiment of the operating table 100, the cable and connector 509 are removed from the operating table 100. In one embodiment, once the cable and connector 509 are attached to the operating table 100, the first attachment 500 can communicate without using wireless technology. This is useful if the battery in module 508 (described in detail below) runs out of power before or during the intended movement of the operating table 100.

[0061] Module 508 may include one or more spaced connecting mechanisms 524 (see Figure 14D), such as magnets, mechanical latches, or stoppers, incorporated into one or more components. Similarly, the connecting mechanisms 524 or other connecting mechanisms may be designed and / or configured to hold or otherwise support Module 508 in a stowed position.

[0062] Controls embedded in, mounted on, or mounted on module 508 and / or one or more actuators of module 508 can be configured to detect the presence of one or more connection mechanisms 524 (e.g., magnets) to create an automatic on / off switch. When module 508 is deployed and connection mechanisms 524 are detected, the capacitive enable switch and wireless function may be activated (e.g., draw power and enter the "on" state). When module 508 is in its hoisted position (e.g., magnets 524 are not detected), power may be reduced or turned off. This serves both as a safety function and a power-saving function.

[0063] In addition, the above control allows the operator of the operating table 100 to selectively adjust the transport speed and / or direction of the table. For example, a capacitive switch or sensor 510, which is separate from or embedded in the printed circuit board (PCB) 511 ( schematically shown in Figure 14D), can be placed on or mounted on the module 508. As will be understood by those skilled in the art, a capacitive switch such as a sensor 510 does not require physical operation, only physical proximity.

[0064] In one embodiment, the palm grip 512 of module 508 (hereinafter simply referred to as the “first actuator” for convenience) can align with and / or complement the switch 510 when module 508 is properly mounted to and / or positioned relative to the crossbeam 506. Engagement of the palm grip 512 by an operator (e.g., with the palm) (when the operator grasps the palm grip 512; hereafter, “engagement” may mean grasping) can activate the switch 510, thereby activating one or more movement control buttons (described in detail below). In one embodiment, the above engagement / actuation alone is not sufficient to move the operating table 100 or actuate the drive wheels 600. Instead, in such an embodiment, the above engagement / actuation allows the operator to move the operating table 100 and / or actuate the drive wheels 600 via a second or additional step (e.g., engagement of a separate actuator).

[0065] In one embodiment, a higher level of safety is provided that cannot be offered by a pendant command table. For example, in order to place the operator's palm on the palm grip 512, at least part of the operator's fingers must extend through the hole 518, and ideally grasp at least part of the first attachment 500, thereby controlling the operating table 100. In a particular embodiment, the operating table 100 weighs about 900 pounds on its own and may weigh about 1500 pounds with a patient on it.

[0066] As shown in Figure 14, module 508 may include one or more movement control buttons, such as a second actuator 514, a third actuator 516, and a fourth actuator 517. All actuators 512, 514, 516, and 517 can be spaced apart from one another. In one embodiment, actuators 512, 514, 516, and 517 can be positioned so that at least a portion of the operator's palm engages with the first actuator 512, while at least a portion of the operator's thumb easily engages with any of the second actuator 514, the third actuator 516, or the fourth actuator 517. The size, shape, and / or position of each actuator 512, 514, 516, and 517 are not limited to those shown in Figure 14 and described herein. For example, instead of all of the actuators 512, 514, 516, and 517 located on the right side of module 508, one or more of the actuators 512, 514, 516, and 517 can be located on the left side of module 508. The second actuator 514 and the third actuator 516 may be momentary switches configured to initiate or control the movement of the operating table 100 and / or the drive wheels 600 in the forward and reverse directions, respectively. The fourth actuator 517 may be a momentary switch configured to initiate a "fast traverse" movement of the operating table 100 and / or the drive wheels 600.

[0067] In one embodiment, when the palm grip 512 or any of the second actuator 514, third actuator 516, or fourth actuator 517 is not engaged, in contact with, or pressed, the movement of the operating table 100 and / or drive wheels 600 stops. In other words, if the operator “releases” module 508 so that the first actuator 512 does not engage, or any of the second actuator 514, third actuator 516, or fourth actuator 517 does not engage, the operating table 100 and / or drive wheels 600 will brake or stop. This configuration prevents undesirable or unintended movement of the operating table 100 and / or drive wheels 600 as long as the operator does not firmly hold module 508 with the first actuator 512 and does not engage with any of the second actuator 514, third actuator 516, or fourth actuator 517.

[0068] When not in use (for example, when it is desired that the operating table 100 remain in one place for an extended period), module 508 can be folded downward relative to the rest of the first attachment 500 or rotated. Alternatively, in one embodiment, module 508 can be separated from the rest of the first attachment 500. In one embodiment, if the operator wants to move module 508 from a stowed position (Figure 14C) to an unfolded position (Figure 14A), the operator can insert at least part of their hand through one or more spaced openings or notches 518 in (i) plate 502 or (ii) between plate 502 and crossbeam 506 to invert or rotate module 508 around one or more brackets or pivot points 520 (see Figures 14B and 14C). Module 508 can move between the stowed and unfolded configurations in seconds, and neither configuration significantly extends the overall length of the operating table 100.

[0069] In one embodiment, the first attachment 500 and / or any other attachment can interact with and / or communicate with a separate hand pendant and / or an auxiliary panel on the operating table 100. For example, communication can be made between the hand pendant, the first attachment 500, and / or the auxiliary panel using radio frequency (RF), such as the ZigBee standard. In one embodiment, module 508 and / or the first attachment 500 may include an embedded radio interface printed circuit assembly (PCA) which can communicate with other separate PCAs in the operating table 100 while the operation is commanded by the operator. This technique allows the hand pendant to provide the operator with an indication of the status of the drive assist mechanism 700 (e.g., deployed, activated, active forward, active backward) and / or the battery charge status of the first attachment 500. In one embodiment, the drive assist wheels 600 are not controlled via the hand pendant; only module 508 and / or the first attachment 500 can control the drive wheels 600. However, the technology of this disclosure is not limited to such arrangements or configurations.

[0070] When not deployed (for example, when the magnet 524 does not detect contact with the end rail 506), power is not consumed by the wireless board. As described above, module 508 includes one or more batteries 526 (see Figure 14C) that power the wireless board, PCB 511, sensor 510, and / or one or more actuators 512, 514, 516, 517. Recharging of battery 526 can be achieved via a cable, wire, or cord of a detachable hand pendant (which may be housed in the operating table 100). In one embodiment, power to the wireless board, PCB 511, sensor 510, and / or one or more of the actuators 512, 514, 516, 517 may be available while the cable is connected (if battery 526 is dead or discharged).

[0071] Therefore, in one embodiment, the above technology provides the operator with the ability to drive the operating table 100 forward and / or backward, and / or to steer it with maximum leverage. The first attachment 500 can be installed on either end of the operating table 100 (for example, the head or foot end), thereby allowing the operator to drive the operating table 100 from either end. To facilitate such functionality, the operating table 100 can automatically detect which end of the operating table 100 the first attachment 500 is installed or attached to, and automatically adjust its forward and backward direction to suit the operator's orientation. In the prior art, no device has been able to enable such an overall level of ergonomic control.

[0072] Referring again to Figures 14A-15, the free ends of each arm 504a, 504b of the first attachment 500 (e.g., opposite the module 508 and the crossbeam 506) may include at least one projection 522a, 522b designed to be accommodated in at least one receptacle or socket on the rest of the operating table 100. The receptacle may be located on, for example, the upper platform 102. Each projection 522a, 522b may include a tab or latch 534a, 534b that is rotatable around an axis 536 extending substantially perpendicular to the plane defined by the plate 502 of the first attachment 500. At least a portion of each tab 534a, 534b is configured to engage with a portion inside a container. Those skilled in the art will understand that the above arrangement can be reversed without impairing the functions described herein (for example, the receptacles of each arm 504a, 504b accommodate at least a portion of the projections from the rest of the operating table 100).

[0073] In some embodiments, the operating table 100 may use several different techniques in several different locations. For example, in one embodiment, the operating table 100 may use one or more triaxial magnetic sensors. These sensors can detect the presence of magnets and their relative position along an arc. In particular, in one embodiment, one or more permanent magnets 544 ( schematically shown in Figure 15) may be positioned on or around the pivot axis of each gear 528 (described in detail below) on or within the first attachment 500. More specifically, in one embodiment, a metal flange that can be positioned on the spindle between each gear 528 and a hexagonal nut 546 may include a permanent magnet 544. The triaxial magnetic sensors may be mounted on the distal ends of the back and leg portions of the second attachment 800 and the third attachment 900 and positioned close enough to the magnets so that (i) the presence of the attachments can be detected and (ii) the angle or rotation angle to which the attachments are mounted can be identified or read. In one embodiment, even when module 508 is not installed or in use, 3-axis magnetic sensor technology is employed in two or more or all of the removable attachments 500, 800, 900.

[0074] The protrusions 522a, 522b and the receptacle, or by using triaxial magnetic sensing technology, can enable the operating table 100 to detect its components. Therefore, at least one of the receptacles can detect the presence of each projection 522a, 522b(i), engagement with (ii), and / or the insertion angle relative to (iii) (described in detail below), or vice versa. One or more permanent magnets may be positioned on a rotatable portion of the first attachment 500 near one or both of the projections 522a, 522b. One or more triaxial magnetic sensors can be mounted in or on one or more receptacles. As will be understood by those skilled in the art, the triaxial magnetic sensors can detect the presence of the permanent magnets, determine the angular position of the permanent magnets, and thereby determine the adjustment angle of the attachment 500. Since this detection can be completed wirelessly, it becomes possible to completely remove the first attachment 500 and separate it from the rest of the operating table 100.

[0075] Referring specifically to Figure 15, the free ends of each arm 504a, 504b may include a gear and prong system. The gear and prong system may allow the projections 522a, 522b to be held at a specific angle relative to the plate 502, and / or to be rotated or otherwise moved relative to the plate 502 and then held at that angle. More specifically, at least a portion of each projection 522a, 522b may be fixed to a gear 528. The gear 528 may include a plurality of spaced teeth extending around its entire circumference. Alternatively, the teeth of the gear 528 may be located only on a portion of its circumference. A prong 530 and a spring 532 may be located within a portion of the arms 504a, 504b. The spring 532 surrounds at least a portion of the prong 530 and engages with the prong 530, biasing the prong 530 to move toward and engage with the gear 528. The opposite end of the prong 530 engages with and securely attaches to the bracket 540. The bracket 540 is slidable relative to the arms 504a, 504b. Angle adjustment / release handle 542 can be attached to the bracket 540 on either side of the first attachment 500. An operator or user can reach below the upper surface 502 of the first attachment, grasp the angle adjustment / release handle 542, and pull it. This action disengages each prong 530 from the gear 528. When the operator releases the angle adjustment / release handle 542, springs 532a, 532b re-engage the prongs 530a, 530b with the gear 528 and lock them in a new position or angle.

[0076] As a result of the combination of the above features, the upper surface 502 of the first attachment 500 can have multiple configurations or positions with respect to the upper surface of the upper platform 102. For example, the first upper surface 502 of the first attachment 500 can extend at an angle (for example, adjustable upward or downward from 0 to 90°) with respect to the upper surface of the upper platform 102, even while the first attachment 500 is fixed to the upper platform 102. In another embodiment (not shown), the upper surface 502 of the first attachment 500 can extend parallel to the upper surface of the upper platform 102, but does not necessarily have to be coplanar. For example, in such an embodiment, the upper platform 102 or the attachment 500 can still be angle-adjustable, and the first attachment 500 can still include a drive assist module.

[0077] The operating table 100 is also configured to use radio frequency identification (RFID) or another identification protocol. As will be described in more detail below, RFID technology can be used in the interface between the upper platform 102 and any removable attachments. In one embodiment, RFID technology can be used with the back and leg or attachments 800, 900, but options such as imaging boards can also be used. Because RFID tags can transmit serialized information, the system can use RFID tags to determine exactly what is attached to each location. Using this technology, the system can also pass a limited amount of power to distal devices to drive sensors. In one embodiment, RFID technology is employed on two or more or all of the removable attachments 500, 800, 900 even when module 508 is not installed or used.

[0078] Referring to Figures 16-18, in one example, the upper platform 102 or another part of the operating table 100 may include two or more spaced sockets 850a, 850b. Each socket 850a, 850b may have a size, shape, and / or configuration such that it accommodates at least a portion of one of the extensions 852a, 852b of the second attachment 800. RFID technology allows each socket 850 and extension 852 to communicate with the other and / or remaining parts of the operating table 100, respectively. In particular, at least one of the sockets 850a, 850b and / or extensions 852a, 852b may detect (i) the presence of, (ii) engagement with, and / or (iii) the angle of insertion.

[0079] One or more RFID tags and / or readers may be located in or on one or both of the extensions 852a, 852b and / or in or on one or more sockets 850a, 850b. As will be understood by those skilled in the art, the tags and readers can transmit or exchange information. This detection can be completed wirelessly. More specifically, in one embodiment, one or each extension 852a, 852b may include a first or “smart” RFID tag 854 that can transmit power. Each socket 850a, 850b may include a board or a second RFID tag 856. The technology of this disclosure is not limited to including “smart” RFID tags, as it may also use “dumb” RFID tags that do not transmit power.

[0080] As those skilled in the art will understand, the technology of this disclosure provides intelligent detection of one or more attachments. More specifically, the use of RFID technology allows the operating table 100 to detect not only the presence of an attachment that was not previously attached, but also to identify specifically which attachment it is (i.e., the second attachment 800) and the orientation of its components (e.g., the second attachment 800 is attached to the foot end side of the operating table 100, and / or the angle of the second attachment 800 relative to the upper platform 102). Furthermore, information obtained from the RFID technology can be used to improve the accuracy of the collision detection algorithm. As previously stated, RFID technology transmits power wirelessly. This is one way of supplying energy to the 3-axis magnetic sensor. Thus, RFID technology enables the operating table 100 to wirelessly detect the (i) presence and (ii) position of two consecutive distal parts. This is more than a mere proximity sensor (which can recognize that some components are attached, but cannot recognize the orientation of those components).

[0081] Figures 19–24 illustrate details of one embodiment of the base 400 of the present disclosure. The base 400 may be formed of a stage 402 capable of housing and / or supporting a plurality of components. The components may include (i) a drive assist mechanism 700 having one or more drive wheels 600, (ii) three or four or more spaced caster wheels 404, and / or (iii) one, two or four or more spaced load sensing / floor lifting mechanisms 406. The stage 402 may include one or more cutouts or openings 403 (see Figures 19–21A) of size, shape and / or configuration for housing the drive wheels 600. In one embodiment, each opening 403 is located near the head end of the operating table 100 and is lateral centered. In an alternative embodiment, each opening 403 and drive wheel 600 may be located in or near the center of the stage 402, or the drive wheels 600 may be two wheels on the outside of the stage. In one embodiment, each drive wheel 600 does not swivel or cast. However, in another embodiment, each drive wheel 600 includes this function.

[0082] As shown in Figures 21B and 21C, the drive assist mechanism 700 can move the drive wheel 600 to and from engagement with the ground 104 so as to allow or prevent the drive wheel 600 from moving the operating table. The drive assist mechanism 700 may include at least one motor that can communicate with module 508 to selectively perform this rotation or slight pivot of the drive wheel 600. The drive assist mechanism 700 may use a spring suspension system. Thus, in one embodiment, even though the drive wheel 600 is a fifth wheel in contact with the ground 104, when the mechanism 700 moves the drive wheel 600 to a downward or engaged position, the spring suspension system always keeps the drive wheel 106 downward in frictional contact with the ground 104.

[0083] During transport, the operating table 100 can roll on the caster wheels 404, while at least a portion of each load-sensing / floor-lifting mechanism 406 (e.g., the support feet described in detail below) can be retracted into a protective position and / or lifted off the ground 104. During non-transport states such as surgery or storage, at least a portion of each load-sensing / floor-lifting mechanism 406 can be extended to contact the ground 104, and at least a slight lift of the base 400 off the ground 104, thereby preventing the caster wheels 404 from contacting the ground 104, and subsequently preventing the operating table 100 from moving via the caster wheels.

[0084] Each load-sensing / floor-lifting mechanism 406 may include support feet 408 with rubberized bottoms 410. The bottoms 410 can provide the support feet 408 with a high coefficient of friction, so that when the support feet 408 are in the extended or lifted position, they firmly hold the operating table 100 in place. During operation, when the support feet 408 are actuated, they move downward (for example, nearly perpendicular to the plane defined by the upper platform 102) and are able to first make contact with the ground 102. Further actuated support feet 408 can lift the operating table 100 and then lift each caster wheel 404 at least slightly off the ground 104.

[0085] Referring to Figures 22-24, each load sensing / floor lifting mechanism 406 may include a vertical shaft 412 mounted within a vertical shaft bushing 414. The upper end of the threadable shaft 412 can engage with a threaded nut 415. The nut 415 is housed within a housing by one or more radial bearings 416 and / or one or more thrust bearings 418. In one embodiment, the radial bearings 416 and thrust bearings 418 are such that all other degrees of freedom are constrained while the nut 415 rotates around the vertical axis. A transmission device such as a timing belt pulley or gears can be attached to the nut 415 and / or the vertical shaft 412. In one embodiment, a motor or gear motor 422 and a drive pulley are mounted on an axis parallel to the vertical shaft 415 and connected to it via a timing belt 424 (or gear train). In operation of one embodiment, when the motor 422 is energized, the shaft 412 can be keyed to drive upward or downward, but cannot be rotated.

[0086] The load cell support beam 426 can be attached to the lower part of the shaft 412. The load cell support beam 426 can be a passive member supporting the cantilever load cell beam 428. Support feet 408 can be attached to the end of the load cell beam 428. The load cell beam 428 may include or be operably connected to one or more sensors, such as strain gauges, designed and / or oriented to measure the strain of the load cell beam 428 when a vertical force is applied. With proper calibration, this combination provides an accurate measurement of the force applied to the load cell beam 428, thereby allowing the user to know the amount of force applied to at least a portion of the operating table 100.

[0087] More specifically, in one embodiment, with four such devices attached to approximately (e.g., four) corners of the operating table 100, and the operating table 100 lifted at least slightly from the ground 104 by deployed support legs 408, an accurate measurement of the weight of the operating table 100 (including the patient and accessories) can be obtained. In addition, since the forces applied to each corner of the operating table 100 are known, the stability of the operating table 100 can be determined. For example, if at least a portion of the upper platform 102 extends in a horizontal plane, more weight is shifted to one end of the base 400, thereby increasing the force applied to two load cell sensors while simultaneously decreasing the force applied to the other two sensors. A stability algorithm can be applied so that a minimum force threshold required to achieve stability during normal operating room procedures can be set (taking into account the disturbance forces applied by the surgeon or staff).

[0088] In one embodiment, as shown in Figures 22 and 23, the load cell beam 428 and the load cell support beam 426 may have the same or substantially the same length and / or be aligned so that the shaft 412 and the support foot 408 are coaxially aligned. Such a configuration helps to eliminate or reduce the moment load applied to the shaft 412 so that frictional resistance can be minimized using a simple bushing 414. However, such an arrangement is not required for the operating table 100 and / or the load sensing / floor lifting mechanism 406 to function as intended or described herein.

[0089] In one embodiment, the lifting operation algorithm can drive each support leg 408 to the ground 104 independently and / or separately. Each motor 422 can drive each support leg 408 downward until a predetermined current value is achieved. In one embodiment, this current value can be high enough to exceed the expected friction in the drive, but not enough torque to lift the operating table 100 off the ground 104. In this way, the position of the surface 104 can be detected independently by each load-sensing / floor lifting mechanism 406. For example, if a tile is missing in one place on the ground 104, the support leg 408 in that case will be driven further than the other three support legs 408. Once all four support legs 408 have detected or made contact with the ground 104, the algorithm can drive all four lifting assemblies simultaneously.

[0090] As shown in Figure 24, the encoder wheels 430 and optical sensors 432 are used to drive each support leg 408 a predetermined distance at the same or substantially the same speed, thereby allowing the operating table 100 to be lifted at least slightly in a smooth and uniform manner to the working height (e.g., the height to which each caster wheel 404 is lifted from the ground 104). Once started, the motor 422 can drive the shaft 412 in the opposite direction until each support foot 408 is fully retracted (for example, so that each caster wheel 404 is in contact with the ground and each support foot 408 is away from the ground 104). The system can be configured to provide the operator with feedback on its position or repositioning, or the position of the load and / or the load applied thereto (for example, visually via a monitor, audibly via a speaker, etc.).

[0091] One or more of the technologies and / or embodiments described above may implement or include software, for example, modules (see Figure 25) that run on one or more computing devices 210. Of course, the modules described herein represent a variety of functions and do not limit the structure or functionality of the embodiments. Rather, the functions of the various modules may be separated and run in more or fewer modules, depending on various design considerations.

[0092] Each computing device 210 may include one or more processing devices 211 designed to process instructions, such as computer-readable instructions (i.e., code), stored in a non-temporary manner on one or more storage devices 213. By processing instructions, the processing devices 211 can perform one or more of the steps and / or functions disclosed herein. Each processing device may be actual or virtual. In a multiprocessing system, multiple processing units execute computer-executable instructions to improve processing capacity. The storage device 213 can be any type of non-temporary storage device (e.g., optical storage device, magnetic storage device, solid-state storage device, etc.). The storage device 213 may be removable or non-removable and may include magnetic disks, magneto-optical disks, magnetic tapes or cassettes, CD-ROMs, CD-RWs, DVDs, BDs, SSDs, or any other medium capable of storing information. Alternatively, the instructions may be stored in one or more remote storage devices, such as storage devices accessed via a network or the Internet.

[0093] Each computing device 210 may further include a memory 212, one or more input controllers 216, one or more output controllers 215, and / or one or more communication connections 240. The memory 212 may be volatile memory (e.g., registers, cache, RAM, etc.), non-volatile memory (ROM, EEPROM, flash memory, etc.), or a combination thereof. In at least one embodiment, the memory 212 may store software that implements the described technology.

[0094] An interconnection mechanism 214, such as a bus, controller, or network, can operably connect components of the computing device 210, including the processor 211, memory 212, storage device 213, input controller 216, output controller 215, communication connection 240, and other devices (e.g., network controller, sound controller, etc.). The output controller 215 may be operably connected (e.g., via a wired or wireless connection) to one or more output devices 220 (e.g., monitors, televisions, mobile device screens, touch displays, printers, speakers, etc.) in such a way that the output controller 215(or more)

[0095] A communication connection 240 can enable communication to another computing entity via a communication medium. The communication medium carries information such as computer executable instructions, audio or video information, or other data in a modulated data signal. A modulated data signal is a signal that has one or more properties set or modified to encode information within the signal. In non-limiting examples, communication mediums include wired or wireless technologies implemented by electrical, optical, RF, infrared, acoustic, or other carriers.

[0096] Figure 25 shows the computing device 210, output device 220, and input device 230 as separate devices, solely for ease of identification. However, the computing device 210, display device 220, and / or input device 230 may be separate devices (e.g., a personal computer connected to a monitor and mouse via wires), a single device (a mobile device with a touch display, such as a smartphone or tablet), or any combination of devices (e.g., a computing device operably connected to a touchscreen display device, or multiple computing devices connected to a single display device and an input device). The computing device 210 may be one or more servers, e.g., a networked server farm, a clustered server environment, or a cloud service running on a remote computing device.

[0097] Those skilled in the art will understand that modifications can be made to the above embodiments without departing from the broader concept of the invention. For example, various mechanical and electrical connection elements and actuators can be used to achieve the disclosed functions. Therefore, the present invention is understood not to be limited to the specific embodiments disclosed, but rather to encompass modifications within the spirit and scope of the invention as defined by the appended claims. A first aspect of the present invention is: A system for supporting or positioning a patient before, during, or after a medical procedure, comprising a platform configured to support at least a portion of the patient, A support column positioned beneath the aforementioned platform, A base positioned below the support column and configured to support the support column, including at least one drive wheel configured to contact the ground and assist the user in moving the platform relative to the ground, A drive assist user interface module operably connected to at least one drive wheel and configured to allow an operator of the system to selectively control the movement of the at least one drive wheel, the drive assist user interface module forming part of an attachment including a plate having a top surface, or attached to the attachment, Includes, In one configuration, the upper surface of the attachment plate is configured to be coplanar with or parallel to the upper surface of the platform when the attachment is mounted on the platform, and In another configuration, the upper surface of the attachment plate is configured to extend at a certain angle with respect to the upper surface of the platform when the attachment is mounted on the platform. A second aspect of the present invention is: The system according to the first embodiment, wherein the attachment further includes a crossbeam fixed to the plate, the drive assist user interface module is pivotable about an axis extending parallel to the crossbeam, the drive assist user interface module includes a capacitive sensor, and the at least one drive wheel is prevented from rotating unless the capacitive sensor is activated. A third aspect of the present invention is: The system according to the second embodiment, wherein the drive assist user interface module is rotatable between a stowed position and a usage position, and the at least one drive wheel is automatically locked in a stowed position that prevents the platform from being driven when the drive assist user interface module is in the stowed position, and the at least one drive wheel is drivable when the drive assist user interface module is in the usage position. A fourth aspect of the present invention is: The drive assist user interface module further includes a plurality of actuators, wherein the engagement of one of the plurality of actuators causes the at least one drive wheel to rotate in the forward direction, and the engagement of another of the plurality of actuators causes the at least one drive wheel to rotate in the reverse direction, according to the third embodiment of the system. A fifth aspect of the present invention is: The system according to the first embodiment further includes at least one load-sensing / floor-lifting mechanism and at least one canister wheel, wherein the at least one load-sensing / floor-lifting mechanism includes a support foot and a motor, the motor being configured to raise the support foot so that the canister wheel can make contact with the ground, and the motor being configured to lower the support foot so that the canister wheel cannot make contact with the ground. A sixth aspect of the present invention is: The system according to the fifth embodiment includes a drive pulley surrounding at least a portion of a vertical axis, the drive pulley being operably connected to the motor, the vertical axis being operably connected to the support foot, and the operation of the motor causes the drive pulley to rotate, thereby raising or lowering the vertical axis. A seventh aspect of the present invention is: The system according to the sixth embodiment includes at least one load sensing / floor lifting mechanism comprising four spaced-apart load sensing / floor lifting mechanisms, each load delivery / floor lifting mechanism comprising an encoder wheel and an optical sensor. An eighth aspect of the present invention is: The support column surrounds a support and lifting mechanism configured to support and raise the platform, the support and lifting mechanism comprising a first linkage system and a second linkage system, the first linkage system comprising at least one upper four-bar linkage and at least one lower four-bar linkage, according to the first embodiment of the system. A ninth aspect of the present invention is: The system according to the eighth embodiment, wherein the at least one upper 4-bar linkage includes a pair of spaced upper 4-bar linkages, the at least one lower 4-bar linkage includes a pair of spaced lower 4-bar linkages, and the pair of upper 4-bar linkages and the pair of lower 4-bar linkages are connected by a torque reactor. A tenth aspect of the present invention is: The system according to the ninth embodiment, wherein the pair of upper four-bar linkages and the pair of lower four-bar linkages surround a concentric telescopic lead screw operably connected to a motor, and the lead screw and the motor provide vertical lifting and lowering of the platform. An eleventh aspect of the present invention is: The system according to the first embodiment includes a platform comprising at least one receptacle having one of a tag and / or a reader in or on it, the attachment further comprising at least one projection having the other of the tag and / or a reader in or on it, and the at least one receptacle of the platform being configured to accommodate at least a portion of the at least one projection of the attachment such that the tag and / or the reader are positioned to exchange information. A twelfth aspect of the present invention is: The system according to the eleventh embodiment, wherein the tag and the reader communicate via radio frequency identification (RFID) so that the system can recognize which of several attachments is attached to the platform and is transmitting power wirelessly. A thirteenth aspect of the present invention is: The system according to the twelfth embodiment further includes one or more processors and one or more memories operably coupled to the one or more processors and having stored computer-readable instructions, wherein, when executed by at least one of the one or more processors, at least one of the one or more processors is caused to detect the presence of an attachment and to determine the orientation and position of the attachment. A fourteenth aspect of the present invention is: A system for supporting or positioning a patient before, during, or after a medical procedure, comprising a platform configured to support at least a portion of the patient, A support column positioned beneath the platform, wherein at least a portion of the support column surrounds a support and lifting mechanism configured to support and raise the platform, the support and lifting mechanism comprising a first linkage system and a second linkage system, the first linkage system comprising at least one upper four-bar linkage and at least one lower four-bar linkage, and the second linkage system comprising at least two link bars connected in series and configured to move in a plane perpendicular to the first linkage system, the support column and A base positioned below the support column and configured to support the support column, including or surrounding at least one drive wheel configured to contact the ground and assist the user in moving the platform relative to the ground, It is a system that includes [this]. A fifteenth aspect of the present invention is: The system according to the 14th embodiment, wherein the upper end of the first linkage system is connected to the upper end of the second linkage system, and the lower end of the first linkage system is connected to the lower end of the second linkage system. A sixteenth aspect of the present invention is: The system according to the 15th embodiment, wherein the at least two link bars pivot about an axis that extends perpendicularly to the pivot axis of the at least one upper four-bar linkage and the at least one lower four-bar linkage. A 17th aspect of the present invention is: The system according to the 14th embodiment, wherein the at least one upper 4-bar linkage includes a pair of spaced upper 4-bar linkages, the at least one lower 4-bar linkage includes a pair of spaced lower 4-bar linkages, and the pair of upper 4-bar linkages and the pair of lower 4-bar linkages are connected in a torque reactor. An eighteenth aspect of the present invention is: A system for supporting or positioning a patient before, during, or after a medical procedure, comprising a platform configured to support at least a portion of the patient, A support column positioned beneath the aforementioned platform, A base portion positioned below the aforementioned support column and configured to support the aforementioned support column, The base includes, At least three caster wheels, each caster wheel in contact with the ground and configured to allow the platform to move relative to the ground, At least one drive wheel configured to contact the ground and move the platform relative to the ground, A system comprising three load-sensing / floor-lifting mechanisms configured to contact the ground and prevent the platform from moving inadvertently relative to the ground, wherein each of the three load-sensing / floor-lifting mechanisms includes a support leg and a motor, the motor configured to raise the support leg so that the caster wheel contacts the ground, and the motor configured to lower the support leg so that the platform is raised at least slightly, preventing one or more of the caster wheels from contacting the ground. A 19th aspect of the present invention is: The system according to the 18th embodiment, wherein the at least one load sensing / floor lifting mechanism further includes a drive pulley surrounding at least a portion of a vertical axis, the drive pulley being operably connected to the motor, the vertical axis being operably connected to a support foot, and the operation of the motor causes the drive pulley to rotate, thereby raising or lowering the vertical axis. A 20th aspect of the present invention is: The system according to the 18th embodiment includes four spaced load-sensing / floor-lifting mechanisms, each load-sensing / floor-lifting mechanism including an encoder wheel and an optical sensor. [Explanation of symbols]

[0098] 100 Operating table 104 Ground 102 Platforms 300 pillars 400 base 500 First Attachment 508 Drive Assist User Interface Module 600 drive wheels 700 Drive assist mechanism 800 Second Attachment 900 Third Attachment

Claims

1. It is a system that supports patients. A surgical table platform configured to support at least a portion of the patient, A base positioned beneath the platform and configured to support the platform, wherein the base is in contact with the ground and the platform is movable perpendicular to the base, The base is equipped with a load-sensing lifting mechanism, and the load-sensing lifting mechanism is supporting legs, Caster wheels, A motor configured to raise and lower the aforementioned support legs, A vertical shaft operably connected to the support leg and the motor, A load cell support beam attached to the vertical shaft, and A cantilever load cell beam connected to the support leg, comprising a sensor for measuring the applied vertical force, The motor is configured to raise the support legs to a retracted position so that the caster wheels come into contact with the ground, and the motor is configured to lower the support legs to an extended position so that the caster wheels do not come into contact with the ground.

2. The system according to claim 1, wherein the sensor includes a strain gauge for measuring the deformation of the load cell beam when a vertical force is applied.

3. The load-sensing lifting mechanism includes two or more load-sensing lifting mechanisms, The system according to claim 1, wherein each load-sensing lifting mechanism is configured to independently detect the position of the ground and independently drive each of the support legs to the ground.

4. The load-sensing lifting mechanism includes two or more load-sensing lifting mechanisms, The system according to claim 1, wherein the system is configured to independently lower each support leg of the load-sensing lifting mechanism and drive it until it reaches a predetermined current value, the current value indicating contact with the ground.

5. The system according to claim 4, configured to drive each support leg simultaneously after reaching the predetermined current value.

6. The load-sensing lifting mechanism includes two or more load-sensing lifting mechanisms, The system according to claim 1, wherein the system comprises an encoder wheel and an optical sensor, and is configured to independently lower each support leg of the load-sensing lifting mechanism to a predetermined distance.

7. The system according to claim 1, wherein the support legs are attached to the distal end of the load cell beam and the support legs are arranged coaxially with the vertical shaft.

8. The system according to claim 1, wherein the support legs have rubberized bottom surfaces.

9. It is a system that supports patients. A surgical table platform configured to support at least a portion of the patient, A base, the base comprising four load-sensing lifting mechanisms arranged at intervals around the base, Each load-sensing lifting mechanism is equipped with supporting legs, A motor for raising and lowering the aforementioned support legs, A vertical shaft movably connected to the support leg and mounted within a vertical shaft bushing, and A cantilever load cell beam attached to the lower part of the vertical shaft and the support legs, comprising a load cell beam equipped with a sensor for measuring the applied vertical force, The system is configured such that the motor raises the support leg and moves it to a storage position where it does not come into contact with the ground, and the motor also lowers the support leg and moves it to an extended position where it comes into contact with the ground.

10. The system according to claim 9, wherein the sensor includes a strain gauge for measuring the deformation of the load cell beam when a vertical force is applied.

11. The system according to claim 9, wherein the load detection lifting mechanism comprises a load cell support beam that supports the load cell beam.

12. The proximal end of the load cell support beam is attached to the lower part of the vertical shaft. The system according to claim 11, wherein the load cell beam is indirectly attached to the vertical shaft and positioned directly below the load cell support beam.

13. The load cell beam has a proximal end and a distal end, The system according to claim 12, wherein the load cell support beam has a distal end, the proximal end of the load cell beam is attached to the distal end of the load cell support beam and is located away from the vertical shaft, and the support leg is attached to the distal end of the load cell beam.

14. The system according to claim 11, wherein the load cell support beam is substantially the same length as the load cell beam.

15. The system according to claim 11, wherein the load cell support beam and the load cell beam are aligned, and the vertical shaft and support legs are arranged coaxially.

16. The system according to claim 9, wherein the four load-sensing lifting mechanisms are arranged at the four corners of the operating table.

17. The system according to claim 9, wherein the system is configured to measure the weight on the operating table using the measurement results of vertical forces from sensors of each load-sensing lifting mechanism.

18. The system according to claim 9, wherein the sensor is configured to provide load data suitable for evaluating the stability of the operating table by evaluating the force distribution in each load-sensing lifting mechanism.

19. The system according to claim 9, wherein the at least one load-sensing lifting mechanism comprises a transmission device configured to selectively raise and lower the vertical shaft in the vertical direction, and the transmission device is selected from one or more of the group consisting of a drive pulley, a motor, a timing belt pulley, and a gear.

20. The system according to claim 9, wherein the vertical shaft of the load-sensing lifting mechanism is fixed at its upper end to one or more radial bearings and thrust bearings, and is configured to be rotatable.

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