Medical table assemblies, and related devices, systems, and methods

Abstract

A table assembly for supporting a body of a patient comprises a base structure and a tabletop supported by the base structure. The tabletop comprises first and second sections coupled together and rotatable relative to each other about a pivot axis extending along a width dimension of the tabletop. The first and second sections are rotatable relative to each other between a neutral position and an angled position. In the neutral position, the first and second sections are at 180 degrees relative to each other and together define a patient support surface lying in a plane at a first height and the pivot axis is in a first position relative to the plane. In the angled position, the first and second sections are at a non-parallel angle relative to each other and are each completely at or above the first height, to together define an angled patient support surface.

Description

MEDICAL TABLE ASSEMBLIES, AND RELATED DEVICES, SYSTEMS, AND METHODSCROSS-REFERENCE TO RELATED APPLICATION

[0001] This application claims the benefit of U.S. Provisional Application No. 63 / 611 ,937, filed December 19, 2023, the entirety of which is incorporated by reference herein.FIELD

[0002] Aspects of this disclosure relate generally to medical table assemblies. In particular, aspects of the disclosure relate to articulatable medical table assemblies, such as for supporting a body of a patient during a medical procedure. Related devices, systems, and methods also are disclosed.INTRODUCTION

[0003] Various medical procedures employ the use of a table assembly configured to support a body, such as a patient body during a medical procedure, or an inanimate workpiece during a training for such a procedure or to perform another type of procedure. To provide a variety of positions to the body supported by the table assembly, the table assembly may include multiple sections that are configured to articulate relative to each other to provide a “table break” along one or more portions along the length of the table, which is designed to allow a bend in the body supported by the table assembly. These breaks at various sections allow the table to switch between multiple spatial configurations (e.g., to raise and lower various sections of the table). For example, head, torso, and leg sections of the table may be articulated relative to each other to provide greater flexibility for supporting patients in a variety of poses that are better suited to provide access to portions of a patient for a given medical procedure. For example, a mid-portion pivot may be created at a location of the table that is configured to support the back of the patient, such that a “table break” is created by dropping upper and lower portions of the torso section downward. This downward movement of the two sections of the table due to articulation relative to themid-portion pivot location may potentially interfere with anything that is mounted underneath the table, thereby potentially limiting the available degree of articulation and space for the desired bending of the table assembly and a body supported by the table assembly.

[0004] Computer-assisted manipulator systems (“manipulator systems”), sometimes referred to as robotically assisted systems or robotic systems, may comprise one or more manipulators that can be operated with the assistance of an electronic controller (e.g., computer) to move and control functions of one or more instruments when coupled to the manipulators. A manipulator generally comprises a plurality of mechanical links connected by joints. An instrument is removably couplable to (or permanently coupled to) one of the links, typically a distal link of the plurality of links.

[0005] In some computer-assisted manipulator systems, the manipulators are attached to a manipulator support structure (e.g., a patient side cart) that is separate from a support structure that supports a patient or workpiece. In other manipulator systems, the manipulators are attached directly a support structure that is in turn attached to a table assembly that supports the patient or workpiece, via, for example, a rail that extends beneath the table and generally parallel to a longitudinal side of the table (e.g., corresponding to a length direction of a patient supported by the table assembly). Manipulator systems in which the manipulators are mounted to the table assembly are referred to herein as table-mounted manipulator systems.

[0006] Due to their positioning with respect to the table, table-mounted manipulator systems pose certain challenges when mounted to conventional articulatable table assemblies. When mounted to such table assemblies, the positioning of the rail that supports the manipulators and the supported manipulators may impede articulation movement of one or more of the table sections, making it challenging to accommodate all desired changes in the configuration of the table assembly (e.g., to accommodate desired patient poses and / or positions for a procedure while supported by the table assembly).

[0007] Accordingly, a need exists for improved articulatable table assemblies that can provide a relatively wide range of articulation at various section breaks to provide a variety of poses for a body supported by the table assembly and without obstruction by other portions of the table assembly, such as auxiliary components that are attached thereto, such as, for example, in the case of table-mounted manipulator systems. A particular need exists for table assemblies with improved mechanisms for creating a table break in a mid-body support section of the table.SUMMARY

[0008] Various embodiments of the present disclosure may solve one or more of the above-mentioned problems and / or may demonstrate one or more of the above- mentioned desirable features. Other features and / or advantages may become apparent from the description that follows.

[0009] In accordance with at least one embodiment of the present disclosure, a table assembly for supporting a body of a patient during a medical procedure comprises a base structure and a tabletop supported by the base structure. The tabletop comprises a first section and a second section coupled together and rotatable relative to each other about a pivot axis extending along a width dimension of the tabletop. The first section and the second section are rotatable relative to each other between a neutral position and an angled position. In the neutral position, the first and second sections are at 180 degrees relative to each other and together define a patient support surface lying in a plane at a first height and the pivot axis is in a first position relative to the plane. In the angled position, the first and second sections are at a non-parallel angle relative to each other and are each completely at or above the first height, such that the first and second sections together define an angled patient support surface of varying height at or above the first height and the pivot axis is in a second position. The second position is at a different height relative to the plane than the first position.

[0010] In accordance with at least another embodiment of the present disclosure, a table assembly for supporting a body of a patient during a medical procedure comprisesa base structure and a tabletop supported by the base structure and defining a length dimension and a width dimension. The tabletop comprises a first section and a second section coupled together and rotatable relative to each other about a pivot axis extending in the width dimension. One or both of the first and second sections are extendable in length.

[0011] In accordance with at least another embodiment of the present disclosure, a table assembly for supporting a body of a patient during a medical procedure comprises a base structure and a tabletop supported by the base structure and defining a length dimension and a width dimension. The table assembly also comprises at least one rail extending parallel to and along the length dimension of the tabletop at a height below the tabletop. The tabletop comprises a head support section, a foot support section, and a mid-body support section between the head support section and the foot support section. The mid-body support section comprises a first mid-body support section and a second mid-body support section coupled to each other and rotatable relative to each other about a first pivot axis. The first mid-body support section is coupled to the head support section and rotatable relative to the head support section about a second pivot axis and the second mid-body support section is coupled to the foot support section and rotatable relative to the foot support section about a third pivot axis. Rotation of the first mid-body support section and the second mid-body support section relative to each other about the first pivot axis causes rotation of the first mid-body support section relative to the head support section about the second pivot axis and rotation of the second mid-body support section relative to the foot support section about the third pivot axis.

[0012] In accordance with at least an additional embodiment of the present disclosure, a table assembly for supporting a body of a patient during a medical procedure comprises a base structure and a tabletop supported by and tiltable about the base structure. The tabletop defines a length dimension and a width dimension. The tabletop comprises a head support section, a foot support section, and a mid-body support section between the head support section and the foot support section. Thehead support section is pivotably coupled to and rotatable relative to the mid-body support section. The foot support section is pivotably coupled to and rotatable relative to the mid-body support section. The table assembly also comprises a support member overlying at least the mid-body support section of the tabletop. The support member is configured to be positionable throughout a range of motion between a first position and a second position. The support member has a planar surface profile overlying the midbody support section in the first position and a convex surface profile elevated away from the mid-body support section in the second position. The support member is configured to support a body of a patient throughout the range of motion.

[0013] In accordance with at least a further embodiment of the present disclosure, a method of configuring a table assembly for supporting a body of a patient during a medical procedure comprises moving a segment of a tabletop configured to support a patient from a first position comprising a planar upper surface profile of the tabletop to a second position comprising an arched upper surface profile of the tabletop. The ends of the segment are fixed throughout a range of motion from the first position to the second position.BRIEF DESCRIPTION OF THE DRAWINGS

[0014] The present disclosure can be understood from the following detailed description, either alone or together with the accompanying drawings. The drawings are included to provide a further understanding of the present disclosure and are incorporated in and constitute a part of this specification. The drawings illustrate one or more embodiments of the present teachings and together with the description explain certain principles and operations. In the drawings:

[0015] FIG. 1 is a perspective view of an embodiment of articulatable table assembly with a table-mounted manipulator system.

[0016] FIG. 2 is a side view of the table assembly of FIG. 1 .

[0017] FIG. 3 is a schematic view of the table assembly of FIG. 1 without the depiction of the mounted manipulators and illustrating a midportion table-break.

[0018] FIG. 4 is a perspective view of another embodiment of an articulatable table assembly with a table-mounted manipulator system.

[0019] FIG. 5 is a schematic side view of the articulatable table assembly of FIG. 4, with a mid-body support section in a neutral position.

[0020] FIG. 6 is a schematic side view of the table assembly of FIG. 4, with the midbody support section in an articulated position.

[0021] FIG. 7 is another schematic side view of the table assembly of FIG. 4 in an articulated position.

[0022] FIG. 8 is yet another schematic side view of the table assembly of FIG. 4 in the neutral position, illustrating a longitudinal translation of both a tabletop and manipulator mounting rail relative to a base structure.

[0023] FIG. 9 is a partial, detailed perspective view of an embodiment of a tabletop in accordance with the present disclosure, with a mid-body support section in a neutral position.

[0024] FIG. 10 is a partial, enlarged perspective view of the tabletop of FIG. 9, with the mid-body support section in an articulated position.

[0025] FIG. 11 is a perspective view of a mid-body support section in an articulated position according to some embodiments.

[0026] FIG. 12 is a side view of a mid-body support section in an articulated position according to some embodiments.

[0027] FIGS. 13-19 depict perspective views of the mid-body support section of FIG. 10 with actuation mechanisms.DETAILED DESCRIPTION

[0028] As noted above, there can be certain challenges arising from table assemblies used in various medical procedures that provide for table breaks along a length of the table that are implemented by dropping (rotating) down toward a ground surface sections of a table about a pivot location. Among these challenges are the potential of interference with the portions of the table assembly being rotated and various obstructing components, of the table assembly or otherwise. For example, objects or components underneath the table section may interfere with table portions being moved downward relative to a neutral position of the table assembly (i.e. , where all surfaces are substantially flat and lying in a common plane). For example, in the case of table-mounted manipulator systems, components of the manipulator system, such as manipulator mounting rails and manipulator arms, may occupy space underneath the sections of the table supporting a body and may create an interference with desired articulation of one or more sections of the table assembly for positioning a patient on the table for a desired procedure.

[0029] FIGS. 1 and 2, for example, illustrate an embodiment of an articulatable table assembly 1 having a tabletop 2 composed of multiple table sections that may articulate relative to one another. A table-mounted manipulator system 10 is shown mounted to the table assembly 1. Manipulator arms (also referred to as manipulators herein) 14 are attached via one or more mounting rails 12 and are illustrated in a stowed position in the views of FIGS. 1 and 2.

[0030] FIG. 3. shows a schematic view of a midportion table-break. In FIG. 3, the manipulators 14 are not shown for ease of illustration. In FIG. 3, to allow a torso potion 32 of a patient 30 supported by the tabletop 2 to be stretched (such as, but not limited to, enabling greater space between the patient’s ribs and hips for a thoracic or nephrectomy procedure), the tabletop 2 is configured with a mid-portion “table break” 20 that can be raised and bent. The mid-portion table break 20 allows portions of a midbody support section 22 of the tabletop 2 to move upward relative to a level, neutral surface orientation of the tabletop 2 in which the mid-body support section 22 isgenerally flat and lying in the same plane. As further shown in FIG. 3, to raise the midportion break 20 upward, end portions 23 of the mid-body support section 22 conversely move downward (i.e. , relative to the level surface of the tabletop 2 in an unbent configuration). The downward motion of the end portions 23 of the support section 22 can present challenges for articulating the table to position patients in a desired pose for a given procedure. For example, the presence of components of the table assembly 1 (such as manipulator mounting rails 12 and / or manipulators) or other objects underneath or near the tabletop 2 may potentially interfere with the portions of the midbody support section 22 of the tabletop 2 that are moved downward to create the table break. Such interferences may potentially limit the available amount of articulation of the table and may present less articulation than is desired for positioning a patient for a procedure.

[0031] The systems described herein overcome such table articulation challenges. For example, aspects of the systems and methods described herein provide articulating table assemblies that raise portions of the table upward and away from components underneath the table section to avoid interference with occupied space underneath the sections of the table. By way of nonlimiting example, a table break may be provided proximate a mid-section of the table assembly such that, when employed, one section of the table may articulate relative to another and enable more space between the patient’s ribs and hips (e.g., during thoracic and nephrectomy procedures) supported on the table sections. In this configuration, the mid-portion (i.e., mid-body support section or torso section) of the table assembly may be generally raised upward relative to a level surface of the tabletop to avoid potential interference. The remaining sections (i.e., head and leg sections) positioned away from the occupied space underneath the table may be lowered at a downward angle.

[0032] Various embodiments disclosed herein contemplate a table assembly that includes a tabletop for supporting a body (e.g., patient or inanimate workpiece) with one or more articulatable segments (e.g., a mid-body support section). The articulatable segments may transition from a first position comprising a planar upper surface profileof the tabletop to a second position comprising an arched upper surface profile of the tabletop. End portions of the articulatable segments may be maintained about or within a generally fixed plane throughout a range of motion from the first position to the second position (i.e., such that the end portions do not interfere with anything mounted under the articulatable segments). In accordance with various embodiments, for example, the articulatable segments may include a support member (i.e., a plate, pad, and / or other surface which is configured to directly support a patient) and the tabletop may further include a framework structure that lies generally in the same plane and is configured to underlie the support member. The support member is articulatable independent of the framework structure and is able to bend upward relative to the framework structure while the framework structure remains stationary and in a plane above components that are underneath the tabletop.

[0033] As discussed further below, the support member, for example, may include first and second sections coupled together and rotatable relative to each other about a pivot axis extending along a width dimension of the tabletop. In this manner, the first section and the second section of the support member are rotatable relative to each other between a neutral position and an articulated or angled position. In the neutral position, the first and second sections are at approximately 180 degrees relative to each other to define a support surface lying in a plane at a first height and the pivot axis lies in the plane at the first height. In the angled position, the first and second sections are at a non-parallel angle relative to each other to define an angled patient support surface and the pivot axis is in a second position, the second position being at a different height (e.g., an elevated height) relative to the plane and the first position.

[0034] FIGS. 4-8 illustrate an embodiment of an articulatable table assembly 100 (“table assembly 100”) in accordance with the present disclosure. The table assembly 100 includes a base structure 101 and a tabletop 102 supported by the base structure 101 . The tabletop 102 has a width dimension W and a length dimension L, such that the tabletop 102 is sized and configured to support a body (e.g., patient or inanimate workpiece) during a procedure, such as a medical procedure. The tabletop 102 may beused to support a body during a variety of medical procedures, such as surgical procedures, diagnostic procedures, imaging procedures, therapeutic procedures, etc. Moreover, the tabletop 102 need not necessarily be used to support a living human patient. For example, a non-human animal, a cadaver, tissue-like materials used for training purposes, and so on, may be supported on the tabletop 102. Furthermore, although FIGS. 4-8 illustrate a human body 130 supported by the tabletop 102 in a supine position, the body 130 may be in any number of positions, such as a side position or lying on a stomach of the body 130, as would be familiar to those having ordinary skill in the art.

[0035] In various embodiments, the base structure 101 comprises a support column 103 coupled to and supporting the tabletop 102, and a base 105 coupled to the support column 103. For example, the base 105 may be configured to contact a ground surface 160 or other surface upon which the table assembly 100 rests to provide stability for the table assembly 100. In some embodiments, the base 105 is omitted. In some embodiments, the base 105 includes mobility components 106, such as wheels, tracks, or other similar components, to allow movement of the table assembly 100 along the ground 160 or other surface. In FIGS. 4-8, to simplify the discussion, the support column 103 is illustrated as a single vertical columnar part that extends perpendicular to the length dimension L of the tabletop 102 from a bottom surface 104 of the tabletop 102, but the support column 103 could take any desired shape and could include any number of parts. For example, the support column 103 may include horizontal support structures (not illustrated) such as beams, rails, etc. to couple the tabletop 102 to a vertical portion of the support column 103. Moreover, in various embodiments, the support column 103 may be telescoping and configured to extend and contract in height. In various additional embodiments, the tabletop 102 may be mounted to the support column 103 such that the tabletop 102 is tiltable (e.g., in pitch and / or yaw) about the base structure 101 .

[0036] In various embodiments, as illustrated in FIG. 4, the table assembly 100 further optionally includes at least one accessory rail (“rail”) 111 extending parallel toand along the length dimension L of the tabletop 102 at a height at or below the tabletop 102 (the rail(s) 111 are shown in FIG. 4 but not in FIGS. 5-8 for simplicity). The rail(s) 111 , for example, can extend along one or both sides of the tabletop 102 along the length dimension L of the tabletop 102, and may be configured to mount auxiliary components or other accessories to the table assembly 100. The rail(s) 111 may therefore be configured to receive accessory devices removably mounted thereon, such as leg stirrups, liver retractor, arm boards, and bed extenders. In some embodiments, the accessory rail(s) 111 adhere to industry standard specifications familiar to those of ordinary skill in the art to allow compatibility with accessory devices compliant with the standard.

[0037] In the illustration of FIG. 4, the table assembly 100 also includes a tablemounted manipulator system 110 having at least one manipulator rail assembly (“rail”) 112 coupled to the table assembly 100, and one or more manipulators 114 coupled to each rail 112 (the manipulators 114 are shown in FIG. 4 but not in FIGS. 5-8 for simplicity). The rail(s) 112, for example, can extend along one or both sides of length of the tabletop 102. For example, the rails 112 may extend along a direction substantially parallel to the length dimension L of the tabletop 102 and may optionally be positioned at a height below the tabletop 102 and below the rails 111 (when present). In various embodiments, as discussed further below with reference to FIG. 8, optionally at least one of the rails 112 is translatable relative to the tabletop 102 along the length dimension L of the tabletop 102, and / or at least one of the one or more manipulators 114 is translatable along a respective rail 112 along the length dimension L of the tabletop 102. In some embodiments, the rails 112 may be fixed and the manipulators 114 are translatable relative to a respective rail 112. In some embodiments, the rails 112 may be translatable and the manipulators 114 are fixed relative to the respective rail 112. In yet other embodiments, both the rails 112 and the manipulators 114 coupled to the rails 112 may be translatable. Each manipulator 114 may be configured to carry one or more instruments 115 (one instrument 115 being illustrated in FIG. 4 for simplicity), wherein the instruments 115 may be removably or permanently mounted to the manipulator 114. When an instrument 115 is operablycoupled to the manipulator 114, the manipulator 114 provides drive outputs to drive inputs at the instrument 115 so as to cause actuation of articulatable degrees of freedom for the mounted instrument 115, as would be understood by those of ordinary skill in the art familiar with teleoperated computer-assisted medical system employing robotic technology.

[0038] As also illustrated in FIG. 4, the table-mounted manipulator system (“system”) 110 may also comprise a control system 1006, a user input and feedback system 1004, and / or an auxiliary system 1008, such that the system 110 is configured as a computer- assisted, teleoperable medical system. The system 110 in this configuration may be usable, for example, to perform any of a variety of medical procedures, such as surgical procedures, diagnostic procedures, imaging procedures, therapeutic procedures, etc., and the instruments 115 carried by the manipulators 114 may be medical instruments. Moreover, the system 110 when configured as a teleoperable medical system need not necessarily be used on a living human patient. For example, a non-human animal, a cadaver, tissue-like materials used for training purposes, and so on, may be supported on the tabletop 102 and worked on by the system 110. In other embodiments, the system 110 is configured as a computer-assisted teleoperable system for use in nonmedical contexts, in which case the table assembly 100 may be configured to support an inanimate workpiece (something being manufactured, repaired, tested, etc.) and the instruments 115 may be non-medical instruments, such as industrial instruments.

[0039] In some embodiments, the table-mounted manipulator system 110 and manipulators 114 may be similar to the systems and manipulators described in International Patent Application No. PCT / US2023 / 020320, published as WO 2023 / 212275, entitled “RAIL ASSEMBLY FOR TABLE MOUNTED MANIPULATOR SYSTEM, AND RELATED DEVICES, SYSTEMS AND METHODS,” first named inventor Ryan Abbott, International Patent Application No. PCT / US2023 / 020322, published as WO 2023 / 212277, entitled “NESTING PROXIMAL LINKS FOR TABLE MOUNTED MANIPULATOR SYSTEM, AND RELATED DEVICES, SYSTEMS AND METHODS,” first named inventor Bram Lambrecht, and in International PatentApplication No. PCT / US2023 / 020441 , published as WO 2023 / 212344, entitled “TABLEMOUNTED MANIPULATOR SYSTEM, AND RELATED DEVICES, SYSTEMS AND METHODS,” first named inventor Steven Manuel, the contents of each of which are incorporated herein by reference in their entirety.

[0040] Similar to the tabletop 2, the tabletop 102 comprises a support member having one or more articulatable sections 107. The articulatable sections 107 (“sections 107”) of the support member, for example, each have a support surface configured to contact and support the patient or workpiece. The support surfaces of the articulatable sections 107 are structured as movable elongate members configured to support at least a portion of the weight of a patient or workpiece and may optionally include a pad or cushion integrated into the elongate members or on top of the elongate members. As illustrated in FIG. 18, in some embodiments, pads 177 may be removably coupled to the elongate members (e.g., via Velcro, mechanical fasteners, or the like). The one or more articulatable sections 107 of the support member of the tabletop 102 may be configured such that the support surfaces of the articulatable sections 107 are configured to move independently relative to the other articulatable sections 107. In some embodiments, the tabletop 102 may be configured such that the support surface of one or more of the sections 107 is configured to move independently relative to an optional underlying framework structure of the sections (e.g., the support surface has a joint configured to rotate independently of the framework structure). In this manner, the support surface is fully adjustable, while the framework structure is held vertically stationary to avoid potential interference with the rail(s) 111 , 112 or other objects below the tabletop 102. Further, the support surface of other sections 107 may be configured to move along with the underlying framework (e.g., sections 107 located at the head or foot of the table and positioned away from elements underneath the tabletop).

[0041] In some embodiments, multiple articulatable sections 107 are used and are arranged in series to support different portions of the patient or workpiece. For example, in the embodiment illustrated in FIGS. 4-8, the tabletop 102 comprises a first end section 107_1 , one or more middle sections 107_2 (one middle section 107_2 beingillustrated in the embodiment of FIG. 4), and a second end section 107_3, with the one or more middle sections 107_2 being arranged between the two end sections 107_1 and 107_3. In some embodiments, the first end section 107_1 may be configured to support a head of the patient (a head support section), the second end section 107_3 may be configured to support the feet and / or legs of the patient (a foot support section), and the one or more middle sections 107_2 may be configured to support a torso and / or other portions of the patient (a mid-body support section). For convenience, the side of the tabletop 102 that is near the first end section 107_1 (e.g., a right side in the perspective orientation shown in FIG. 4) will be referred to herein as a “head” of the tabletop 102 (or “head side” or “head end”) and the side of the tabletop 102 that is near the second end section 107_3 (e.g., a left side in the perspective orientation shown in FIG. 4) will be referred to herein as a “foot” of the tabletop 102 (or “foot side” or “foot end”), but this is merely an arbitrary convention chosen herein for convenience of description and is not intended to limit the configuration or usage of the table assembly 100 (e.g., a patient’s head could be positioned at the “foot” side of the tabletop 102 if desired, and vice versa). The relative positions of two components or of two portions of a single component may also be described using “head” and “foot” (e.g., a “head end” and a “foot end” of a rail 112) with “head” referring to the component or portion that is relatively closer to the head end of the tabletop 102 and “foot” referring to the component or portion that is relative closer to the foot end of the tabletop 102. In other embodiments, different numbers and arrangements of table sections 107 are used, including one, two, four, or more sections 107. In some embodiments, as described further below, one or more of the sections 107 may be movable relative to other sections 107 and / or relative to the support column 103. For example, in some embodiments, some or all of the sections 107 are coupled to adjacent sections 107 and / or to the support column 103 by rotatable joints such that at least some of the sections 107 can tilt relative to one another and / or relative to the support column 103. The tabletop 102 may also be movable as a whole relative to the support column 103, as would be understood to those of ordinary skill in the art.

[0042] As discussed above, the tabletop 102 has a length dimension L (see FIG. 4), a width dimension W orthogonal to the length dimension L (see FIG. 4), and a thickness or height dimension (not labeled) orthogonal to both the length and width dimensions L and W. As used herein, the length dimension L refers to a dimension of greatest extent of the tabletop when all of the sections 107 of the tabletop are fully extended and all are oriented with their support surfaces roughly aligned in a same plane with one another (or when as close to this state as possible) so as to collectively form a combined support surface that is substantially planar with potentially small gaps between adjacent sections 107. In general, the length and width dimensions L and W of the tabletop 102 and the support surfaces of the support member sections 107 are oriented roughly parallel to the ground 160 or other surface on which the table assembly 100 is supported when the tabletop 102 is in a neutral position. For example, in FIGS. 4-8 the length dimension L is parallel to the x-direction and the width dimension W is parallel to the y-direction, with the x- and y-directions being parallel to the ground 160 or other surface the table assembly 100 rests upon. Thus, in FIGS. 4-8, the thickness dimension is parallel to the z-direction, which is perpendicular to the ground 160 or other surface. However, one of ordinary skill in the art would understand that the tabletop 102 as a whole and / or individual support member sections 107 thereof do not necessarily have to be parallel to the ground 160, and that one or both of the length and / or width dimensions L and W can be tilted relative to the ground in various configurations through which the tabletop 102 and / or sections 107 may be movable, including in a neutral position in some cases.

[0043] As illustrated in the schematic views of FIGS. 5-8, in some embodiments, the middle section 107_2 of the tabletop 102 is itself broken into multiple sections. For example, the middle section 107_2 may include a first section 122 and a second section 124 coupled together and rotatable relative to each other about a pivot axis A1 extending along the width dimension W of the tabletop 102. Accordingly, in such embodiments, the first and second sections 122 and 124 together form a mid-body support section 120 of the tabletop 102 (e.g., that is configured to support a mid-portion 132 of the patient’s body 130 including, for example, a pelvis, torso, and / or back of thepatient’s body 130). As illustrated in FIGS. 5 and 6, the first section 122 and the second section 124 are rotatable relative to each other, via an independent joint in the middle section 107_2, between a neutral position and an angled position.

[0044] As shown in FIG. 5, in the neutral position, the first and second sections 122 and 124 are at approximately 180 degrees relative to each other and define a patient support surface 141 lying in a plane P1 at a first height hi (i.e., relative to the ground surface 160 supporting the table assembly 100) and the pivot axis A1 is in a first position p1 relative to the plane P1 . For example, the first position p1 may be in the plane P1. As shown in FIG. 6, in the angled position, the first and second sections 122 and 124 are at a non-parallel angle 0 relative to each other and define an angled patient support surface 142 of varying height h2 (i.e., relative to the ground 160) at or above the first height hi . Additionally, the pivot axis A1 is in a second position p2 relative to the plane P1 . The second position p2 is at a different height H relative to the plane P1 than the first position p1 . For example, the second position p2 is above the plane P1 . In this manner, as illustrated in FIG. 6, in the angled position, the mid-body support section 120 is configured to adjust (e.g., raise) the middle section 107_2 to bend the mid-portion 132 of the patient’s body 130, without interfering with the rails 112, manipulators 114, or any other objects positioned below the middle section 107_2. In some embodiments, for example, each of the first and second sections 122 and 124 is configured to pivot upward (e.g., at respective pivot axes A2 and A3) such that an angle 0Pof about 10 to 20 degrees is created between a respective section 122 and 124 and the plane P1 , thereby creating a non-parallel angle 0 of about 140 to 160 degrees between the sections 122 and 124 and defining an angled patient support surface 142 that has a height H of about 10 to 20 cm (i.e., which is elevated by about 10 to 20 cm relative to the plane P1).

[0045] In other words, the middle section 107_2 (i.e., the mid-body support section 120) is designed to independently transition from a first position comprising a planar upper surface profile lying in plane P1 (see FIGS. 5 and 9) to a second position comprising an arched upper surface profile (see FIGS. 6 and 10). In the secondposition, end portions 123 of the mid-body support section 120 are maintained in a position in or above the plane P1 throughout the mid-body support section’s range of motion (i.e. , so the end portions 123 do not interfere with anything mounted under the mid-body support section 120). In some embodiments, as illustrated with respect to the enlarged tabletop views of FIGS. 9-12, to make the transition from the first position to the second position, one or both of the first and second sections 122 and 124 of the mid-body support section 120 are extendable in length. For example, a length £ of one or both of the sections 122 and 124 may be configured to elongate as the sections 122, 124 rotate about pivot axis A1 , as indicated by the arrows in FIG. 10. In such embodiments, the first and second sections 122 and 124 may each form a side of the angled patient support surface 142, with the pivot axis A1 forming an apex of the angled patient support surface 142. In some examples, respective ends 123 of one or both of the first and second sections 122, 124 may be in a fixed position horizontally and vertically relative to a framework structure 140 when the mid-body support section 120 is articulated upward or downward. In this manner, the respective ends 123 may, for example, be held relatively fixed, while the pivot axis A1 is elevated via the elongation of the first and / or second sections 122 and 124 (see arrows in FIG. 10). In other examples, at least one of the respective ends 123 may move horizontally when the mid-body support section 120 is articulated upward or downward (see FIGS. 18-19). The horizontal movement may occur in addition to or alternative to a change in length of one or both of the sections 122 and 124 to accommodate the rotational movement of the sections 122, 124. When the respective ends 123 move horizontally, the framework structure 140 may remain relatively fixed in some embodiments (i.e., the ends 123 are axially moved relative to pivot axes A2, A3), or the framework structure 140 may have a telescoping or other length adjustment feature to also adjust the length of the framework structure 140 (i.e., the ends 123 remain in position with the pivot axes A2, A3 and one of the pivot axes A2, A3 is moved relative to the other pivot axis A2, A3).

[0046] In some embodiments, each section 122 and 124 may, for example, comprise multiple leaves 127, which are coupled together via a telescoping mechanism in the form of a tongue and groove connection 150 that is configured to telescope outward(see arrow in FIG. 10) to adjust the length I of the respective section 122 and / or 124. The lengths t of the sections 122 and / or 124 may, however, be elongated (and then returned to their previous lengths) by various techniques and actuation mechanisms as would be understood by those of ordinary skill, including, but not limited to, the telescoping connection 150 as illustrated in FIGS. 9 and 10. In some embodiments, the sections 122, 124 are manually articulatable by hand to raise the sections. In other embodiments, motors or other actuation devices are provided to drive the rotation of the sections 122, 124 and / or the translation of the connections 150 as described in further detail below (see FIGS. 13-19). In some embodiments, the motors / actuators are housed within the base structure 101 , the column 103, and / or the rails 112.

[0047] FIG. 11 depicts a perspective view of the mid-body support section 120 in an articulated position according to some embodiments. The mid-body support section 120 of FIG. 11 includes one or more telescoping mechanisms 152 to adjust the length £ of the respective section 122 and / or 124. The telescoping mechanisms 152 include telescoping supports 154 located at opposite respective sides of the sections 122, 124. The lengths t of the sections 122 and / or 124 may be elongated by extending the telescoping supports 154. Leaves 127a, such as in the form of solid plates, may extend between the opposite telescoping mechanisms 152 in the respective sections 122, 124. The leaves 127a may have a fixed length £2 such that extending the telescoping supports 154 may create a gap 153 having a length £3. In some embodiments, the sections 122, 124 are manually articulatable by hand to raise the sections. In other embodiments, motors or other actuation devices are provided to drive the rotation of the sections 122, 124 and / or the translation of the telescoping mechanisms 152 (see FIGS 13-19). The telescoping mechanism 152 of FIG. 11 may be used in addition to or alternatively to the telescoping mechanisms of FIG. 10.

[0048] FIG. 12 depicts a side view of the mid-body support section 120 in an articulated position according to some embodiments. The mid-body support section 120 of FIG. 12 includes one or more telescoping mechanisms 156 to adjust the length £ of the respective section 122 and / or 124. The telescoping mechanisms 156 include a topplate 157 and a bottom plate 158 that overlap each other. The top and bottom plates 157, 158 collectively form the respective sections 122, 124. A plurality of pins 159 couple the top and bottom plates 157, 158 together. One of the top plate 157 and the bottom plate 158 includes holes 161 for the pins 159 to extend through. The other of the top plate 157 and the bottom plate 158 includes axially extending slots 163 for the pins 159 to extend through. The slots 163 allow for the top and bottom plates 157, 158 to slide relative to each other to change the lengths £ of the sections 122 and / or 124. The pins 159, holes 161 , and slots 163 may be positioned along an axial length of the respective sections 122 and / or 124. In some embodiments, multiple pins 159, holes 161 , and slots 163 may be provided. For example, slots 163 may be positioned adjacent opposite sides of the sections 122, 124. In various embodiments, telescoping mechanisms 156 may be provided at one or both sections 122, 124. In some embodiments, a different number of plates may be present in the respective sections 122, 124, for example, to further extend the length of the telescoping mechanisms 156 (e.g., two, three, four, or five plates). In some embodiments, the sections 122, 124 are manually articulatable by hand to raise the sections. In other embodiments, motors or other actuation devices are provided to drive the rotation of the sections 122, 124 and / or the translation of the telescoping mechanisms 156 (see FIGS 13-19). The telescoping mechanisms 156 of FIG. 12 may be used in addition to or alternatively to the telescoping mechanisms of FIGS. 10-11.

[0049] As discussed above, the middle section 107_2 (i.e., the mid-body support section 120) is positioned between the first end section 107_1 (which may form a head support section 126 of the tabletop 102) and the second end section 107_3 (which may form a foot support section 128 of the tabletop 102). Thus, the first and second sections 122 and 124 respectively form a first mid-body support section 122 and a second midbody support section 124, which are coupled to each other and rotatable relative to each other about the first pivot axis A1 . For example, the first mid-body support section 122 is coupled to the head support section 126 and rotatable relative to the head support section about a second pivot axis A2, and the second mid-body support section 124 is coupled to the foot support section 128 and rotatable relative to the foot supportsection 128 about a third pivot axis A3. In this manner, when the mid-body support section 120 is transitioned into the angled position (e.g., via actuation of the telescoping connections 150), rotation of the first mid-body support section 122 relative to the second mid-body support section 124 (i.e. , about the first pivot axis A1 ) will also cause rotation of the first mid-body support section 122 relative to the head support section 126 (i.e., about the second pivot axis A2) and rotation of the second mid-body support section 124 relative to the foot support section 128 (i.e., about the third pivot axis A3). As illustrated in FIGS. 6 and 10, when the mid-body support section 120 is in the angled position, the first pivot axis A1 will also be elevated with respect to the second and third pivot axes A2 and A3 (e.g., by a height H relative to the plane P1 ), such that the first pivot axis A1 forms an apex of the angled patient support surface 142. In this manner, when the mid-body support section 120 is in the angled position, the mid-body support section 120 is configured to bend a back and / or a spine of a patient supported by the tabletop 102.

[0050] As illustrated in the enlarged tabletop views of FIGS. 9 and 10, each section 107 (i.e., sections 120, 126, and 128) of the tabletop 102 includes an elongate member 120a, 126a, 128a of high strength and stiffness configured to support at least a portion of the weight of a patient or workpiece. The elongate members 120a, 126a, 128a may be in the form of a plate (e.g., a plate made of carbon fiber, metal, engineering plastics, or other relatively stiff structure). A carbon fiber plate may be made of an epoxy impregnated carbon fiber laminate material. Engineering plastics may include polymers including PEEK, PPA, PPS, and / or PEI, and may include reinforcement with a filler material, such as chopped glass or carbon fiber. Metal plates may me made of high strength steel or stainless steel (e.g., series 304, 316, 303, 18-8 or 17-4 stainless steel). The elongate members within the middle section 107_2 (e.g., sections 122, 124) may optionally be made of a radiolucent material (e.g., carbon fiber, engineering plastics, etc.) for compatibility with medical imaging devices such as a C-arm X-ray device. Edges of the elongate members in the middle section 107_2 may be reinforced with metal (e.g., steel or aluminum) to provide additional stiffness or mechanical mounting points while providing radiolucency in the center of the elongate members. The elongatemembers at the head or foot of the table (e.g., sections 126, 128) may be made of metal or may include metal reinforcements. The elongate members 120a, 126a, 128a may optionally include a pad or cushion integrated into the elongate members or on top of the elongate members. In some embodiments, pads may be removably coupled to the elongate members (e.g., via Velcro, mechanical fasteners, or the like). Bearing surfaces inside the pivots A2, A3 may optionally be plain bearings (bushings) made from bronze, oil-impregnated bronze, or phosphor-bronze. Alternately, steel ball bearings could be used in these pivots.

[0051] Each section 107 may optionally include a framework structure 140, which collectively form a combined framework structure that underlays the elongate members. In such embodiments, the support surface of each section 107 may be formed by a respective support member in the form of the elongate members 120a, 126a, 128a positioned over a respective framework structure 140. In some embodiments, each framework structure may, for example, comprise an open framework structure, such that the elongate member bridges the framework structure as illustrated in FIGS. 9 and 10. While in some other embodiments, each framework structure 140 may comprise a solid foundation structure that is configured to fully support each respective elongate member.

[0052] In embodiments including the framework structure 140, the elongate member 120a (i.e., the support surface of the middle section 107_2) is configured to move independently relative to the framework structure 140 of the middle section 107_2 (e.g., the elongate member has an independent joint at the pivot axis A1 such that the elongate member can rotate independently of the framework structure 140). Thus, the elongate member 120a is fully adjustable in the same manner as described above with relation to the mid-body support section 120, while the framework structure 140 is held stationary in some embodiments to avoid potential interference with the rails 112 and manipulator arms mounted to the rails 112, as well as other objects positioned below the tabletop. In some embodiments, for example, the mid-body support section 120 is configured to be positionable throughout a range of motion between a first position anda second position. In the first position, as illustrated in FIGS. 5 and 9, the elongate member 120a has a planar surface profile overlying the framework structure 140 of the mid-body support section 120. While, in the second position, as illustrated in FIGS. 6 and 10, the elongate member 120a has a convex surface profile elevated away from the framework structure 140 of the mid-body support section 120.

[0053] FIGS. 13-19 depict perspective views of the mid-body support section 120 of FIG. 10 with actuation mechanisms to drive movement of the first and second sections 122, 124. The actuation mechanisms are configured to transition the first and second sections 122, 124 between the first position, wherein the first and second sections 122,124 are in a neutral position and are at approximately 180 degrees relative to each other, and the second position, wherein the first and second sections 122,124 are at a non-parallel angled position relative to each other to define an angled patient support surface. The axis A1 in the second position is at an elevated height above the position of the axis A1 in the second position. In addition, in the second position, the first and second sections 122, 124 are raised upward relative to a level surface of the tabletop to avoid potential interferences with objects below the table. The axes A2, A3 are configured to remain at substantially a constant vertical level in the first and second positions. The actuation mechanisms in FIGS. 13-15 include motors or actuators to drive rotation and / or translation of the first and second sections 122, 124. The motors or actuators may be operatively coupled to a control system and user controls may be positioned on or adjacent the table and / or may be part of a separate user control device. The head and foot sections 126, 128 may optionally be angled upward and / or downward relative to the neutral position and may contain separate motors / actuators at respective rotatable joints 172, 174 to drive motion of the head and foot sections 126, 128 (e.g., driven independent of each other and / or independent of rotation of the first and second sections 122,124).

[0054] It should be appreciated that one or more of the actuation mechanisms of FIGS. 13-19 discussed below may be used in conjunction with each other to transition the first and second sections 122, 124 between the first position and the secondposition. For example, multiple actuators may be used to drive motion of the mid-body support section 120.

[0055] FIG. 13 depicts an actuation mechanism in the form of a lead screw and servo mechanism 200. A motor / actuator 202 has an output that drives a lead screw 204 to actuate the mid-body support section 120. The motor / actuator 202 may be an electric motor (e.g., a servo motor, stepper motor, AC motor, or DC motor) operatively coupled to a control system. An output end 206 of the lead screw 204 is operatively coupled to a rotatable joint 170 of the mid-body support section 120. The rotatable joint 170 is positioned between the first and second sections 122, 124 and is rotatable about the pivot axis A1 . The output of the lead screw and servo mechanism 200 is configured to directly lift the rotatable joint 170 about the pivot axis A1 to drive movement of the first and second sections 122, 124 between the first position and the second position. In some embodiments, end portions 123 of the mid-body support section 120 may be fixed in place (coinciding with the axes A2, A3) with a length of the sections 122 and / or 124 elongating or shortening to accommodate the change in height of axis A1 as described above. Additionally, or alternatively, one of the end portions 123 may be horizontally movable to accommodate movement of the first and second sections 122, 124 (e.g., with or without a change in length of the first and second sections 122, 124).

[0056] FIG. 14 depicts an actuation mechanism in the form of a worm gear and motor / actuator 210. A motor / actuator 212 has an output that drives a worm gear 214. The motor / actuator 212 may be an electric motor (e.g., a servo motor, stepper motor, AC motor, or DC motor) operatively coupled to a control system. The worm gear 214 is rotatably coupled to a pinion 216, the pinion 216 being coupled to a rotatable joint 172, 174 coincident with either the pivot axis A2 or A3. Actuation of the pinion 216 drives rotation of the respective first or second section 122 or 124 to cause movement of the first and second sections 122, 124 between the first position and the second position. For example, the pinion may be fixedly coupled to the rotatable joint 172 coincident with the pivot axis A2. Rotation of the motor / actuator 212 drives rotation of the worm gear 214 which thereby causes the rotatable joint 172 to rotate. Rotation of the rotatable joint172 raises the second section 124. Rotation of the rotatable joint 172 causes corresponding rotation of the rotatable joint 170 about the pivot axis A1 and rotation of the rotatable joint 174 about the pivot axis A3. In some embodiments, end portions 123 of the mid-body support section 120 may be fixed in place (coinciding with the pivot axes A2, A3) with a length of the sections 122 and / or 124 elongating or shortening to accommodate the change in height of axis A1 as described above.

[0057] Additionally, or alternatively, one of the end portions 123 may be horizontally movable to accommodate movement of the first and second sections 122, 124 (e.g., with or without a change in length of the first and second sections 122, 124). In some embodiments, the actuation mechanism 210 may be coupled to the rotatable joint 174 instead of the rotatable joint 172. In other embodiments, multiple actuation mechanisms 210 may be provided, for example, about one or both of the rotatable joints 172, 174. Further, in some embodiments, the actuation mechanism 210 may include additional gears as part of a gear train. FIG.15 depicts another actuation mechanism according to some embodiments. FIG. 15 is similar to FIG. 14 but depicts an actuation mechanism 220 with a spur gear 226 instead of the pinion 216, a mating gear 224, and a motor / actuator 222 (similar to motor / actuator 212).

[0058] In some embodiments, actuation may occur via a hydraulic actuation mechanism. For example, FIG. 16 depicts a hydraulic actuation mechanism 230 acting on pivot axis A1 . An output of a hydraulic cylinder 232 is operatively coupled to the rotatable joint 170 of the mid-body support section 120. The output of the hydraulic cylinder 232 is configured to directly lift the rotatable joint 170 about the pivot axis A1 to drive movement of the first and second sections 122, 124 between the first position and the second position. The hydraulic actuation mechanism 230 includes the hydraulic cylinder 232, an electrically actuated valve 234 to control the hydraulic cylinder 232, and a pump and motor 236 to provide hydraulic fluid pressure / flow.

[0059] Referring to FIG. 17, in some embodiments, the rotatable joint 172 may contain an electromechanical clutch mechanism 240 that links the foot support section 128 to the second section 124 at pivot A2. When the clutch mechanism 240 is activated,the foot support section 128 and the second section 124 stay linked at a fixed angle with respect to each other. When an actuator / motor at the rotatable joint 172 rotates the foot support section 128 downward, the linked second section 124 is forced to lift upwards to raise the pivot axis A1 due to the clutch mechanism 240. Accordingly, no extra motor / actuation actuator is needed to drive the pivot axis A1 upwards. Additionally, or alternatively, the rotatable joint 174 may contain an electromechanical clutch mechanism 240 that links the head support section 126 to the first section 122 at pivot axis A3.

[0060] With reference to FIGS. 18 and 19, in some embodiments, at least one of the respective ends 123 of the sections 122, 124 of the mid-body support section 120 may move horizontally when the mid-body support section 120 is articulated upward or downward. For example, in FIG. 18, the end 123 of section 122 may be fixedly coupled with the rotatable joint 174 and coincident with the pivot axis A3. The end 123 of section 124 may be movable relative to the rotatable joint 172 and the pivot axis A2. The end123 of section 124 may be horizontally movable relative to the joint 172 by sliding motion and / or movement along a horizontal track. The joint 174 and / or the joint 170 may be actuated by an actuation mechanism (e.g., the actuation mechanisms of FIGS. 13-17) with the end 123 of the section 124 moving responsive to the actuation mechanism. The horizontal movement may occur in addition to or alternative to a change in length of one or both of the sections 122 and 124 to accommodate the rotational movement of the sections 122, 124.

[0061] Alternatively, the end 123 of section 124 may be fixedly coupled with the rotatable joint 172 and the end 123 of section 122 may be movable relative to the rotational joint 174. In yet further alternatives, the end 123 of the movable section 122 or124 may be horizontally and / or vertically movable relative to the fixed end 123 (and not limited to horizontal movement alone). When the respective ends 123 move horizontally / vertically relative to the rotational joints, the framework structure 140 may remain relatively fixed in some embodiments (i.e. , the ends 123 are axially moved relative to fixed pivot axes A2, A3) as in FIG. 18. In some alternatives, such as in FIG.19, the framework structure 140 may have a telescoping or other length adjustment feature 250 to also adjust the length of the framework structure 140. In such embodiments, the ends 123 may remain in position with the pivot axes A2, A3 at the rotational joints 172, 174 and one of the rotational joints 172, 174 and corresponding pivot axes A2, A3 are moved relative to the other rotational joint 172, 174 and pivot axis A2, A3. Shortening a length of the framework structure 140 between the rotational joints 172, 174 causes the mid-body support section 120 to buckle about the rotational joint 170 and thereby raise the mid-body support section 120.

[0062] Although a framework structure 140 is depicted and described with reference to FIGS. 4-19, those of ordinary skill will understand that embodiments of the present disclosure also contemplate self-supporting support members (comprised of one or more support member sections 107), which are directly connected to a base structure 101 and which do not utilize an underlying framework structure. It may be particularly advantageous, for example, to utilize a separate support member (e.g., in the form of an elongate member or support pad) to retrofit an existing table assembly, which is configured to drop below a neutral plane to facilitate articulation / bending in a middle section of the table (e.g., table assembly 1 of FIGS. 1 -3). To address the potential interference issues associated with such tables, one or more support member sections 107 can be attached to a framework structure of the existing table assembly. In some embodiments, for example, a mid-body support section 120, comprising an elongate member 120a, may be attached to the framework structure of the existing table, such that the middle section of the table is positionable throughout a range of motion, as described above, without interfering with anything positioned below the neutral plane. Furthermore, although the table assembly of FIGS. 4-19 is generally depicted as utilizing multiple support member sections 107, those of ordinary skill would understand that in some embodiments the table assembly 100 may comprise a single unitary support member section 107.

[0063] Those of ordinary skill in the art would also understand that the table assembly 100 described above and illustrated in FIG. 4-19 is intended to be exemplaryonly and may have various features and functions that were not described in detail for simplicity. In some embodiments, for example, some (all, in some cases) of the abovedescribed parts of the table assembly 100 may be movable relative to one another. In some embodiments, the tabletop 102 (as a whole) can be moved relative to the base structure 101 , such as by tilting around a horizontal axis, swiveling around a vertical axis, translating vertically along the support column 103, translating horizontally relative to the base structure 101 (see FIG. 8), and so on. While in other embodiments, one or more of the rails 112 may translate longitudinally along the length dimension L of the tabletop 102 toward one or both of the head end and the foot end of the tabletop 102 (see FIG. 8). In some embodiments, such movement of the tabletop 102 as a whole and / or the manipulator mounting rails 112 may be provided by one or more joints that couple a section 107 (e.g., a middle section 107_2) to the support column 103 and / or the rails 112 to the tabletop 102. Furthermore, as already noted above, individual support member sections 107 may be movable (e.g., rotatable) relative to one another and relative to the base structure 101 as well, which may be facilitated by joints coupling the support member sections 107 to the support column 103 or to support sections 107 (e.g., at axes A2 and A3) (see FIG. 7).

[0064] The embodiments described herein may be well suited for use in any of a variety of medical procedures, including, for example, thoracic and / or nephrectomy procedures, as described above. Such procedures could be performed, for example, on human patients, animal patients, human cadavers, animal cadavers, and portions or human or animal anatomy. Medical procedures as contemplated herein include any of those described herein and include, for example, non-surgical diagnosis, cosmetic procedures, imaging of human or animal anatomy, gathering data from human or animal anatomy, training medical or non-medical personnel, and procedures on tissue removed from human or animal anatomies (without return to the human or animal anatomy).Even if suitable for use in such medical procedures, the embodiments may also be used for benchtop procedures on non-living material and forms that are not part of a human or animal anatomy. Moreover, some embodiments are also suitable for use in nonmedical applications, such as industrial robotic uses, and sensing, inspecting, and / ormanipulating non-tissue work pieces. In non-limiting embodiments, the techniques, methods, and devices described herein may be used in, or may be part of, a computer- assisted surgical system employing robotic technology such as the da Vinci® Surgical Systems commercialized by Intuitive Surgical, Inc., of Sunnyvale, California. Those skilled in the art will understand, however, that aspects disclosed herein may be embodied and implemented in various ways and systems, including manually operated instruments and computer-assisted, teleoperated systems, in both medical and nonmedical applications. Reference to the daVinci® Surgical Systems are illustrative and not to be considered as limiting the scope of the disclosure herein.

[0065] As used herein and in the claims, terms such as computer-assisted manipulator system, teleoperable manipulator system, or the like should be understood to refer broadly to any system comprising one or more controllable kinematic structures (“manipulators”) that are movable and controllable at least in part through the aid of an electronic controller (with or without human inputs). Such systems may occasionally be referred to in the art and in common usage as robotically assisted systems or robotic systems. Such systems include systems that are controlled by a user (for example through teleoperation), by a computer automatically (so-called autonomous control), or by some combination of these. In examples in which a user controls at least some of the operations of the manipulator, an electronic controller (e.g., a computer) may facilitate or assist in the operation. The term “computer” as used in “computer-assisted manipulator systems” refers broadly to any electronic control device for controlling, or assisting a user in controlling, operations of the manipulator, and is not intended to be limited to things formally defined as or colloquially referred to as “computers.” For example, the electronic control device in a computer-assisted manipulator system could range from a traditional “computer” (e.g., a general-purpose processor plus memory storing instructions for the processor to execute) to a low-level dedicated hardware device (analog or digital) such as a discreet logic circuit or application specific integrated circuit (ASIC), or anything in between. Further, manipulator systems may be implemented in a variety of contexts to perform a variety of procedures, both medical and non-medical. Thus, although some examples described in greater detail herein maybe focused on a medical context, the devices and principles described herein are also applicable to other contexts, such as industrial manipulator systems.

[0066] It is to be understood that both the general description and the detailed description provide example embodiments that are explanatory in nature and are intended to provide an understanding of the present disclosure without limiting the scope of the present disclosure. Various mechanical, compositional, structural, electrical, and operational changes may be made without departing from the spirit and scope of this description and the claims. In some instances, well-known circuits, structures, and techniques have not been shown or described in detail in order not to obscure the embodiments. Like numbers in two or more figures represent the same or similar elements.

[0067] Further, the terminology used herein to describe aspects of the invention, such as spatial and relational terms, is chosen to aid the reader in understanding example embodiments of the invention but is not intended to limit the invention. For example, spatial terms— such as “beneath”, “below”, “lower”, “above”, “upper”, “proximal”, “distal”, “up”, “down”, and the like — may be used herein to describe directions or one element’s or feature’s spatial relationship to another element or feature as illustrated in the figures. These spatial terms are used relative to the figures and are not limited to a particular reference frame in the real world. Thus, for example, the direction “up” in the figures does not necessarily have to correspond to an “up” in a world reference frame (e.g., away from the Earth’s surface). Furthermore, if a different reference frame is considered than the one illustrated in the figures, then the spatial terms used herein may need to be interpreted differently in that different reference frame. For example, the direction referred to as “up” in relation to one of the figures may correspond to a direction that is called “down” in relation to a different reference frame that is rotated 180 degrees from the figure’s reference frame. As another example, if a device is turned over 180 degrees in a world reference frame as compared to how it was illustrated in the figures, then an item described herein as being “above” or “over” a second item in relation to the Figures would be “below” or “beneath” the second item inrelation to the world reference frame. Thus, the same spatial relationship or direction can be described using different spatial terms depending on which reference frame is being considered. Moreover, the poses of items illustrated in the figure are chosen for convenience of illustration and description, but in an implementation in practice the items may be posed differently.

[0068] In addition, the singular forms “a”, “an”, and “the” are intended to include the plural forms as well, unless the context indicates otherwise. And, the terms “comprises”, “comprising”, “includes”, and the like specify the presence of stated features, steps, operations, elements, and / or components but do not preclude the presence or addition of one or more other features, steps, operations, elements, components, and / or groups. Components described as coupled may be electrically or mechanically directly coupled, or they may be indirectly coupled via one or more intermediate components, unless specifically noted otherwise. Mathematical and geometric terms are not necessarily intended to be used in accordance with their strict definitions unless the context of the description indicates otherwise, because a person having ordinary skill in the art would understand that, for example, a substantially similar element that functions in a substantially similar way could easily fall within the scope of a descriptive term even though the term also has a strict definition.

[0069] Elements and their associated aspects that are described in detail with reference to one embodiment may, whenever practical, be included in other embodiments in which they are not specifically shown or described. For example, if an element is described in detail with reference to one embodiment and is not described with reference to a second embodiment, the element may nevertheless be claimed as included in the second embodiment.

[0070] Unless otherwise noted herein or implied by the context, when terms of approximation such as “substantially,” “approximately,” “about,” “around,” “roughly,” and the like, are used in conjunction with a stated numerical value, property, or relationship, such as an end-point of a range or geometric properties / relationships (e.g., parallel, perpendicular, straight, etc.), this should be understood as meaning that mathematicalexactitude is not required for the value, property, or relationship, and that instead a range of variation is being referred to that includes but is not strictly limited to the stated value, property, or relationship. In particular, the range of variation around the stated value, property, or relationship includes at least: any inconsequential variations; those variations that are typical in the relevant art for the type of item in question due to manufacturing or other tolerances; and / or variations that are within ±5% of the stated value, property, or relationship unless indicated otherwise.

[0071] Further modifications and alternative embodiments will be apparent to those of ordinary skill in the art in view of the disclosure herein. For example, the devices and methods may include additional components or steps that were omitted from the diagrams and description for clarity of operation. Accordingly, this description is to be construed as illustrative only and is for the purpose of teaching those skilled in the art the general manner of carrying out the present teachings. It is to be understood that the various embodiments shown and described herein are to be taken as exemplary. Elements and materials, and arrangements of those elements and materials, may be substituted for those illustrated and described herein, parts and processes may be reversed, and certain features of the present teachings may be utilized independently, all as would be apparent to one skilled in the art after having the benefit of the description herein. Changes may be made in the elements described herein without departing from the spirit and scope of the present teachings and following claims.

[0072] It is to be understood that the particular examples and embodiments set forth herein are non-limiting, and modifications to structure, dimensions, materials, and methodologies may be made without departing from the scope of the present teachings.

[0073] Other embodiments in accordance with the present disclosure will be apparent to those skilled in the art from consideration of the specification and practice of the invention disclosed herein. It is intended that the specification and examples be considered as exemplary only, with the following claims being entitled to their fullest breadth, including equivalents, under the applicable law.

Claims

CLAIMSWHAT IS CLAIMED IS:1 . A table assembly for supporting a body of a patient during a medical procedure, the table assembly comprising: a base structure; and a tabletop supported by the base structure and having a width dimension and a length dimension, wherein the tabletop comprises a first section and a second section coupled together and rotatable relative to each other about a pivot axis extending along the width dimension of the tabletop, the first section and the second section rotatable relative to each other between a neutral position and an angled position, wherein in the neutral position, the first and second sections are at 180 degrees relative to each other and together define a patient support surface lying in a plane at a first height and the pivot axis is in a first position relative to the plane, and wherein in the angled position, the first and second sections are at a non-parallel angle relative to each other and are each completely at or above the first height, such that the first and second sections together define an angled patient support surface of varying height at or above the first height and the pivot axis is in a second position, the second position being at a different height relative to the plane than the first position.

2. The table assembly of claim 1 , wherein the base structure comprises a support column, the support column extending perpendicular to the length dimension of the tabletop from a bottom surface of the tabletop.

3. The table assembly of claim 1 or 2, wherein the first and second sections together form a mid-body support section of the tabletop.

4. The table assembly of claim 3, wherein the tabletop further comprises a head support section and a foot support section, the mid-body support section being positioned between the head support section and the foot support section.

5. The table assembly of claim 4, wherein the tabletop comprises a framework structure, each of the head support section, the mid-body support section, and the foot support section forming a support member overlying the framework structure.

6. The table assembly of claim 5, wherein each support member comprises a carbon fiber plate.

7. The table assembly of claim 3, wherein, in the angled position, the mid-body support section is configured to bend a back and / or a spine of a patient supported by the tabletop.

8. The table assembly of claim 1 or 2, further comprising at least one rail extending parallel to and along the length dimension of the tabletop at a height below the tabletop.

9. The table assembly of claim 8, wherein the rail is translatable relative to the tabletop along the length dimension of the tabletop.

10. The table assembly of claim 9, wherein one or more manipulators are coupled to the at least one rail and translatable along the at least one rail along the length dimension of the tabletop.11 .A table assembly for supporting a body of a patient during a medical procedure, the table assembly comprising: a base structure; and a tabletop supported by the base structure and defining a length dimension and a width dimension,wherein the tabletop comprises a first section and a second section coupled together and rotatable relative to each other about a pivot axis extending in the width dimension, and wherein one or both of the first and second sections are extendable in length.

12. The table assembly of claim 11 , wherein the first and second sections together form a mid-body support section of the tabletop.

13. The table assembly of claim 12, wherein the tabletop further comprises a head support section and a foot support section, the mid-body support section being positioned between the head support section and the foot support section.

14. The table assembly of any one of claims 11-13, wherein, when a length of the one or both of the first and second sections is extended, the first and second sections are at a non-parallel angle relative to each other and together define an angled patient support surface of varying height.

15. The table assembly of claim 14, wherein, when the length of the one or both of the first and second sections is extended, the pivot axis forms an apex of the angled patient support surface.

16. The table assembly of any one of claims 11 -13, further comprising at least one rail extending parallel to and along the length dimension of the tabletop at a height below the tabletop.

17. The table assembly of claim 16, wherein one or more manipulators are coupled to the at least one rail.

18. The table assembly of claim 17, wherein, when a length of the one or both of the first and second sections is extended, the first and second sections are at a non-parallelangle relative to each other and together define an angled patient support surface that is situated completely at or above the at least one rail.

19. The table assembly of any one of claims 11 -13, further comprising an actuation mechanism configured to rotate the first section relative to the second section about the pivot axis.

20. The table assembly of claim 19, wherein the actuation mechanism comprises an electric motor, a hydraulic actuation mechanism, and / or an electromechanical clutch mechanism.21 .A table assembly for supporting a body of a patient during a medical procedure, the table assembly comprising: a base structure; a tabletop supported by the base structure and defining a length dimension and a width dimension; and at least one rail extending parallel to and along the length dimension of the tabletop at a height below the tabletop; wherein the tabletop comprises: a head support section; a foot support section; and a mid-body support section between the head support section and the foot support section, wherein the mid-body support section comprises a first mid-body support section and a second mid-body support section coupled to each other and rotatable relative to each other about a first pivot axis, wherein the first mid-body support section is coupled to the head support section and rotatable relative to the head support section about a second pivot axis and the second mid-body support section is coupled to the foot support section and rotatable relative to the foot support section about a third pivot axis, andwherein rotation of the first mid-body support section and the second mid-body support section relative to each other about the first pivot axis causes rotation of the first midbody support section relative to the head support section about the second pivot axis and rotation of the second mid-body support section relative to the foot support section about the third pivot axis.

22. A table assembly for supporting a body of a patient during a medical procedure, the table assembly comprising: a base structure; a tabletop supported by and tiltable about the base structure, the tabletop defining a length dimension and a width dimension, the tabletop comprising: a head support section, a foot support section, and a mid-body support section between the head support section and the foot support section, wherein the head support section is pivotably coupled to and rotatable relative to the mid-body support section, and wherein the foot support section is pivotably coupled to and rotatable relative to the midbody support section; and a support member overlying at least the mid-body support section of the tabletop, the support member configured to be positionable throughout a range of motion between a first position and a second position, the support member having a planar surface profile overlying the mid-body support section in the first position and a convex surface profile elevated away from the mid-body support section in the second position, the support member configured to support a body of a patient throughout the range of motion.

23. A method of configuring a table assembly for supporting a body of a patient during a medical procedure, the method comprising: moving a segment of a tabletop configured to support a patient from a first position comprising a planar upper surface profile of the tabletop to a second position comprising an arched upper surface profile of the tabletop,wherein ends of the segment are fixed throughout a range of motion from the first position to the second position.

24. The method of claim 23, wherein moving the segment from the first position to the second position comprises moving a support member of the tabletop relative to a framework structure of the tabletop, while maintaining the framework structure in a stationary position.

25. The method of claim 23 or 24, wherein moving the segment from the first position to the second position comprises rotating a first section relative to a second section about a pivot axis extending along a width dimension of the tabletop.

26. The method of claim 25, wherein moving the segment from the first position to the second position comprises extending a length of one or both of the first and second sections.

27. The method of claim 25, wherein moving the segment from the first position to the second position comprises moving a mid-body support section from the first position to the second position, the mid-body support section being positioned between a head support section and a foot support section.

28. The method of claim 27, wherein moving the mid-body support section from the first position to the second position comprises bending a back and / or a spine of the patient supported by the tabletop.

29. The method of claim 27, wherein moving the mid-body support section from the first position to the second position comprises actuating an electric motor, a hydraulic actuation mechanism, and / or an electromechanical clutch mechanism.

30. The method of claim 27, further comprising moving at least one end of the midbody support section horizontally while moving the mid-body support section from the first position to the second position.

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