Robotic surgical system with rigid bed mount

Patent metadata

Field	Value
Publication number	US-12426962-B2
Application number	US-202117351921-A
Country	US
Kind code	B2
Filing date	Jun 18, 2021
Priority date	Jun 18, 2021
Publication date	Sep 30, 2025
Grant date	Sep 30, 2025

Abstract

A surgical mount system according to at least one embodiment of the present disclosure includes a bed mount, a tubular base attached to the bed mount and comprising a telescoping member slidably coupled with the tubular base, the telescoping member comprising a first end and a second end, wherein the first end is disposed inside the tubular base, and wherein the telescoping member translates linearly along an axis of the tubular base; and a support arm attached to the second end of the telescoping member, the support arm having a length running from a proximal end to a distal end, wherein the support arm rotates relative to the bed mount about the axis of the tubular base.

First claim

What is claimed is:

1. A system, comprising:
a bed mount attached to a surgical bed adjacent an operating table surface of the surgical bed;
a tubular base extending from an upper end of the tubular base to a lower end of the tubular base, the tubular base fixedly attached to the bed mount at the upper end of the tubular base, wherein the upper end of the tubular base is arranged adjacent the operating table surface of the surgical bed, wherein the lower end of the tubular base is arranged beneath the operating table surface of the surgical bed and offset a clearance height from a floor, wherein the tubular base comprises a telescoping member slidably coupled with the tubular base, the telescoping member comprising a first end and a second end, wherein the first end is disposed inside the tubular base, and wherein the telescoping member translates linearly along an axis of the tubular base; and
a support arm attached to the second end of the telescoping member, the support arm having a length running from a proximal end to a distal end, wherein the support arm rotates relative to the bed mount about the axis of the tubular base, and wherein the telescoping member rotates relative to the tubular base allowing the support arm to rotate relative to the bed mount about the axis of the tubular base.

2. The system of claim 1 , wherein the bed mount comprises a fixed and completely constrained interface between the tubular base and a surgical bed.

3. The system of claim 2 , wherein the support arm further comprises a surgical arm mount disposed at the distal end of the support arm, and wherein the surgical arm mount provides a revolute joint interface between the support arm and a surgical arm.

4. The system of claim 2 , further comprising:
a first degree of freedom between the bed mount and the telescoping member corresponding to a linear translational degree of freedom of the system; and
a second degree of freedom between the support arm and the bed mount corresponding to a rotational degree of freedom of the system,
wherein the system comprises a total of two degrees of freedom between the bed mount and the support arm, the two degrees of freedom comprising only the first degree of freedom and the second degree of freedom.

5. The system of claim 1 , wherein the support arm comprises a prismatic joint that provides linear translation of the distal end of the support arm relative to the axis of the tubular base.

6. The system of claim 1 , wherein the telescoping member is rotationally fixed relative to the tubular base and a rotational degree of freedom is disposed between the support arm and the second end of the telescoping member allowing the support arm to rotate relative to the bed mount and the telescoping member about the axis of the tubular base.

7. The system of claim 1 , wherein at least one of the tubular base and the telescoping member is circular in cross-section, and wherein an axis of the telescoping member coincides with the axis of the tubular base.

8. A robotic system, comprising:
a surgical bed comprising a rigid frame configured to position a patient at a height offset from a floor;
a bed mount fixedly attached to the rigid frame of the surgical bed adjacent an operating table surface of the surgical bed;
a tubular base extending from an upper end of the tubular base to a lower end of the tubular base, the tubular base fixedly attached to the bed mount at the upper end of the tubular base, wherein the upper end of the tubular base is arranged adjacent the operating table surface of the surgical bed, wherein the lower end of the tubular base is arranged beneath the operating table surface of the surgical bed and offset a clearance height from a floor, wherein the tubular base comprises a telescoping member slidably coupled with the tubular base, the telescoping member comprising a first end and a second end, wherein the first end is disposed inside the tubular base, and wherein the telescoping member translates linearly along an axis of the tubular base; and
a support arm attached to the second end of the telescoping member, the support arm having a length running from a proximal end to a distal end, wherein the support arm rotates relative to the bed mount about the axis of the tubular base,
wherein the tubular base, the telescoping member, and the support arm are supported by the bed mount, wherein no portion of the tubular base, the telescoping member, and the support arm contact the floor, and wherein the telescoping member rotates relative to the tubular base allowing the support arm to rotate relative to the bed mount about the axis of the tubular base.

9. The robotic system of claim 8 , wherein the clearance height is maintained during operation of the robotic system.

10. The robotic system of claim 9 , wherein a majority of the tubular base is arranged beneath the operating table surface of the surgical bed in a space disposed the operating table surface of the surgical bed and the floor.

11. The robotic system of claim 8 , further comprising:
a surgical arm attached to the distal end of the support arm, wherein the surgical arm is attached at a revolute joint disposed between the support arm and the surgical arm, and wherein the surgical arm comprises a robotic mechanism having at least five degrees of freedom.

12. The robotic system of claim 8 , further comprising:
a first degree of freedom between the bed mount and the telescoping member corresponding to a linear translational degree of freedom of the robotic system; and
a second degree of freedom between the support arm and the bed mount corresponding to a rotational degree of freedom of the robotic system,
wherein the robotic system comprises a total of two degrees of freedom between the bed mount and the support arm, the two degrees of freedom comprising only the first degree of freedom and the second degree of freedom.

13. The robotic system of claim 8 , wherein the support arm comprises a prismatic joint that provides linear translation of the distal end of the support arm relative to the axis of the tubular base.

14. The robotic system of claim 8 , wherein the telescoping member is rotationally fixed relative to the tubular base and a rotational degree of freedom is disposed between the support arm and the second end of the telescoping member allowing the support arm to rotate relative to the bed mount and the telescoping member about the axis of the tubular base.

15. The robotic system of claim 8 , wherein at least one of the tubular base and the telescoping member is polygonal in cross-section, and wherein an axis of the telescoping member coincides with the axis of the tubular base.

16. A robotic system, comprising:
a bed mount bracket attached to a surgical bed adjacent an operating table surface of the surgical bed;
a column extending from an upper end of the column to a lower end of the column, the column fixedly attached to the bed mount bracket at the upper end of the column, wherein the upper end of the column is arranged adjacent the operating table surface of the surgical bed, wherein the lower end of the column is arranged beneath the operating table surface of the surgical bed and offset a clearance height from a floor, wherein the column comprises a telescoping member comprising a first end disposed inside the column between the operating table surface of the surgical bed and the floor, wherein the first end is configured to linearly translate along an axis of the column relative to the bed mount bracket in a space between the operating table surface of the surgical bed and the floor during operat

Assignees

• Mazor Robotics Ltd

Inventors

• Kopito Dor
• Seemann Ziv
• Eshed Gal
• Keret Amir
• Dori Nimrod
• Eshel Itamar
• Chen Yuval
• Ofer Nir
• Ben Zeev Ori

Classifications

• B25J17/02

  Wrist joints · CPC title

• A61G13/101

  Clamping means for connecting accessories to the operating table (supports as part of surgical instruments A61B90/50) · CPC title

• A61B2090/571

  for clamping a support arm to a bed or other supports · CPC title

• A61B90/57

  Accessory clamps · CPC title

• G16H30/40

  for processing medical images, e.g. editing · CPC title