Surgical Table Coupler With Kinematic Locking for Robotic Arm Alignment

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Solution Overview

Problem

Conventional robotic arm coupling mechanisms to surgical tables are cumbersome, require specialized training for installation and removal, and can lead to misalignment and damage due to lack of precise alignment and support during coupling and de-coupling.

Innovation Solution

An apparatus and method for securely coupling a robotic arm to a surgical table using a coupler with kinematic mounts and a quick-release mechanism, allowing for precise alignment and easy detachment, with features such as ball bearings and a handle for secure locking.

Engineering Contradictions & Design Principles

VSEngineering Contradiction Analysis

1Stability of the object's composition

If conventional robotic arms are fixed to the surgical table, then mechanical support and stability are improved, but the ability to remove and service the robotic arms is worsened

Engineering Contradiction:

Improvemechanical supportVSAvoidremoval and servicing

Core Design Contradiction:

Stability of the object's compositionVSEase of operation

Solution Approach 1:

The coupling mechanism is divided into separate components: a coupling mechanism on the surgical table and a corresponding coupling interface on the robotic arm. This segmentation allows the robotic arm to be securely attached during operation while enabling easy separation for servicing, resolving the contradiction between stability and ease of removal.

Inventive Principle:

Principle #1Segmentation

Solution Approach 2:

The coupling mechanism transitions from a static fixed connection to a dynamic system that can be easily engaged and disengaged. The quick-release feature allows the coupling state to change from locked to unlocked, providing both stable support during use and easy removal when needed.

Inventive Principle:

Principle #15Dynamics

2Reliability

If conventional coupling mechanisms are used, then the robotic arm can be attached to the surgical table, but precise alignment and positioning are worsened

Engineering Contradiction:

Improvecoupling reliabilityVSAvoidalignment precision

Core Design Contradiction:

ReliabilityVSMeasurement precision

Solution Approach 1:

The alignment process is enhanced by replacing manual mechanical alignment with an automated alignment mechanism. The system automatically positions and orients the robotic arm relative to the surgical table, ensuring precise alignment without relying on operator skill or manual adjustment.

Inventive Principle:

Principle #28Mechanics substitution (Replace mechanical system)

Solution Approach 2:

The coupling mechanism incorporates self-aligning features that automatically position the robotic arm correctly during attachment. The alignment protrusions and corresponding recesses guide the robotic arm into the correct position, eliminating the need for manual alignment adjustments.

Inventive Principle:

Principle #25Self-service

3Strength

If conventional coupling mechanisms are used, then the robotic arm can be secured to the surgical table, but the risk of damage during coupling and de-coupling is worsened

Engineering Contradiction:

Improvecoupling strengthVSAvoidrisk of damage

Core Design Contradiction:

StrengthVSObject-affected harmful factors

Solution Approach 1:

The coupling mechanism includes support features that prevent the robotic arm from dropping or being damaged during attachment and detachment. The design incorporates elements that guide and support the robotic arm throughout the coupling process, eliminating the risk of accidental damage.

Inventive Principle:

Principle #11Beforehand cushioning (Prior cushioning)

Solution Approach 2:

The coupling mechanism acts as an intermediary between the robotic arm and surgical table, providing a controlled interface for attachment and detachment. This intermediary structure ensures that forces are distributed safely and prevents direct impact or damage to the robotic arm during coupling operations.

Inventive Principle:

Principle #24Intermediary (Mediator)

4Reliability

If specialized training is required for coupling operations, then proper installation is improved, but the time and cost of servicing are worsened

Engineering Contradiction:

Improveinstallation correctnessVSAvoidservicing time

Core Design Contradiction:

ReliabilityVSLoss of time

Solution Approach 1:

The coupling mechanism is designed to be self-explanatory and self-aligning, with intuitive features that guide the coupling process. Alignment protrusions, corresponding recesses, and clear engagement indicators allow anyone to properly couple the robotic arm without specialized training, reducing both time and cost of servicing.

Inventive Principle:

Principle #25Self-service

Data Source

PatentEP3579783B1Coupler to attach robotic arm to surgical table

Publication Date: 2025.05.07 VERB SURGICAL INC

Figure 1A~1B
Figure 1C~1D
Figure 2A~2B

AI summary

In some embodiments, an apparatus can include a coupler for coupling a robotic arm to a surgical table having a table top on which a patient can be disposed. The coupler can include a first portion configured to couple to a surgical table and a second portion configured to couple to a robotic arm. The second portion may include a post that may translate into the first portion. The first portion may comprise a locking mechanism having one or more stages to constrain movement of the second portion relative to the first portion in six degrees of freedom. The coupler can thus provide secure coupling of the robotic arm to the surgical table.