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

Patent metadata

Field	Value
Publication number	US-11919154-B2
Application number	US-202117140420-A
Country	US
Kind code	B2
Filing date	Jan 4, 2021
Priority date	Mar 17, 2014
Publication date	Mar 5, 2024
Grant date	Mar 5, 2024

Abstract

A method includes moving a stabilization device comprising a stabilization surface relative to a base of a surgical cart, wherein the moving comprises moving the stabilization device from a retracted position in which the stabilization surface is spaced from the ground surface to a deployed position in which the stabilization surface is in contact with the ground surface, and wherein the moving comprises overcoming a biasing force biasing the stabilization device toward the retracted position.

First claim

What is claimed is:

1. A method of operating a surgical cart configured to support a medical instrument during a medical procedure of a teleoperated surgical system, the method comprising:
detecting a first change of state of a manipulator arm of the surgical cart;
in response to detecting the first change of state of the manipulator arm, issuing a command signal to an actuation device to move a stabilization device relative to a base of the surgical cart from a retracted position to a deployed position, wherein a stabilization surface of the stabilization device is in contact with a ground surface on which the surgical cart is supported in the deployed position of the stabilization device and wherein the stabilization surface is not in contact with the ground surface in the retracted position of the stabilization device; and
overcoming a biasing force while moving the stabilization device from the retracted position to the deployed position, the biasing force biasing the stabilization device toward the retracted position.

2. The method of claim 1 , wherein the biasing force is exerted on the stabilization device by a spring.

3. The method of claim 1 , wherein moving the stabilization device comprises moving the stabilization device by actuating a motor operably coupled to the stabilization device.

4. The method of claim 1 , wherein moving the stabilization device from the retracted position to the deployed position comprises moving the stabilization device from a position wherein the stabilization device is fully retracted relative to a bottom surface of the base.

5. The method of claim 1 , further comprising actuating a manual release device operably coupled to the stabilization device to move the stabilization device from the deployed position to the retracted position.

6. The method of claim 1 , wherein the method further comprises moving the stabilization device from the deployed position to the retracted position by moving a cam surface.

7. The method of claim 1 ,
wherein the stabilization device is one of a plurality of stabilization devices; and
the method further comprises moving each of the plurality of stabilization devices from the retracted position to the deployed position.

8. The method of claim 7 , wherein
moving each of the plurality of stabilization devices from the retracted position to the deployed position comprises actuating movement of each of the plurality of stabilization devices via an actuation device.

9. The method of claim 7 , wherein moving each of the plurality of stabilization devices comprises individually actuating movement of each of the plurality of stabilization devices via a respective actuation device of a plurality of actuation devices.

10. The method of claim 7 , further comprising, prior to moving each of the stabilization devices to the deployed position, moving the surgical cart along the ground surface via one or more motorized wheels and one or more non-motorized wheels.

11. The method of claim 10 , wherein in the deployed position of each of the stabilization devices, the one or more motorized wheels and the one or more non-motorized wheels are in contact with the ground surface.

12. The method of claim 1 , wherein the surgical cart is moveable via wheels along the ground surface and the method further comprises locking the wheels to immobilize the surgical cart in the deployed position of the stabilization device.

13. The method of claim 1 , further comprising:
detecting a second change of state of the manipulator arm; and
in response to detecting the second change of state of the manipulator arm, issuing a command signal to the actuation device to move the stabilization device from the deployed position to the retracted position.

14. A method of operating a surgical cart configured to support a medical instrument during a computer-assisted medical procedure, the method comprising:
detecting a first change of state of a manipulator arm of the surgical cart; and:
in response to detecting the first change of state of the manipulator arm, issuing a command signal to an actuation device to move a stabilization device relative to a base of the surgical cart from a retracted position to a deployed position,
wherein, in the deployed position, the stabilization device is in contact with a ground surface on which the surgical cart is supported, and
wherein in the retraced position, the stabilization device is not in contact with the ground surface.

15. The method of claim 14 , wherein detecting the first change of state of the manipulator arm comprises receiving information at a controller that the manipulator arm has changed from a first state to a second state, the first state corresponding to the manipulator arm being unready for a surgical procedure and the second state corresponding to the manipulator arm being ready for the surgical procedure.

16. The method of claim 15 , further comprising:
detecting a second change of state of the manipulator arm by receiving information at the controller that the manipulator arm has changed from the second state to the first state; and
in response to detecting the second change of state of the manipulator arm, issuing a command signal to the actuation device to move the stabilization device from the deployed position to the retracted position.

17. The method of claim 16 , further comprising:
wherein in the first state of the manipulator arm, a cannula is not mounted to the manipulator arm; and
wherein in the second state of the manipulator arm, a cannula is mounted to the manipulator arm.

18. The method of claim 14 , further comprising:
detecting a second change of state of the manipulator arm; and
in response to detecting the second change of state of the manipulator arm, issuing a command signal to the actuation device to move the stabilization device from the deployed position to the retracted position.

19. The method of claim 18 , wherein the first change of state of the manipulator arm comprises mounting a cannula to the manipulator arm, and wherein the second change of state of the manipulator arm comprises removal of the cannula from the manipulator arm.

20. The method of claim 16 , wherein the first change of state of the manipulator arm comprises mounting a cannula to the manipulator arm, and wherein the second change of state of the manipulator arm comprises removal of the cannula from the manipulator arm.

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

• A61B90/06

  Measuring instruments not otherwise provided for · CPC title

• A61B34/70

  Manipulators specially adapted for use in surgery · CPC title

• B25J19/0091 Primary

  Shock absorbers (in general F16F) · CPC title

• A61B34/30 Primary

  Surgical robots · CPC title

• A61B34/35

  for telesurgery · CPC title