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

Patent metadata

Field	Value
Publication number	US-10668633-B2
Application number	US-201916577381-A
Country	US
Kind code	B2
Filing date	Sep 20, 2019
Priority date	Mar 17, 2014
Publication date	Jun 2, 2020
Grant date	Jun 2, 2020

Abstract

A surgical cart assembly may comprise a base portion. The base portion also includes a plurality of wheels coupled to the base portion and arranged to permit wheeled movement of the surgical cart assembly. The cart also includes a column extending vertically from the base portion, and a manipulator arm coupled to an end portion of the column opposite to a location of the base portion. The cart further comprises a stabilization assembly coupled to the base portion, the stabilization assembly may include a piston assembly moveable between a retracted position and a deployed position, and an actuation device operably coupled to the piston assembly to actuate the piston assembly between the retracted position and the deployed position. The piston assembly in the retracted position is retracted away from a ground surface on which the cart assembly is supported, and the piston assembly in the deployed position is in contact with the ground surface.

First claim

What is claimed is:

1. A surgical cart assembly, comprising:
a base portion;
a plurality of wheels coupled to the base portion and arranged to permit wheeled movement of the surgical cart assembly;
a column extending vertically from the base portion;
a manipulator arm coupled to an end portion of the column opposite to a location of the base portion; and
a stabilization assembly coupled to the base portion, the stabilization assembly comprising:
a piston assembly moveable between a retracted position and a deployed position,
an actuation device operably coupled to the piston assembly to actuate the piston assembly between the retracted position and the deployed position,
the piston assembly in the retracted position being retracted away from a ground surface on which the cart assembly is supported, and
the piston assembly in the deployed position being in contact with the ground surface.

2. The surgical cart assembly of claim 1 , further comprising a spring coupled to the piston assembly, the spring exerting a biasing force to bias the piston assembly toward the retracted position.

3. The surgical cart assembly of claim 2 , wherein the actuation device is configured to exert on the piston assembly a force sufficient to overcome the biasing force of the spring and to move the piston assembly from the retracted position to the deployed position.

4. The surgical cart assembly of claim 1 , wherein the actuation device comprises a motor.

5. The surgical cart assembly of claim 1 , wherein the actuation device comprises a hydraulic pressure system operably coupled to control hydraulic pressure acting on the piston assembly.

6. The surgical cart assembly of claim 5 , wherein the hydraulic pressure system comprises a pump fluidically coupled to the piston assembly.

7. The surgical cart assembly of claim 5 , wherein the hydraulic pressure system further comprises a release valve operable to release a hydraulic pressure acting on the piston assembly to move the piston assembly from the deployed position to the retracted position.

8. The surgical cart assembly of claim 1 , wherein the plurality of wheels comprises one or more caster wheels.

9. The surgical cart assembly of claim 8 , wherein the plurality of wheels further comprises one or more motorized wheels.

10. The surgical cart assembly of claim 1 , further comprising two or more piston assemblies and two or more springs, wherein:
the piston assembly is one of the two or more piston assemblies; and
the spring is one of the two or more springs.

11. The surgical cart assembly of claim 1 , wherein the plurality of wheels are in contact with the ground surface in the deployed position of the piston assembly.

12. The surgical cart assembly of claim 1 , further comprising:
two or more piston assemblies;
two or more springs; and
two or more actuation devices;
wherein:
the piston assembly is one of the two or more piston assemblies,
the spring is one of the two or more springs,
the actuation device is one of the two or more actuation devices, and
each of the two or more actuation devices causes independent movement between the retracted position and the deployed position of the respective piston assembly of the two or more piston assemblies to which an actuation device of the two or more actuation devices is operably coupled.

13. The surgical cart assembly of claim 1 , wherein in the deployed position of the piston assembly, the wheeled movement of the cart assembly is locked to immobilize the cart assembly.

14. The surgical cart assembly of claim 1 , wherein the actuation device comprises a manual release device operably coupled to the piston assembly to manually move the piston assembly from one or both of the deployed position and the retracted position.

15. The surgical cart assembly of claim 1 , wherein:
the actuation device further comprises a cam surface; and
movement of the cam surface causes the piston assembly to move from the deployed position to the retracted position.

16. The surgical cart assembly of claim 1 , wherein the plurality of wheels comprises at least three wheels.

17. The surgical cart assembly of claim 1 , further comprising a locking mechanism operably coupled to lock the plurality of wheels from rotating.

18. The surgical cart assembly of claim 1 , wherein:
the piston assembly comprises a support surface configured to contact the ground surface in the deployed position of the piston assembly; and
in the deployed position of the piston assembly, the cart assembly is at least in part supported by the support surface in contact with the ground surface.

19. A surgical cart assembly comprising:
a base portion;
a plurality of wheels coupled to the base portion, the plurality of wheels supporting the surgical cart assembly during wheeled movement of the surgical cart assembly over a ground surface;
a surgical instrument manipulator arm supported by the base portion; and
a stabilization assembly coupled to the base portion, the stabilization assembly comprising:
a piston assembly movable between a deployed position and a retracted position, and
an actuation device,
the piston assembly being in contact with the ground surface when the actuation device has moved the piston assembly to the deployed position, and
the piston assembly being retracted away from the ground surface when the actuation device has moved the piston assembly to the retracted position.

20. The surgical cart assembly of claim 19 , wherein:
the stabilization assembly comprises a second piston assembly;
the second piston assembly is movable between a deployed position and a retracted position;
the second piston assembly is in contact with the ground surface when the actuation device has moved the second piston assembly to the deployed position of the second piston assembly; and
the second piston assembly is retracted from the ground surface when the actuation device has moved the second piston assembly to the retracted position of the second piston assembly.

21. The surgical cart assembly of claim 19 , wherein:
the stabilization assembly comprises a spring;
the spring having a position to exert a biasing force on the piston assembly;
the piston assembly urged toward the retracted position by the biasing force; and
the piston assembly being moveable to the deployed position in response to the actuation device overcoming the biasing force exerted by the spring.

22. The surgical cart assembly of claim 19 , wherein:
a first wheel of the plurality of wheels has a locked state; and
the first wheel is in the locked state in the deployed position of the piston assembly.

23. The surgical cart assembly of claim 19 , wherein:
the retracted position is a fully retracted position;
the piston assembly is movable between the deployed position and a first stage retracted position;
a first distance exists between the ground surface and the piston assembly in the first stage retracted position of the piston assembly;
a second distance exists between the ground surface and the piston assembly in the fully retracted position; and
the first distance is less than the second distance.

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

• A61B2090/064

  for measuring force, pressure or mechanical tension · CPC title

• A61B2017/00539

  hydraulically · CPC title

• B62B5/049

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

• A61B34/70

  Manipulators specially adapted for use in surgery · CPC title

• B25J19/0091 Primary

  Shock absorbers (in general F16F) · CPC title