Cart for robotic arms and method and apparatus for cartridge or magazine loading of arms

Patent metadata

Field	Value
Publication number	US-10913145-B2
Application number	US-201715785291-A
Country	US
Kind code	B2
Filing date	Oct 16, 2017
Priority date	Jun 20, 2017
Publication date	Feb 9, 2021
Grant date	Feb 9, 2021

Abstract

Apparatus and methods for providing a robotic arm cart for transporting, delivering, and securing robotic arms to a surgical table having a tabletop on which a patient can be disposed are described herein. In some embodiments described herein an arm cart can contain multiple robotic arms. A robotic arm can be selected and moved from a storage position within the arm cart to a deployment position in which at least a portion of that robotic arm protrudes from the arm cart. A robotic arm in a deployment position can be coupled to a surgical table and decoupled from the arm cart.

First claim

What is claimed is:

1. An apparatus, comprising:
a plurality of robotic arms, each robotic arm from the plurality of robotic arms configured to be coupled to a surgical table; and
an arm cart configured to contain the plurality of robotic arms, a robotic arm from the plurality of robotic arms movable within the arm cart between a first storage position within the arm cart, a second storage position within the arm cart, and a deployment position, the robotic arm oriented vertically and disposed entirely within the arm cart in the first storage position and the second storage position, the robotic arm oriented horizontally and at least a portion of the robotic arm arranged to protrude from the arm cart in the deployment position such that the portion of the robotic arm is configured to mate with the surgical table.

2. The apparatus of claim 1 , further comprising a release mechanism configured to release the robotic arm from the arm cart.

3. The apparatus of claim 1 , wherein the robotic arm is configured to translate along a horizontal axis between the first storage position and the second storage position.

4. The apparatus of claim 1 , wherein the robotic arm is configured to pivot about a horizontal axis between the second storage position and the deployment position.

5. The apparatus of claim 1 , wherein:
the robotic arm is a first robotic arm, the apparatus further includes a second robotic arm from the plurality of robotic arms;
the second robotic arm is movable between a third storage position in a middle portion of the arm cart and a fourth storage position in a rear portion of the arm cart;
the second robotic arm configured to move from the third storage position to the fourth storage position before the first robotic arm is moved to the deployment position, the first robotic arm configured to pivot from the first storage position to the deployment position, the fourth storage position arranged to provide clearance for the first robotic arm to move into the deployment position.

6. The apparatus of claim 1 , wherein:
the robotic arm is a first robotic arm, the apparatus further includes a second robotic arm from the plurality of robotic arms;
the deployment position is a first deployment position;
the second robotic arm is movable between a third storage position, a fourth storage position, and a second deployment position; and
the second robotic arm configured to move from the third storage position to the second deployment position when the first robotic arm is in the second storage position.

7. A method for transferring robotic arms to a surgical table, the method comprising:
moving an arm cart containing a plurality of robotic arms from a storage location to a surgical table;
pivoting a robotic arm from the plurality of robotic arms from a vertical storage position to a horizontal deployment position;
sliding the robotic arm horizontally towards the surgical table;
coupling the robotic arm to the surgical table; and
decoupling the robotic arm from the arm cart.

8. The method of claim 7 , wherein the robotic arm is a first robotic arm from the plurality of robotic arms, and the robotic arm is coupled to a first position of the surgical table, the method further comprising:
moving the arm cart from the first location of the surgical table to a second location of the surgical table;
pivoting a second robotic arm from the plurality of robotic arms from a vertical storage position to a horizontal deployment position; and
coupling the second robotic arm to the second position of the surgical table.

9. The method of claim 7 , further comprising:
recoupling the robotic arm to the arm cart;
decoupling the robotic arm from the surgical table; and
pivoting the robotic arm to the vertical storage position after decoupling the robotic arm from the surgical table.

10. The method of claim 7 , wherein:
the robotic arm is a first robotic arm, and the first robotic arm is pivoted to the horizontal deployment position while a second robotic arm from the plurality of robotic arms is disposed within the arm cart, and
the surgical table is a first surgical table, the method further comprising:
recoupling the first robotic arm to the arm cart
decoupling the first robotic arm from the first surgical table;
pivoting the robotic arm to the vertical storage position after decoupling the first robotic arm from the first surgical table;
moving the arm cart to a second surgical table;
pivoting the second robotic arm a vertical storage position to a horizontal deployment position while the first robotic arm is disposed within the arm cart;
sliding the second robotic arm horizontally towards the second surgical table; and
coupling the second robotic arm to the second surgical table.

Assignees

• Verb Surgical Inc

Inventors

• Cagle David James
• GROUT Wayne
• Lim Seung Mo
• Koenig Karen Shakespear
• Wiggers Robert T

Classifications

• B62B2203/07

  Comprising a moving platform or the like, e.g. for unloading · CPC title

• B62B2203/04

  pivotally, e.g. for keeping it horizontally · CPC title

• B62B3/005

  Details of storage means, e.g. drawers, bins or racks · CPC title

• B62B3/00

  Hand carts having more than one axis carrying transport wheels; Steering devices therefor; Equipment therefor {(convertible from one-axled to two-axled vehicle B62B1/002)} · CPC title

• B60P1/6418

  the load-transporting element being a container or similar · CPC title