Hook and pivot electro-mechanical interface for robotic medical arms

Patent metadata

Field	Value
Publication number	US-9586327-B2
Application number	US-60990506-A
Country	US
Kind code	B2
Filing date	Dec 12, 2006
Priority date	Dec 20, 2005
Publication date	Mar 7, 2017
Grant date	Mar 7, 2017

Abstract

A robotic medical system that includes a quick-connect/disconnect feature to facilitate the connecting and disconnecting of a robotic medical arm to and from a set-up arm is disclosed. The robotic medical system includes a robotic medical arm including an interface having a downward-oriented hook located at an upper portion thereof, and an electrical connector located at a lower portion thereof. The system further includes a set-up arm including an interface having an upward-oriented hook located at an upper portion thereof, and an electrical connector located at a lower portion thereof. To connect the robotic medical arm to the set-up arm, a user links the downward-oriented hook to the upward-oriented hook, and pivots the robotic medical arm until the respective electrical connectors mate with each other. To disconnect the robotic medical arm from the set-up arm, a user pivots the robotic medical arm to disconnect the electrical connectors, and then de-links the hooks.

First claim

What is claimed is:

1. A robotic medical system, comprising:
a detachable robotic medical arm to maneuver a tool, the detachable robotic medical arm including a first interface having
a first hook in a top portion of the first interface,
a tapered alignment protrusion, and
a first electrical connector below the first hook and the tapered alignment protrusion;

a set-up arm to support the detachable robotic medical arm, the set-up arm including a second interface to couple to the first interface of the detachable robotic medical arm, the second interface having
a second hook in a top portion of the second interface,
a chamfer above the second hook,
an alignment recess adapted to couple with the tapered alignment protrusion,
a second electrical connector below the chamfer, second hook, and alignment recess,
wherein the first hook to directly link to and pivot about the second hook to couple the detachable robotic medical arm to the set-up arm.

2. The robotic medical system of claim 1 , wherein
the first hook is a downward oriented hook; and
the second hook is an upward oriented hook.

3. The robotic medical system of claim 1 , wherein
the first hook is an upward oriented hook; and
the second hook is a downward oriented hook.

4. The robotic medical system of claim 1 , wherein
the alignment recess is an opening and
the tapered alignment protrusion is a tab.

5. The robotic medical system of claim 1 , wherein
the second interface of the set-up arm further includes a third hook parallel to the second hook separated by the alignment recess; and
the first hook is adapted to link and pivot with respect to the second and third hooks to couple the robotic medical arm to the set-up arm.

6. The robotic medical system of claim 1 , wherein
the second interface of the set-up arm further includes a third hook parallel to the second hook separated by the alignment recess;
the first interface of the robotic medical arm further includes a fourth hook parallel to the first hook separated by the tapered alignment protrusion; and
the first and fourth hooks are adapted to link and pivot with respect to the second and third hooks to couple the robotic medical arm to the set-up arm.

7. The robotic medical system of claim 1 , wherein
the first electrical connector is located in a bottom portion of the first interface opposite the top portion of the first interface;
the second electrical connector is located in a bottom portion of the second interface opposite the top portion of the second interface; and
the first hook is adapted to link and pivot with respect to the second hook to couple the first electrical connector of the robotic medical arm with the second electrical connector of the set-up arm.

8. The robotic medical system of claim 7 , wherein
the first electrical connector is movable with respect to the first interface to facilitate the mating of the first electrical connector to the second electrical connector.

9. The robotic medical system of claim 7 , wherein
the second electrical connector is movable with respect to the second interface to facilitate the mating of the second electrical connector to the first electrical connector.

10. The robotic medical system of claim 7 , wherein
the first and second electrical connectors are movable with respect to the first and second interfaces to facilitate the mating of the first electrical connector to the second electrical connector.

11. The robotic medical system of claim 10 , wherein
the first and second electrical connectors are linearly movable with respect to the first and second interfaces.

12. The robotic medical system of claim 1 , further comprising:
a fastener to secure the first interface to the second interface.

13. The robotic medical system of claim 12 , wherein
the fastener is one or more bolts.

14. The robotic medical system of claim 12 , wherein
the fastener is a latch.

15. The robotic medical system of claim 7 , wherein
the first interface includes a motor for moving the robotic medical arm.

16. The robotic medical system of claim 15 , wherein
the motor is adapted to receive power and/or control signals by way of the first and second electrical connectors.

17. The robotic medical system of claim 7 , wherein
the robotic medical arm includes
a plurality of links serially connected to each other by way of one or more pivotable joints, respectively;
a drive train to pivot the plurality of links with respect to each other about the one or more pivotable joints; and
wherein the drive train is adapted to receive power and/or control signals by way of the first and second electrical connectors.

18. A detachable robotic medical arm, comprising:
a plurality of links pivotally coupled together in series to maneuver a tool;
a first motor coupled to at least one of the plurality of links to pivot the plurality of links; and
a drive mount pivotally coupled to a first link of the plurality of links, the drive mount having an electro-mechanical interface at a first end of the drive mount, the electro-mechanical interface including
one or more first hooks,
a first electrical connector positioned in different portions of the electro-mechanical interface, and
a tapered alignment protrusion adjacent to the one or more first hooks;
wherein the one or more first hooks to hook directly onto and pivot in one or more second hooks of a setup joint bracket of a set-up arm, the setup joint bracket to include a chamfer above the one or more second hooks, the tapered protrusion to align with and insert into a slot in the setup joint bracket, the first electrical connector to mate with a second electrical connector of the setup joint bracket of the set-up arm to provide one or more control signals to control the first motor.

19. The detachable robotic medical arm of claim 18 , wherein
the first electrical connector is further configured to mate with the second electrical connector of the setup joint bracket of the set-up arm to provide power to the first motor.

20. The detachable robotic medical arm of claim 18 , wherein
the drive mount further has a second electrical motor to pivot the plurality of links; and the first electrical connector further to mate with the second electrical connector of the setup joint bracket of the set-up arm to provide control signals to control the second motor.

21. The detachable robotic medical arm of claim 18 , wherein
the drive mount further has a latch to couple to a keeper of the setup bracket to rigidly couple the robotic medical arm to the set-up arm.

22. The detachable robotic medical arm of claim 18 , wherein
the first electrical connector of the drive mount has a pair of tapered alignment pins to couple into a pair of alignment holes in the second electrical connector of the setup bracket to align the first and second electrical connectors together.

Assignees

• Schena Bruce M
• Intuitive Surgical Operations

Inventors

• Schena Bruce M

Classifications

• B25J19/0029 Primary

  arranged within the different robot elements · CPC title

• A61B34/30 Primary

  Surgical robots · CPC title

• A61B2017/00526

  Methods of manufacturing · CPC title

• A61B2017/00477

  Coupling (A61B2017/0046 takes precedence) · CPC title

• A61B34/37

  Leader-follower robots (A61B34/35 takes precedence) · CPC title