Wheeled cart with vibration reduction device, and related systems and methods

Patent metadata

Field	Value
Publication number	US-10464219-B2
Application number	US-201816039599-A
Country	US
Kind code	B2
Filing date	Jul 19, 2018
Priority date	Mar 17, 2014
Publication date	Nov 5, 2019
Grant date	Nov 5, 2019

Abstract

A method of controlling a vibration reduction member of a patient side cart for a teleoperated surgical system includes detecting an occurrence of a first event corresponding to preparation of the patient side cart for a surgical procedure, and issuing a command signal to an actuation device to deploy the vibration reduction member to contact a ground surface upon which the patient side cart is located.

First claim

What is claimed is:

1. A method of controlling a vibration reduction member of a patient side cart for a teleoperated surgical system, the method comprising:
detecting an occurrence of a first event corresponding to preparation of the patient side cart for a surgical procedure; and
in response to detecting the occurrence of the first event, issuing a command signal to an actuation device to deploy the vibration reduction member from the base of the patient side cart to position the vibration reduction member in contact with a ground surface upon which the patient side cart is located.

2. The method of claim 1 , wherein the first event comprises mounting a cannula to a manipulator arm of the patient side cart.

3. The method of claim 1 , further comprising:
detecting the occurrence of a second event corresponding to ending the surgical procedure; and
issuing a command signal to the actuation device to remove the vibration reduction member from contact with the ground surface.

4. The method of claim 3 , wherein the second event is removal of a cannula mounted to the patient side cart.

5. The method of claim 4 , wherein the cannula is a last cannula remaining mounted to the patient side cart after completion of a surgical procedure.

6. The method of claim 3 , wherein the second event comprises actuation of an actuatable switch associated with a steering interface of the patient side cart.

7. The method of claim 1 , wherein the actuation device comprises a hydraulic piston-cylinder device, and wherein issuing the command signal causes hydraulic pressure to be applied to the hydraulic piston-cylinder device to deploy the vibration reduction member.

8. The method of claim 1 , wherein issuing the command signal comprises overcoming a force applied by a biasing device configured to bias the vibration reduction member to a retracted position relative to the base.

9. The method of claim 1 , wherein the first event comprises release of an actuatable switch of a steering interface of the patient side cart.

10. The method of claim 1 , further comprising issuing a second command signal to engage a lock that prevents rotation of a wheel of the patient side cart.

11. The method of claim 1 , wherein the patient side cart comprises a base, a boom extending from the base, one or more manipulator arms coupled to the boom, and one or more wheels attached to the base and supporting the cart on a ground surface.

12. The method of claim 11 , wherein detecting an occurrence of a first event corresponding to preparation of the patient side cart for a surgical procedure comprises detecting a cannula being mounted to one of the one or more manipulator arms.

13. A method of stabilizing a patient side cart of a teleoperated surgical system, the method comprising:
in response to a detected state of the patient side cart, selectively extending or retracting a vibration reduction member relative to a base of the patient side cart,
wherein extending the vibration reduction member places the vibration reduction member in an extended position in contact with a ground surface upon which the patient side cart is located, and
wherein retracting the vibration reduction member places the vibration reduction member in a retracted position not in contact with the ground surface upon which the patient side cart is located.

14. The method of claim 13 , wherein:
selectively extending or retracting the vibration reduction member comprises actuating a pneumatic device operably coupled to the vibration reduction member.

15. The method of claim 13 , wherein:
in the retracted position, a biasing force is exerted on the vibration reduction member to hold the vibration reduction member in the retracted position, and
extending the vibration reduction member comprises exerting a force sufficient to overcome the biasing force.

16. The method of claim 15 , wherein selectively retracting the vibration reduction member from the ground surface comprises releasing the force sufficient to overcome the biasing force.

17. The method of claim 13 , wherein selectively extending the vibration reduction member occurs in response to detection of a cannula being mounted to a manipulator arm of the patient side cart.

18. The method of claim 13 , wherein selectively retracting the vibration reduction member occurs in response to detection of a cannula being removed from the manipulator arm.

19. The method of claim 13 , further comprising engaging a lock to prevent rotation of at least one wheel of the patient side cart while the vibration reduction member is in contact with the ground surface.

20. The method of claim 13 , further comprising retracting the vibration reduction member in response to a user manually actuating a release system operably coupled to the vibration reduction member.

21. A method of stabilizing a cart of a teleoperated surgical system, the method comprising:
from an initial retracted position relative to a base of the cart and out of contact with a ground surface on which the cart is located, moving a vibration reduction member from the initial retracted position and into contact with the ground surface;
wherein moving the vibration reduction member comprises exerting a force on the vibration reduction member sufficient to overcome a biasing force holding the vibration reduction member in the initial retracted position.

22. The method of claim 21 , wherein moving the vibration reduction member comprises extending the vibration reduction member in a translational motion from the base along a direction normal to the ground surface.

23. The method of claim 21 , wherein moving the vibration reduction member comprises actuating an electric motor operably coupled to the vibration reduction member.

Assignees

• Intuitive Surgical Operations

Inventors

• Robinson David
• Cavalier Matthew R
• Dachs Gregory W
• Hanuschik Michael
• Jiang Jason
• Mohr Paul W
• Schena Bruce M
• Zimmer Mark W

Classifications

• B62B5/049

  locking against movement by contacting the floor or a wall · CPC title

• A61B2017/00539

  hydraulically · CPC title

• A61B2090/064

  for measuring force, pressure or mechanical tension · CPC title

• A61B34/30 Primary

  Surgical robots · CPC title

• B25J5/007

  mounted on wheels · CPC title