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

Patent metadata

Field	Value
Publication number	US-11577382-B2
Application number	US-202017070822-A
Country	US
Kind code	B2
Filing date	Oct 14, 2020
Priority date	Jun 20, 2017
Publication date	Feb 14, 2023
Grant date	Feb 14, 2023

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. A method for delivering one or more robotic arms to a surgical table, the method comprising:
moving an arm cart containing a robotic arm from a storage location to the surgical table;
rotating a rotary mechanism such that the robotic arm moves from a first position to a second position; and
coupling the robotic arm to the surgical table after the robotic arm is in the second position.

2. The method of claim 1 , further comprising sliding the robotic arm in a horizontal direction towards the surgical table from its second position to a third position before coupling the robotic arm to the surgical table.

3. The method of claim 2 , wherein the robotic arm is coupled to the rotary mechanism via a latch, wherein the method further comprises releasing the robotic arm from the latch before sliding the robotic arm in the horizontal direction.

4. The method of claim 1 , wherein the robotic arm is a first robotic arm and the first robotic arm is coupled to a first position of the surgical table, wherein the arm cart contains a second robotic arm, wherein the rotation of the rotary mechanism moves each of the first and second robotic arms simultaneously from a respective first position to a respective second position, the method further comprising:
moving the arm cart from the first position of the surgical table to a second position of the surgical table after coupling the first robotic arm to the first position of the surgical table;
rotating the rotary mechanism such that the second robotic arm moves from the respective second position to a respective third position; and
coupling the second robotic arm to the second position of the surgical table after the second robotic arm is in the respective third position.

5. The method of claim 1 , wherein the robotic arm is a first robotic arm, wherein the arm cart contains a second robotic arm, wherein the rotating of the rotary mechanism moves each of the first and second robotic arms simultaneously from a respective first position to a respective second position, wherein both robotic arms are in a storage configuration within the arm cart when each of the robotic arms are in their respective first positions and the first robotic arm is in a deployment position at least partially outside the arm cart when both robotic arms are in their respective second positions.

6. The method of claim 5 , wherein the second robotic arm is still in the storage configuration within the arm cart when the both robotic arms are in their respective second positions.

7. The method of claim 1 , wherein the rotary mechanism is pentagonal shaped with five sides, each of the five sides is configured to couple to a robotic arm.

8. An apparatus, comprising:
one or more robotic arms, each robotic arm configured to be coupled to a surgical table;
an arm cart configured to contain the one or more robotic arms; and
a rotary mechanism, each robotic arm from the one or more robotic arms configured to be coupled to the rotary mechanism, the rotary mechanism configured to spin to simultaneously move the one or more robotic arms from one or more first positions to one or more second positions.

9. The apparatus of claim 8 , wherein the one or more first positions are all storage positions.

10. The apparatus of claim 8 , wherein one position from the one or more second positions is a deployment position.

11. The apparatus of claim 10 , wherein a remainder of positions that includes the one or more second positions except for the one position are storage positions.

12. The apparatus of claim 8 , wherein a robotic arm from the one or more robotic arms is in a first deployment position when the one or more robotic arms are in the one or more second positions, the robotic arm is configured to slide along the rotary mechanism on a horizontal axis between the first deployment position and a second deployment position, the robotic arm is configured to be coupled to the surgical table in the second deployment position.

13. The apparatus of claim 12 , wherein the robotic arm is coupled to the rotary mechanism via a latch that is configured to release the robotic arm before the robotic arm slides along the rotary mechanism on the horizontal axis.

14. The apparatus of claim 8 , wherein:
a robotic arm from the one or more robotic arms is in a first deployment position when the one or more robotic arms are in the one or more second positions, the robotic arm is configured to slide along the rotary mechanism on a horizontal axis between the first deployment position and a second deployment position, the robotic arm configured to be coupled to the surgical table in the second deployment position; and
a remaining robotic arms that includes the one or more robotic arms except for the robotic arm are in storage positions when the one or more robotic arms are in the one or more second positions.

15. The apparatus of claim 8 , wherein the rotary mechanism is pentagonal shaped with five sides, each of the five sides is configured to couple to a robotic arm.

16. A cart comprising:
an arm container configured to house one or more robotic arms; and
a rotary mechanism, wherein each of the one or more robotic arms is releasably coupled to the rotary mechanism and is in a respective first position at which the robotic arm is entirely disposed within the arm container,
wherein the rotary mechanism is configured to simultaneously move each of the one or more robotic arms from its respective first positions to a respective second position at which at least one robotic arm is at least partially disposed outside the arm container.

17. The cart of claim 16 , wherein
a robotic arm from the one or more robotic arms is in a first deployment position when the one or more robotic arms are in their respective second positions, the robotic arm is configured to slide along the rotary mechanism on a horizontal axis from the first deployment position to a second deployment position, the robotic arm configured to be coupled to the surgical table in the second deployment position; and
a remaining robotic arms that includes the one or more robotic arms except for the robotic arm are in storage positions when the one or more robotic arms are in their respective second positions.

18. The cart of claim 16 , wherein, while the at least one robotic arm is at its respective second position, a remainder of the one or more robotic arms are entirely disposed within the arm container.

19. The cart of claim 16 , wherein a robotic arm from the one or more robotic arms is in a first deployment position when each of the one or more robotic arms are in their respective second positions, the robotic arm is configured to slide along the rotary mechanism on a horizontal axis between the first deployment position and a second deployment position, the robotic arm is configured to be coupled to a surgical table in the second deployment position.

20. The cart of claim 19 , wherein the robotic arm is coupled to the rotary mechanism via a latch that is configured to release the robotic arm before the robotic arm slides along the rotary mechanism on the horizontal axis.

Assignees

• Verb Surgical Inc

Inventors

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

Classifications

• A61B50/20

  Holders specially adapted for surgical or diagnostic appliances or instruments (drapes with means to hold surgical instruments A61B46/23; for catheters A61M25/02) · CPC title

• B25J18/00

  Arms · CPC title

• A61B2090/508

  with releasable brake mechanisms · CPC title

• A61B90/57

  Accessory clamps · CPC title

• B25J9/1689

  Teleoperation · CPC title