阅读说明：本技术 用于机器人臂的推车以及用于将推车配准到手术台的方法和装置 (Cart for a robotic arm and method and apparatus for registering a cart to an operating table ) 是由 D.J.卡格尔 W.格劳特 K.S.克尼格 B.F.K.肖 J.L.科尔多巴 于 2018-05-23 设计创作，主要内容包括：在一些实施方案中,一种装置可以包括用于外科机器人臂的推车,所述外科机器人臂具有可释放地耦接到手术台上的耦接位点的耦接器。所述推车可以包括基部和第一接合特征。所述基部可以在远离所述手术台的第一位置与邻近所述手术台的第二位置之间在支撑表面上自由地移动。所述第一接合特征可以被配置用于与和所述手术台相关联的第二接合特征接合,使得当所述第一接合特征和所述第二接合特征被接合时,所述机器人臂的所述耦接器被设置在所述机器人臂的所述耦接器可以由所述手术台的所述耦接器接合的位置中。(In some embodiments, an apparatus may include a cart for a surgical robotic arm having a coupler that releasably couples to a coupling site on a surgical table. The cart may include a base and a first engagement feature. The base is freely movable on the support surface between a first position away from the table and a second position adjacent the table. The first engagement feature may be configured to engage with a second engagement feature associated with the surgical table such that when the first and second engagement features are engaged, the coupler of the robotic arm is disposed in a position in which the coupler of the robotic arm may be engaged by the coupler of the surgical table.)

1. A cart for a surgical robotic arm having a coupler that releasably couples to a coupling site of a surgical table, the cart comprising:

a base freely movable on a support surface between a first position distal from the surgical table and a second position adjacent to the surgical table;

a first engagement feature configured to engage with a second engagement feature associated with the surgical table such that when the first and second engagement features are engaged, the coupler of the robotic arm is disposed in a position in which the coupler of the robotic arm is engageable with the coupling site of the surgical table.

2. The cart of claim 1, wherein the first engagement feature is disposed on the base of the cart and the second engagement feature is disposed on a base of the surgical table.

3. The cart of claim 1, wherein the coupler of the robotic arm is releasably coupled to the coupling site of the surgical table when the first engagement feature is engaged with the second engagement feature.

4. The cart of claim 1, wherein when the first engagement feature is engaged with the second engagement feature, a coupler associated with the surgical table may be rotated into releasable engagement with the coupler of the robotic arm.

5. The cart of claim 1, wherein the cart can support the robotic arm such that the robotic arm can maintain a same configuration during movement of the cart between a first position away from the surgical table and a second position adjacent the surgical table and during engagement between the coupler of the robotic arm and the coupling site of the surgical table.

6. The cart of claim 1, wherein when the first engagement feature is engaged with the second engagement feature, a coupler associated with the surgical table is vertically aligned with the coupler associated with the robotic arm such that the coupler associated with the surgical table can be translated upward into engagement with the coupler associated with the robotic arm.

7. A method, the method comprising:

moving a surgical robotic arm cart over a support surface from a first position remote from an operating table to a second position proximate to the operating table;

engaging a first engagement feature of the cart with a second engagement feature of the surgical table such that an arm portion of a coupler disposed on a surgical robotic arm supported by the cart is disposed in operative relationship with a table portion of the coupler disposed on the surgical table;

releasably coupling the arm portion of the coupler to the table portion of the coupler;

separating the arm from the cart; and

moving the cart on the support surface away from the second position.

8. The method of claim 7, wherein the first engagement feature is disposed on the base of the cart and the second engagement feature is disposed on a base of the surgical table.

9. The method of claim 7, wherein the coupler of the robotic arm is releasably coupled to the coupling site of the surgical table when the first engagement feature is engaged with the second engagement feature.

10. The method of claim 7, wherein releasably coupling comprises rotating the land portion of the coupler into engagement with the arm portion of the coupler.

11. The method of claim 7, wherein the configuration of the arms remains the same during the moving, engaging, and releasably coupling.

12. The method of claim 11, wherein the configuration of the arm remains the same during separation of the arm from the cart.

13. A cart for a surgical robotic arm having a coupler that releasably couples to a coupling site on an operating table, the cart comprising:

a base freely movable on a support surface between a first position distal from the surgical table and a second position adjacent to the surgical table;

the cart has a light sensor configured to receive a light signal emitted from the surgical table indicative of a position of the cart relative to the surgical table for engaging the coupler of the robotic arm with a coupler of the surgical table based on the light signal received by the light sensor.

14. The cart of claim 13, wherein the coupler of the robotic arm is disposed in an engageable relationship with a coupler of the surgical table when the light sensor receives the light signal.

15. The cart of claim 13, wherein the cart is configured to move toward the coupler of the surgical table based on the light signal received by the light sensor.

16. The cart of claim 15, wherein the cart is configured to align an axis of the coupler of the robotic arm with an axis of the coupler of the surgical table based on the light signal received by the light sensor.

17. The cart of claim 13, wherein the cart is configured to be stored under a top of the surgical table.

18. A method, the method comprising:

moving a surgical robotic arm cart over a support surface from a first position remote from an operating table to a second position proximate to the operating table;

receiving a light signal emitted by the surgical table indicative of a position of the cart relative to the surgical table for engaging a coupler of the surgical robotic arm with a coupler of the surgical table;

releasably coupling the arm portion of the coupler to the table portion of the coupler;

separating the arm from the cart; and

moving the cart on the support surface away from the second position.

19. The method of claim 18, further comprising:

moving the cart toward the table in response to the light signal received from the surgical table.

20. The method of claim 18, further comprising:

moving the arm portion of the coupler toward the table portion of the coupler based on the light signal received from the surgical table.

21. The method of claim 18, further comprising:

aligning an axis of the arm portion of the coupler with an axis of the table portion of the coupler based on the light signal received from the surgical table.

Background

Embodiments described herein relate to devices and methods for a robotic arm cart for transporting, and securing a robotic arm to, for example, an operating table.

Disclosure of Invention

Described herein are devices and methods for providing a robotic arm cart for transporting, transporting and securing a robotic arm to an operating table having a table top on which a patient may be disposed, and for registering the cart with the operating table in preparation for transporting one or more robotic arms. In some embodiments, the device may include a cart for a surgical robotic arm having a coupler that releasably couples to a coupling site on a surgical table. The cart may include a base and a first engagement feature. The base is freely movable on the support surface between a first position away from the table and a second position adjacent the table. The first engagement feature may be configured to engage with a second engagement feature associated with the surgical table such that when the first engagement feature and the second engagement feature are engaged, the coupler of the robotic arm is disposed in a position in which the coupler of the robotic arm may be engaged by the coupler of the surgical table.

Drawings

Fig. 1A and 1B are a schematic side view and a schematic top view, respectively, of an operating table according to one embodiment.

FIG. 1C is a schematic side view of a robotic arm, shown in an extended or use configuration, according to one embodiment; and fig. 1D is a schematic side view of the robotic arm of fig. 1C, shown in a collapsed or folded configuration.

Fig. 2A is a schematic top view of a surgical table having a robotic arm coupled thereto according to one embodiment.

Fig. 2B is a schematic top view of a surgical table having a robotic arm and an arm adapter coupled thereto according to one embodiment.

Fig. 3 is a schematic view of an arm cart according to one embodiment.

Fig. 4 is a flow diagram of a method of using an arm cart to transport a robotic arm to an operating table and to register the arm cart with the table in preparation for transferring the arm from the cart to the operating table, according to one embodiment.

Fig. 5A is a schematic illustration of mechanical registration of an arm cart through interaction of an arm cart base and a table base, according to one embodiment.

Fig. 5B is a schematic illustration of mechanical registration of an arm cart through interaction of an arm cart base and a table base, according to one embodiment.

FIG. 6 is a schematic diagram of an optical sight system according to one embodiment.

Fig. 7A is a schematic diagram of a surgical table with a projector according to one embodiment.

Fig. 7B is an illustration of an operating table with a projector and an arm cart supporting a robotic arm, according to one embodiment.

Fig. 8A and 8B are schematic views of a surgical table having an infrared sensor and a motion sensor for aligning an arm cart with the table, according to one embodiment.

Fig. 9A-9C are schematic views of the operating table and arm cart in kneeling, engaged, and operating positions, respectively, according to one embodiment.

Fig. 10A-10C are schematic views of an operating table and a robotic arm in a disengaged, registered, and latched configuration, respectively, according to an embodiment.

Fig. 11 is a schematic illustration of two arm carts docked under opposite ends of an operating table according to one embodiment.

Fig. 12A-12H are schematic diagrams of an arm cart including a robotic arm in various positions relative to an operating table, according to one embodiment.

Detailed Description

Described herein are devices and methods for providing a robotic arm cart for transporting, and securing a robotic arm to an operating table having a table top on which a patient may be disposed. In some embodiments, the device may include a cart for a surgical robotic arm having a coupler that releasably couples to a coupling site on a surgical table. The cart may include a base and a first engagement feature. The base is freely movable on the support surface between a first position away from the table and a second position adjacent the table. The first engagement feature may be configured to engage with a second engagement feature associated with the surgical table such that when the first engagement feature and the second engagement feature are engaged, the coupler of the robotic arm is disposed in a position in which the coupler of the robotic arm may be engaged by the coupler of the surgical table.

As schematically shown in fig. 1A-1B, surgical table 100 includes a table top 120, a table support 122, and a table base 124. As shown schematically in fig. 1A, the table top 120 has an upper surface on which the patient P may be placed during a surgical procedure. The table 120 is disposed on a support 122, which may be, for example, a pedestal at a suitable height above the floor. The support 122 (also referred to herein as a base) may provide for movement of the table top 120 in a desired number of degrees of freedom, such as translation along the Z-axis (height above the floor), Y-axis (along the longitudinal axis of the table), and/or X-axis (along the lateral axis of the table) and/or rotation about the Z-axis, Y-axis, and/or X-axis. The tabletop 120 may also include multiple sections that are movable relative to each other along/about any suitable axis, such as a torso, separate sections of each of one or two legs and/or one or two arms, and a head support section. Movement of the tabletop 120 and/or its constituent sections may be performed manually, driven by a motor, controlled remotely, or by any other suitable means. The support 122 for the table top 120 may be mounted to a base 124, which may be fixed to the floor of the operating room, or may be movable relative to the floor (e.g., through the use of wheels on the base 124). In some embodiments, the height of the supports 122 can be adjusted, which, along with, for example, movement of the table 120 (e.g., axial (longitudinal) or lateral movement), can allow the table 120 to be positioned at a particular height above the floor (e.g., to allow access by a surgeon) and at a desired surgical site at a distance from the base 124. This may also allow a robotic arm (e.g., arm 130 discussed below) coupled to the table 100 to reach a desired treatment target for the patient P disposed on the tabletop 120.

In a robotic-assisted surgical procedure, one or more robotic arms 130 (shown schematically in fig. 1C and 1D) may be disposed in a desired operating position relative to a patient disposed on a top 120 of an operating table 100 (also referred to herein as a "table"). One or more robotic arms 130 may be used to perform a surgical procedure on a patient disposed on surgical table 100. In particular, the distal end of each robotic arm 130 may be disposed in a desired operational position such that a medical instrument coupled to the distal end of the robotic arm 130 may perform a desired function.

As shown schematically in fig. 1C and 1D, each robotic arm 130 may include a distal end portion 137 and a proximal end portion 136. The distal end portion 137 (also referred to herein as the "operating end") may include or have coupled thereto a medical instrument or tool 115. The proximal end portion 136 (also referred to herein as a "mounting end portion" or "mounting end") may include a coupling portion to allow the robotic arm 130 to be coupled to the table 100. The robotic arm 130 may include two or more link members or sections 110 coupled together at joints, which may provide translation along and/or rotation about one or more of the X, Y, and/or Z axes (e.g., shown in fig. 1A and 1B). The coupling portion of the robotic arm 130 may include a coupling mechanism 139. Coupling mechanism 139 may be disposed at mounting end 136 of arm 130 and may be coupled to segment 110 or incorporated within segment 110. The robotic arm 130 also includes a target joint J1 disposed at or near the mounting end 136 of the robotic arm 130, which may be included within the coupling mechanism 139 and/or the coupling portion or may be disposed on a link or segment 110 of the robotic arm 130 coupled to the coupling portion. The target joint J1 may provide a pivot joint to allow the distal section of the robotic arm 130 to pivot relative to the table 100. As shown in fig. 1C, the robotic arm 130 may be moved between various extended configurations for use during a surgical procedure and in various collapsed or collapsed configurations for storage when not in use, as shown in fig. 1D.

Fig. 2A-13C illustrate various embodiments describing devices and methods for transporting, and securing a robotic arm to an operating table. As described above and in accordance with various embodiments disclosed in greater detail below, a robotic arm for performing a surgical procedure may be releasably coupled to a surgical table. In some embodiments, the robotic arm may be coupled at a fixed position on the table, or may be coupled such that the robotic arm is movable to multiple positions relative to the table top. For example, as schematically shown in fig. 2A, robotic arm 230 may be coupled to table top 220 of surgical table 200. Table 200 may be identical or similar in structure and function to table 100 described above. For example, the table top 220 has an upper surface on which the patient P may be placed during a surgical procedure. In some embodiments, the robotic arm 230 may be permanently or releasably coupled to an arm adapter (also referred to as an "arm support") coupled to or separate from the surgical table in a fixed or movable position. For example, as schematically shown in fig. 2B, the arm adapter 246 may be coupled to the tabletop 220, or separate from but engageable with or coupleable to the tabletop. The robotic arm 230 may be coupled to an arm adapter 246.

In preparing the robotic-assisted surgical procedure, as described with respect to fig. 2A and 2B, wherein one or more robotic arms are releasably coupled to a surgical table and/or arm adapter, each robotic arm may be transported and connected to the surgical table and/or arm adapter via an arm cart. As schematically shown in fig. 3, the arm cart 350 may be configured to support one or more robotic arms 330. In particular, the arm cart 350 includes a first robotic arm 330A, and may include an optional second robotic arm 330B. Although two robotic arms 330 are shown, the arm cart 350 may be configured to house, transport, and/or transport any suitable number of robotic arms 330, such as one robotic arm, three robotic arms, or four robotic arms.

The arm cart 350 may support the first robotic arm 330A (and optionally the second robotic arm 330B) in various configurations. In some embodiments, the arm cart 350 may support the robotic arm 330A such that the center of gravity of the robotic arm 330A is below one or more support structure locations (e.g., a rack) of the arm cart 350, such that the stability of the robotic arm 330A and the arm cart 350 is increased. In some embodiments, the arm cart 350 may support the robotic arm 330A such that the arm cart 350 bears most or all of the weight of the robotic arm 330A, and the coupling mechanism (not shown) of the robotic arm 330A may be manually operated by a user without the user bearing most or all of the weight of the robotic arm. For example, the robotic arm 330A may hang from or rest on the structure of the arm cart 350. In some embodiments, the arm cart 350 may be configured to secure the robotic arm 330 to the arm cart 350.

The arm cart 330 may be configured to move, such as by including wheels. The arm cart 350 may be configured to protect the robotic arm 330A from potential influences of the surrounding environment of the arm cart 350, for example, during transportation or storage. In some embodiments, the arm cart 350 may be configured to move the robotic arm 330 between one or more positions and/or one or more orientations, including, for example, a collapsed storage or transport position and an expanded or coupled position.

The arm cart 350 may include an arm container 352 and a base 354. The arm container 352 is configured to support, protect, and facilitate sterility of the one or more robotic arms 330 (e.g., the first robotic arm 330A and the optional second robotic arm 330B) during transport of the robotic arms 330 to the surgical area, e.g., from a storage area, and during transfer of the one or more robotic arms 330 from the arm cart 350 to a surgical table (e.g., surgical table 100 and/or surgical table 200) for use during a surgical procedure. When the one or more robotic arms 330 are stored and/or transported by the arm cart 350, the one or more robotic arms 330 may be largely, substantially entirely, or entirely maintained within the footprint of the arm cart 350 such that the one or more robotic arms 330 are less likely to be accidentally bumped or damaged. In some embodiments, the arm container 352 may be configured as a vertically extending protective frame that, in combination with the base 354, defines a space for storing one or more robotic arms 330. In some embodiments, when one or more robotic arms 330 are stored within the arm cart 350, the robotic arms may remain within the perimeter of the base 354, but may extend beyond the perimeter of the arm container 352.

The arm container 352 may also be configured to facilitate safe, efficient, sterile, and repeatable transfer of one or more robotic arms 330 to a surgical table and/or arm adapter. In some embodiments, the transfer of the one or more robotic arms 330 from the arm cart 350 to the surgical table may be performed manually.

The base 354 may be configured to support the arm container 352 and provide transport of the arm cart 350 to the surgical area. The base 354 may include any suitable means for moving the arm cart 350 relative to the floor. For example, the base 354 may include wheels so that the medical provider may push/pull the arm cart to/from the surgical field.

The arm cart 350 may include features that facilitate aligning the one or more robotic arms 330 for transfer along and/or rotational transfer about an X-axis, Y-axis, and/or Z-axis to a surgical table. For example, as described above, the base 354 may include any suitable means for movement of the arm cart 350 such that the arm cart 350 may be moved along the X-axis and/or Y-axis relative to the surgical table. Additionally, the arm cart 350 may include any suitable means for adjusting the height of the arm cart 350 and/or the one or more robotic arms 330 such that the height of the one or more robotic arms 330 may be adjusted relative to the surgical table. Thus, the arm cart 350 may move the one or more robotic arms 330 along and/or rotationally about the X, Y, and/or Z axes such that the coupling portion of at least one of the one or more robotic arms 330 may be aligned to engage with a mating coupling portion on the table or table adapter.

In some embodiments, the arm cart 350 houses one or more robotic arms 330 such that the operator's line of sight of the arm cart 350 may be maintained to the portion of the surgical table to which the one or more robotic arms 330 are to be transferred during the approach of the arm cart 350 to the surgical table and the transfer of the one or more robotic arms 330 to the surgical table.

As shown in fig. 3, the arm cart 350 may optionally include one or more docking stations 356 configured to releasably attach to a surgical table and/or to an arm support connected to a surgical table. In this manner, the arm cart 350 may be secured to the surgical table and/or arm support during transfer of the one or more robotic arms 330 from the arm cart 350, and the arm cart 350 may then be removed from the surgical area.

Various different types of coupling and/or mounting methods and mechanisms may be used to interface and/or mount one or more robotic arms 330 to surgical table 300. The arm cart 350 may employ corresponding coupling methods and mechanisms to efficiently transfer the robotic arm 330 from the arm cart 350 to any suitable location on the surgical table 300 and/or arm support associated with the surgical table 300. In this manner, the arm cart 350 and surgical table 300 may include a common interface such that the robotic arm 330 may be efficiently and repeatedly coupled to and/or removed from the surgical table 300 and the arm cart 350.

In some embodiments, a first coupling member associated with the robotic arm may be configured to engage with a second coupling member associated with the surgical table.

Fig. 4 is a flow chart of a method 400 of using an arm cart to transport a robotic arm to an operating table and to register the arm cart with the table in preparation for transferring the arm from the cart to the operating table. The arm cart of method 400 may be, for example, any of the arm carts described herein. The method 400 includes loading one or more robotic arms onto an arm cart at 402. For example, one or more robotic arms may be releasably coupled to an arm support of the arm cart. The arm support may be coupled to a base of the arm cart to support one or more robotic arms above the base. The base is freely movable on the support surface. The arm cart is then transported to the surgical area and adjacent to the surgical table at 404. At 406, the arm cart is registered with the surgical table via, for example, mechanical or electronic registration. In some embodiments, registering the arm cart with the surgical table results in at least one of the one or more robotic arms being positioned such that an arm portion of a coupler disposed on the at least one of the one or more robotic arms is disposed in operable relationship (i.e., registration) with a table portion of a coupler disposed on the surgical table. In some embodiments, registering the arm cart with the surgical table results in at least one of the one or more robotic arms being positioned such that the one or more robotic arms can be moved or moved to a configuration and/or position relative to the arm cart and the surgical table in which an arm portion of a coupler disposed on the at least one of the one or more robotic arms is in operable relationship with a table portion of a coupler disposed on the surgical table. At 408, one or more robotic arms are coupled to the surgical table. For example, in some embodiments, the arm portion of the coupler may be releasably coupled to the table portion of the coupler. At 410, one or more robotic arms are released from the arm cart. At 412, the transport arm cart exits the surgical area.

In some embodiments, if the second robotic arm has been loaded onto the arm cart, the arm cart may couple the first robotic arm to the surgical table, release the first robotic arm from the arm cart, and then transport the arm cart to a position proximate to another portion of the surgical table, and register with the surgical table at the second location. If not already disposed in proper alignment with the surgical table, the arm portion of the second coupler disposed on the second robot arm may be disposed in operable relationship (i.e., registration) with the table portion of the second coupler disposed on the surgical table. The second robotic arm may then be coupled to the surgical table, for example, via the arm portion of the second coupler releasably coupling to the table portion of the second coupler. The second robotic arm may be released from the arm cart and the arm cart may be transported away from the surgical area.

In some embodiments, the arm cart may be moved such that a coupling member associated with a robotic arm supported by and/or within the arm cart may be presented at a suitable location for engagement with a complementary coupling member associated with the table. For example, the arm cart may be adjusted to various height settings so that the robotic arm may mate with various surgical tables and/or various coupling portions of the surgical tables at different heights. For example, in some embodiments, the arm cart may be moved into position relative to the surgical table such that the coupling members of the robotic arm are aligned with the coupling members associated with the surgical table relative to the X-axis and/or the Y-axis. The arm cart may then perform a first macro phase of height adjustment, in which the robotic arm cart is set to a high, medium, or low height range. Then, in a second microscopic phase of the height adjustment, the arm cart may move the coupling member of the robotic arm cart up and down along the Z-axis to engage with the complementary coupling member of the surgical table. In some embodiments, the arm cart may be mechanically or electronically registered with the surgical table such that the arm cart is properly positioned to cause the coupling member of the robotic arm to be coupled or transitioned into a configuration and/or position coupled with the surgical table.

Fig. 5A is an illustration of a perspective view of the arm cart 550 and surgical table 500 in a disengaged configuration. The arm cart 550 may be identical or similar in structure and/or function to any of the arm carts described herein (e.g., arm cart 350). For example, arm cart 550 may include an arm receptacle 552 (shown in phantom) and a base 554. Arm container 552 is configured to support, protect, and facilitate sterility of one or more robotic arms (not shown) during transport of the arms to the surgical area, e.g., from a storage area, and during transfer of the arms from arm cart 550 to surgical table 500 for use during a surgical procedure. Arm receptacle 552 is also configured to facilitate safe, efficient, sterile, and repeatable transfer of one or more robotic arms to surgical table 500. The transfer of the robotic arm 530 from the arm cart 550 to the surgical table 500 may be performed manually, driven by a motor, remotely controlled, or by any other suitable means. Surgical table 500 may be the same as or similar to any of the surgical tables described herein (e.g., surgical table 100). For example, surgical table 500 includes a table top 520, a support 522, and a base 524. A patient (not shown) may be disposed on the tabletop 520.

The arm cart 550 and the surgical table 500 may each include complementary mating features such that the arm cart 550 may be registered and engaged with the surgical table 500. For example, as shown in fig. 6A, the base 554 of the arm cart 550 may include a first mating feature 555 and the table base 524 of the surgical table 500 may include a second mating feature 525. The first mating feature 555 may have any suitable shape, such as including a triangular or angled lead-in, as shown in fig. 6A. The second mating feature 525 may have any suitable shape configured to receive the first mating feature 555, such as including a complementary triangular or angled cut. The first and second mating features 555, 525 may engage to achieve proper registration (e.g., along and/or about the X-axis, Y-axis, and/or Z-axis) between the arm cart 550 and the surgical table 500.

In some embodiments, first mating feature 555 of arm cart 550 may protrude sufficiently from arm receptacle 552 such that first mating feature 555 may function as an impact and/or damper. For example, the first mating feature 555 may extend further beyond the outer contour of the arm receptacle 552 than a coupling member of a robotic arm supported by the arm cart 550, such that if the arm cart 550 impacts an obstacle (e.g., a wall or door frame), the force from the impact will be dissipated by the first mating feature 555. Thus, contact and damage to the robotic arm and/or arm cart 550 may be prevented.

Although in fig. 5A, the first mating feature 555 is shown as being shaped as two triangular projections and the second mating feature 525 is shown as being shaped as two triangular cutouts, the first mating feature 555 and the second mating feature 525 may be any suitable shape. For example, the first mating feature 555 may be shaped as a single triangular protrusion and the second mating feature 525 may be shaped as a single triangular cutout. In some embodiments, the first mating feature 555 and the second mating feature 525 may comprise complementary shapes that are curved, rectangular, or any other suitable shape or combination of shapes.

Although shown on the base 554 of the arm cart 550 and the table base 524 of the surgical table 500, respectively, the first and second mating features 555, 525 may be disposed at any suitable location on the arm cart 550 and/or the surgical table 500 such that engagement of the first and second mating features 555, 525 corresponds to proper registration between the arm cart 550 and the surgical table 500 for robotic arm transfer (e.g., in an X-Y plane). For example, the first mating feature 555 may be disposed on the arm receptacle 552 and the second mating feature 525 may be disposed on the table support 522 or the table top 520 at a similar height as the first mating feature 555.

In some embodiments, the first and/or second mating features 555, 525 may include magnets and/or sensors to assist in alignment and/or engagement between the arm cart 550 and the table 500. For example, the first and/or second mating features 555, 525 may include hall effect sensors, capacitive sensors, buttons, and/or other sensors capable of detecting the presence of the arm cart 550 near or adjacent to the table 500.

In use, the arm cart 550 may be moved (e.g., pushed) toward the second mating feature 525 of the surgical table 500. As the arm cart 550 approaches the operating table 500, the first mating feature 555 may be inserted into engagement with the second mating feature 525 via, for example, manipulating the position of the arm cart 550. In some embodiments, the shape and size of each of the first and second mating features 555 and 525 may be sufficiently complementary and unique such that the arm cart 550 may be guided to a particular position relative to the surgical table 500. For example, the first and second mating features 555, 525 may be shaped and sized such that, once the first mating feature 555 is fully engaged with the second mating feature 525, a coupling member associated with a robotic arm supported by the arm cart 550 is aligned and/or registered with a complementary coupling member associated with the surgical table 500 to facilitate transfer of the robotic arm to the surgical table 500.

In some embodiments, the surgical table may include a plurality of different mating features at discrete locations around the circumference of the surgical table. For example, fig. 5B is a top view of table base 624 and arm cart base 654. Table base 624 may be identical or similar in structure and/or function to any of the table bases described herein (such as table base 524 described with respect to fig. 5A). Arm cart base 654 may be identical or similar in structure and/or function to any of the arm cart bases described herein (such as base 554 described with respect to fig. 5A). The table base 624 may include a plurality of mating features 625, such as a first table mating feature 625A, a second table mating feature 625B, a third table mating feature 625C, and a fourth table mating feature 625D. In some embodiments, each of the mating features 625 of the table base 624 may be associated with a robotic arm engagement position on a table top associated with the table base 624. The arm cart base 654 may include an arm cart mating feature 655. The arm cart mating feature 655 may be shaped and sized such that the arm cart mating feature 655 is configured to engage with the first table mating feature 625A, the second table mating feature 625B, the third table mating feature 625C, and/or the fourth table mating feature 625D. In some embodiments, the arm cart mating feature 655 and the mating feature of the table base 624 may be shaped and sized such that the arm cart mating feature 655 is complementarily shaped and/or configured to engage with any of the mating features 625 of the table base 624 (e.g., the first table mating feature 625A, the second table mating feature 625B, the third table mating feature 625C, and the fourth table mating feature 625D). In some embodiments, the arm cart mating features 655 and the mating features 625 of the table base 624 may be shaped and sized such that the arm cart mating features 655 are configured to engage only one or only some of the mating features 625 of the table base 624. As shown in fig. 5B, the arm cart mating feature 655 may be triangular and the table mating feature may include a complementary triangular cutout. Although four table mating features 625 are shown, the table base 624 may include any suitable number of table mating features for aligning an arm cart including the arm cart base 654 with any suitable number of positions of an operating table including the table base 624.

In some embodiments, the optical sight system may be used to improve the speed and accuracy of registration between the arm cart and the surgical table before and during transfer of the one or more robotic arms from the arm cart to the surgical table. Fig. 6 is a schematic diagram of an optical targeting system 700 including an arm cart 750 and an optical beacon assembly 760. The arm cart 750 may be the same or similar in structure and/or function to any of the arm carts described herein. The arm cart 750 can include one or more targets 757 (e.g., a first target 757A and a second target 757B). The one or more targets 757 may be, for example, cross hair markings on the upper surface of the arm cart 750. The optical beacon assembly 760 may be coupled to a surgical table (not shown) or may be positioned in a nearby location and fixed relative to the surgical table. The optical beacon assembly 760 may include an optical emitter configured to project one or more optical beams. The light emitters may project one or more light beams onto one or more targets 757 on the arm cart 750 where the arm cart 750 will be located when properly aligned with the surgical table for transferring one or more robotic arms from the arm cart 750 to the surgical table.

When the arm cart 750 is moved into proper alignment with the beam (and thus the operating table), the beam or beams may be centered on the target or targets 757. In some embodiments, the user may observe the centering of the one or more light beams on the one or more targets such that the user may manually initiate the transfer of the one or more robotic arms in response to observing the proper alignment of the one or more light beams with the one or more targets. In some embodiments, the arm cart 750, the light beacon assembly 760, and/or the surgical table may include a sensor (not shown) and/or a receiver (not shown) configured to identify when one or more light beams are properly aligned with one or more targets 757. The sensors may indicate to the user that the arm cart 750 is properly positioned and/or send a signal to initiate automatic transfer of one or more robotic arms upon proper positioning of the arm cart 750. In some embodiments, the light beacon assembly 760 may project a cross-hair or other positioning indicia such that the cross-hair or other positioning indicia may be aligned with one of the one or more targets 757 of the arm cart 750. Such embodiments may help eliminate positioning errors and reduce the need for alignment of the arm cart 750 and surgical table by a skilled operator to transfer one or more robotic arms.

In some embodiments, the surgical table may be configured to project an image onto the floor to assist in alignment of the arm cart for transferring the one or more robotic arms. For example, fig. 7A is a perspective view of surgical table 800 with projector 826. The projector 826 may project temporary floor markings 827 onto the floor. The temporary floor mark 827 may be, for example, a box target. The temporary floor marking 827 may include an image and/or additional guide features. Although shown as a rectangular box, in some embodiments, the temporary floor marking 827 may be any suitable shape, such as a circle or a cross-hair.

Fig. 7B is a perspective view of the surgical table 900 with the projector 926 and the arm cart 950 supporting the robotic arm 930. Surgical table 900 and projector 926 may be identical or similar in structure and/or function to surgical table 800 and projector 826 described above with reference to fig. 7A. For example, the projector 926 may project temporary floor markings 927 on the floor near the surgical table 900. In use, the arm cart 950 can be moved relative to the temporary floor markings 927. In some embodiments, the temporary floor markings 927 may provide a "landing zone" so that the user may use the temporary floor markings 927 as a guide and align the arm cart 950 with the temporary floor markings 927. Upon the user visually confirming that the arm cart 950 is properly aligned with the temporary floor marking 927, the user may initiate the process of transferring the robotic arm 930 from the arm cart 950 to the surgical table 900. For example, in some embodiments, a user may initiate transfer of the robotic arm 930 using a graphical user interface. In some embodiments, the arm cart 950 and/or the surgical table 900 may include one or more sensors (not shown) configured to sense when the arm cart 950 is properly positioned relative to the temporary floor marking 927 (and thus the surgical table 900) to transfer the robotic arm 930 to the surgical table 900. In some embodiments, one or more sensors may signal the projector 926 to change the temporary floor markings 927 to indicate proper positioning of the arm cart 950, such as by changing the color of the temporary floor markings 927. In some embodiments, an indication of proper positioning of the arm cart 950 relative to the table 900 may activate one or more robotic arms to automatically self-navigate and engage with the table 900, as described below. The projector 926 may be configured to change the color of the temporary floor marking 927 a second time (e.g., revert to the original color) if the arm cart 950 is moved out of proper alignment with the temporary floor marking 927.

In some embodiments, the arm cart may be configured to be automatically guided into proper alignment with the surgical table. Fig. 8A is a perspective view of surgical table 1000, arm cart 1050, and robotic arm 1030. Surgical table 1000, arm cart 1050, and robotic arm 1030 may be identical or similar in structure and/or function to any of the surgical tables, arm carts, and robotic arms, respectively, described herein. Surgical table 1000 may include an attachment interface 1021. Surgical table 1000 may also include light emitter 1023 (e.g., first light emitter 1023A and second light emitter 1023B). First and second light emitters 1023A and 1023B each emit a light signal to create light wall barriers 1028A and 1028B, respectively. The light wall barriers 1028A and 1028B may be angled such that the light wall barriers 1028A and 1028B diverge away from the attachment interface 1021. The emitted light can be in any suitable portion of the electromagnetic spectrum, for example, visible, ultraviolet, or infrared.

The arm cart 1050 may include any suitable number of wheels, such as three or four. The arm cart 1050 may be manually powered (e.g., by being pushed by a user). In some embodiments, arm cart 1050 may include electronic brakes such that arm cart 1050 may independently apply resistance or brakes to each of the wheels. Thus, the electronic brake may control the path of the arm cart 1050 such that when the user pushes the arm cart 1050 toward the attachment interface 1021, the arm cart 1050 (and the coupling mechanism 1039 of the robotic arm 1030) is directed toward the attachment interface 1021 of the surgical table 1000. In some embodiments, the cart 1050 may also have a limited speed (i.e., an upper speed limit).

The arm cart 1050 may include one or more light sensors 1051. One or more light sensors 1051 may emit beacons and sense the reflection of the beacons from one or both of the light wall barriers 1028A and 1028B. Thus, the arm cart 1050 may automatically maneuver the arm cart 1050 toward the attachment interface 1021 using, for example, electronic braking, based on the sensed position of one or both of the light wall barriers 1028A and 1028B and/or the sensed distance between the arm cart 1050 and one or both of the light wall barriers 1028A and 1028B. As described above, the light wall barriers 1028A and 1028B may diverge from the attachment interface 1021, creating a triangular barrier. Thus, as the arm cart 1050 maneuvers closer to the surgical table 1000 and the distance between the light wall barriers 1028A and 1028B decreases, the light wall barriers 1028A and 1028B may guide the arm cart 1050 with increased accuracy.

Although arm cart 1050 and surgical table 1000 are described such that one or more light sensors 1051 are disposed on arm cart 1050 and first and second light emitters 1023A and 1023B are disposed on surgical table 1000, in some embodiments the positions of these components may be reversed such that one or more light sensors 1051 are disposed on surgical table 1000 and first and second light emitters 1023A and 1023B are disposed on arm cart 1050.

Surgical table 1000 may also include a near motion sensor 1083. The close range motion sensor 1083 may be mounted in or near the attachment interface 1021. The near motion sensor 1083 may determine whether a foreign object may inhibit attachment of the coupling mechanism 1039 of the robotic arm 1030 to the attachment interface 1021. The proximity motion sensor 1083 may then notify the arm cart 1050 that attachment of the robotic arm 1030 is about to be impeded (e.g., covered by a drape). In some embodiments, the proximity motion sensor 1083, upon sensing a potential obstruction to the coupling of the coupling mechanism 1039 with the attachment interface 1021, may signal the arm cart 1050 to stop moving toward the attachment interface 1021 (or stop moving the robotic arm 1030). The proximity motion sensor 1083 may then pause the coupling operation and may alert the user of the potential obstruction. In some embodiments, the proximity motion sensor 1083 may also sense the removal of the potential obstruction and signal the arm cart 1050 to resume the coupling operation.

As schematically shown in fig. 8B, surgical table 1000 may further include a third light emitter 1023C and a fourth light emitter 1023D. These transmitters 1023C, 1023D may be used to indicate the orientation of the top of the surgical table 1000 (i.e., the orientation of the attachment interface 1021), as indicated by axis W shown in fig. 8B. The arm cart 1050 and/or the robotic arm 1030 may include detectors (such as detectors 1081A and 1081B) to sense light from the emitters, and use internal orientation hardware to rotate and/or translate the coupling mechanism 1039 of the robotic arm 1030 to match the orientation of the coupling mechanism 1039 with the orientation of the attachment interface 1021. Although elements 1081A and 1081B of fig. 8B are described as detectors, in some embodiments, elements 1081A and 1081B represent two portions of the coupling mechanism, and the detectors are disposed on different portions of the arm cart 1050 and/or the robotic arm 1030 than the coupling mechanism 1039. In such embodiments, a detector may be used to align elements 1081A and 1081B with attachment interface 1021.

In some embodiments, following the macro-alignment procedure described above with reference to fig. 8A and 8B, the surgical table 1000 and the arm cart 1050 and/or the robotic arm 1030 may be further aligned via a micro-alignment procedure, for example using a sensing mechanism operable over short distances. For example, as described above, after the robotic arm 1030 is disposed proximate to the attachment interface 1021 via alignment of the arm cart 1050, sensors may be used on the coupling mechanism 1039 of the robotic arm 1030 and/or the attachment interface 1021 of the surgical table 1000 in order to precisely guide the coupling mechanism 1039 of the robotic arm 1030 into engagement with the attachment interface 1021. Suitable sensors may include, for example, hall effect sensors.

Fig. 9A-9C are schematic views of surgical table 1200 and arm cart 1250. The arm cart 1250 may be identical or similar in structure and/or function to any of the arm carts described herein. For example, arm cart 1250 may include an arm well 1252 and a base 1254. The arm receptacle 1252 is configured to support, protect, and facilitate sterility of one or more robotic arms 1230 (e.g., a first robotic arm 1230A and an optional second robotic arm 1230B) during transport of the one or more robotic arms 1230 to a surgical area, e.g., from a storage area, and during transfer of the one or more robotic arms 1230 from the arm cart 1250 to the surgical table 1200 for use during a surgical procedure. The one or more robotic arms 1230 may be identical or similar in structure and/or function to any of the robotic arms described herein. The one or more robotic arms 1230 may each include an arm coupling mechanism 1239 (e.g., a first arm coupling mechanism 1239A and a second arm coupling mechanism 1239B). When the one or more robotic arms 1230 are stored and/or transported by the arm cart 1250, the one or more robotic arms 330 may be maintained largely, substantially completely, or completely within the footprint of the arm cart 1250 such that the one or more robotic arms 1230 are less likely to be accidentally bumped or damaged. In some embodiments, arm receptacle 1252 may be configured as a vertically extending protective frame that, in combination with base 1254, defines a space for storing one or more robotic arms 1230. In some embodiments, when one or more robotic arms 1230 are stored within the arm cart 1250, the robotic arms may remain within the perimeter of the base 1254, but may extend beyond the perimeter of the arm container 1252.

Surgical table 1200 may be identical or similar in structure and/or function to any of the surgical tables described herein. For example, surgical table 1200 may include a table top 1220, a table support 1222, and a table base 1224. The table 1220 has an upper surface on which a patient (not shown) may be placed during a surgical procedure. The table 1220 is provided on a support 1222, which may be, for example, a pedestal located at a suitable height above the floor. The support 1222 (also referred to herein as a base) may provide for movement of the tabletop 1220 with a desired number of degrees of freedom, such as translation along the Z-axis (height above the floor), Y-axis (along the longitudinal axis of the table), and/or X-axis (along the lateral axis of the table) and/or rotation about the Z-axis, Y-axis, and/or X-axis. Table 1220 may also include multiple sections that are movable relative to each other along/about any suitable axis, such as, for example, a separate section that supports the torso, one or both legs, and/or each of one or both arms, and a head support section. The movement of the tabletop 1220 and/or its constituent sections may be performed manually, driven by a motor, remotely controlled, or by any other suitable means. The support 1222 for the table top may be mounted to a base 1224 that may be fixed to the floor of the operating room or may be movable relative to the floor (e.g., through the use of wheels (not shown) on the base 1224). The height of the supports 1222 can be adjusted, which, along with, for example, movement of the table 1220 (e.g., axial (longitudinal) or lateral movement), can allow the table 1220 to be positioned at a particular height above the floor (e.g., to allow surgeon access) and at a desired surgical site at a distance from the supports 1220. In addition, adjustment of the height of the support 1222 may also cause an attachment member (e.g., attachment member 1247 described below) associated with the support 1222 to engage and lift one or more robotic arms 1230 from the arm cart 1250.

As shown in fig. 9A, the arm cart 1250 can also include a first mating feature 1255 that can be the same or similar in structure and/or function to the first mating feature 555 described above with reference to fig. 5A. Similarly, surgical table 1200 may include a corresponding second mating feature 1225, which may be identical or similar in structure and/or function to second mating feature 525 described above with reference to fig. 5A. Accordingly, the arm cart 1250 may be guided into engagement with the surgical table 1200 such that the first mating feature 1255 couples with the second mating feature 1225. As the first mating features 1255 are coupled with the second mating features 1225, the arm cart 1250 may be positioned and held in position relative to the surgical table 1200 for transferring one or more robotic arms 1230 from the arm cart 1250 to the surgical table 1200.

The surgical table 1200 may include one or more attachment members 1247 (e.g., a first attachment member 1247A and a second attachment member 1247B). Each of the one or more attachment members 1247 may comprise, for example, an extension arm. A first end of each of the one or more attachment members 1247 may be coupled to the support 1222. The one or more attachment members 1247 may each include an attachment interface 1221 disposed at a second end of each of the one or more attachment members 1247. Specifically, as shown in fig. 9A, the first attachment member 1247A may include a first attachment interface 1221A and the second attachment member 1247B may include a second attachment interface 1221B. The attachment interface 1221 may be configured such that the attachment interface 1221 may be releasably engaged with the arm coupling member 1239 (e.g., the first arm coupling member 1239A and the second arm coupling member 1239B). For example, the attachment interface 1221 may include a ring or basket shaped member. In some embodiments, the attachment interface 1221 can be shaped and sized to engage with any of the arm coupling members 1239 of the one or more robotic arms 1230.

The arm coupling members 1239 of the robotic arm 1230 may each be shaped and sized such that one or more of the attachment interfaces 1221 can releasably engage and move each arm coupling member 1239. For example, the first attachment interface 1221A may be positioned below the first arm coupling member 1239A such that the first attachment member 1221A is aligned with the first arm coupling member 1239A in the X and Y directions. The first attachment interface 1221A may then be moved vertically (e.g., via vertical movement of the support 1222) into engagement with the first arm coupling member 1239A. For example, the first attachment interface 1221A may define an opening and may be raised until the first attachment interface 1221A is disposed in surrounding relation to the first portion of the first arm coupling member 1239A. The first attachment interface 1221A may be engaged with a second portion of the first arm coupling member 1239A such that further vertical movement of the first attachment interface 1221A results in movement of the first arm coupling component 1239A (and thus the first robotic arm 1230A).

Although two attachment members 1247 are shown in fig. 9A, any suitable number of attachment members may be included, such as one, three, or four. Additionally, although the structure of the attachment interface 1221 is described as a ring or basket, the attachment interface 1221 may be any suitable shape and may include any suitable engagement features such that the attachment interface 1221 may capture an arm coupling member (such as arm coupling member 1239).

In use, as shown in fig. 9A, the surgical table 1200 may be in a first kneeling configuration, with the attachment member 1247 (and thus the attachment interface 1221) positioned vertically lower than the arm coupling member 1239 of the robotic arm 1230. Arm cart 1250 may be in a first position away from surgical table 1200. The first and second robotic arms 1230A, 1230B may be disposed on the arm cart 1250 in a deployed configuration such that the first and second coupling mechanisms 1239A, 1239B are disposed for engagement with the first and second attachment interfaces 1221A, 1221B, respectively, when aligned along the X-axis and Y-axis.

Arm cart 1250 may be moved toward surgical table 1200. As shown in fig. 9B, when the arm cart 1250 is properly positioned relative to the attachment member 1247 (e.g., the first mating feature 1255 is engaged with the second mating feature 1225), the support 1222 may be manipulated to extend vertically along line B-B (i.e., to move from a kneeling position to an engaged position). Thus, the attachment member 1247 may be moved vertically along line B-B into engagement with the arm coupling member 1239 via movement of the support 1222. More specifically, the first attachment interface 1221A may be engaged with the first arm coupling member 1239A, and the second attachment interface 1221B may be engaged with the second arm coupling member 1239B. In some embodiments, due to the extension or retraction of the support 1222, the attachment member 1247 remains in the same position relative to the tabletop 1220 in all vertical positions of the tabletop 1220.

After the attachment member 1247 is engaged with the arm coupling member 1239, the support 1222 may be manipulated to extend further vertically along line B-B such that the attachment member 1247 is further vertically raised (i.e., moved from the engaged position to the operating position) relative to the base 1224 and the arm cart 1250. Upward vertical movement of the attachment member 1247, which engages the arm coupling member 1239 via the attachment interface 1221, lifts the robotic arm 1230 off of the arm cart 1250, as shown in fig. 9C. The robotic arm 1230 is then engaged with the surgical table 1200 via the attachment member 1247 and may be used for a surgical procedure. As shown in fig. 10C, arm cart 1250 may then be moved away from surgical table 1200.

Although the robotic arm 1230 is shown in fig. 9A as being loaded on the arm cart 1250 in a deployed configuration (i.e., the coupling mechanism 1239 is exposed for engagement by the attachment member 1247) for transport to the surgical table 1200 via the arm cart 1250, in some embodiments, the robotic arm 1230 may be stored within the arm cart 1250 and moved to the deployed configuration. In some embodiments, the arm cart 1250 may manipulate the configuration of the robotic arm 1230 such that the arm coupling member 1239 is exposed and accessible by the attachment member 1247. In some embodiments, the attachment member 1247 may be pivoted or rotated from the stowed position to the use position and then moved into engagement with the arm coupling member 1239. While fig. 9A-9C show two robotic arms (i.e., robotic arm 1230A and robotic arm 1230B) being lifted from the arm cart 1250 at the same time by the attachment member 1247, in some embodiments only one robotic arm 1230 may be engaged and lifted from the arm cart 1250. For example, only one robotic arm 1230 may be positioned in a deployed configuration for engagement by the attachment member 1247, or the arm cart 1250 may only position one coupling mechanism 1239 in X and Y axis alignment with the attachment member 1247. One or more additional robotic arms 1230 may remain in the arm cart 1250 for use at a later time.

In some embodiments, a surgical table may include an alignment feature to an arm cart and an attachment member pivotable into engagement with one or more robotic arms. For example, fig. 10A, 10B, and 10C are schematic illustrations of a surgical table 1300, an arm cart 1350, and a robotic arm 1330 (e.g., a first robotic arm 1330A and a second robotic arm 1330B) in a disengaged configuration, a registered configuration, and a latched configuration, respectively. The surgical table 1300 and the arm cart 1350 may be identical or similar in structure and/or function to any of the surgical tables and arm carts, respectively, described herein. Similarly, the first and second robot arms 1330A, 1330B may be the same as or similar to any of the robot arms described herein. Surgical table 1300 may include a first mating feature 1325 and arm cart 1350 may include a complementary second mating feature 1355. The first mating feature 1325 may be configured to engage and/or receive the second mating feature 1355.

The first robot arm 1330A may include a first coupling mechanism 1339A and the second robot arm 1330B may include a second coupling mechanism 1339B. Surgical table 1300 may include a first attachment component 1321A and a second attachment component 1321B. First and second attachment members 1321A, 1321B may be rotationally coupled to surgical table 1300 via first and second pivot joints 1363A, 1363B, respectively. The first attachment member 1321A may define and/or include a first engagement feature 1329A. The second attachment member 1321B may define and/or include a second engagement feature 1329B. The first engagement feature 1329A can be shaped and sized such that the first engagement feature 1329A can engage and/or receive a first coupling mechanism 1339A. The second engagement feature 1329B can be shaped and sized such that the second engagement feature 1329B can engage and/or receive a second coupling mechanism 1339B. Thus, the first and second attachment members 1321A, 1321B may be rotated along lines C-C and D-D via first and second pivot joints 1363A, 1363B into engagement with first and second coupling mechanisms 1339A, 1339B of the first and second robot arms 1330A, 1330B, respectively. In some embodiments, the pivot positions of first attachment member 1321A and second attachment member 1321B may be electronically controlled, for example via sensors. For example, the first mating feature 1325 may include a sensor configured to sense engagement of the coupling member between the first mating feature 1325 and the second mating feature 1355 such that the first attachment member 1321A and the second attachment member 1321B automatically pivot along lines C-C and D-D when engagement is made between the first mating feature 1325 and the second mating feature 1355. In some embodiments, the pivotal position of first attachment member 1321A and second attachment member 1321B may be manually controlled by a user. In some embodiments, the first and second attachment members 1321A, 1321B can be biased such that when the first and second attachment members 1321A, 1321B are released from the configuration shown in fig. 10B, the first and second attachment members 1321A, 1321B rotate to the position shown in fig. 10C.

In use, the arm cart 1350 may be moved about the surgical table 1300, as shown in fig. 10A, via, for example, wheels coupled to the bottom of the arm cart 1350. The arm cart 1350 may be manipulated to align and engage the second mating features 1355 of the arm cart 1350 with the first mating features 1325 of the surgical table 1300, as shown in fig. 10B. Upon engagement between the second mating feature 1355 of the arm cart 1350 and the first mating feature 1325 of the surgical table 1300, the first attachment member 1321A may be rotated along line C-C to latch the first engagement feature 1329A with the first coupling mechanism 1339A of the first robotic arm 1330A, as shown in fig. 10C. Similarly, the second attachment member 1321B may be rotated along line D-D to latch the second engagement feature 1329B with the second coupling mechanism 1339B of the second robotic arm 1330B. After latching, the first attachment member 1321A may rotate the first robot arm 1330A to a stowed position on the deficient-arm cart 1350, and the second attachment member 1321B may rotate the second robot arm 1330B to a stowed position on the deficient-arm cart 1350. Thus, the first and/or second robotic arms 1330A, 1330B may be securely coupled to the surgical table 1300 and may transition from a stowed position on the arm cart 1350 to an operating position (i.e., disengaged from the arm cart). In some embodiments, the first attachment member 1321A and the second attachment member 1321B may engage and rotate the first robot arm 1330A and the second robot arm 1330B, respectively, simultaneously or sequentially.

Fig. 11 is a side view of the surgical table 1700 with the first arm cart 1750A and the second arm cart 1750B in a nested configuration below the surgical table 1700. Surgical table 1700 can be identical or similar in structure and/or function to any of the surgical tables described herein. For example, surgical table 1700 may include a table top 1720, a support 1722, and a base 1724. The first arm cart 1750A and the second arm cart 1750B may be the same or similar in structure and/or function to any of the arm carts described herein. For example, the first arm cart 1750A is shown containing a robotic arm 1730. To enable the arm carts 1750A, 1750B to be easily moved into a stored or nested configuration beneath the deck 1720 of the table 1700, the base 1724 of the table is configured with an inclined upper surface. Thus, each of the first arm cart 1750A and the second arm cart 1750B may be rolled upward along the incline of the base 1724 into their respective storage configurations beneath the tabletop 1720. A suitable retaining mechanism (not shown in fig. 11), such as one or more detents, may be used to retain each arm cart in the storage configuration, i.e., to prevent the arm cart from rolling down the inclined upper surface of the base 1724. In some embodiments, each arm cart and table may be configured such that the cart may be placed in a storage configuration containing the arms within the cart, as shown in fig. 11 with respect to first arm cart 1750A and arm 1730. The cart and arms can thus be placed under the table top 1720 prior to the procedure, and then moved to the appropriate position for docking with the table and attaching the arms 1730 to the table 1700, as described above. The empty cart may then be returned to the storage configuration. In other embodiments, the cart is not configured to be stored under the table when it contains the arms, but can only be placed in the storage configuration when empty.

In some embodiments, the robotic arm can be transported via an arm cart, at which time the pose and/or orientation of the robotic arm can be the same as it is transferred to and stowed under the surgical table. Thus, in some embodiments, the pose and/or orientation of the robotic arm may remain the same during storage and during preparation and transfer of the robotic arm to the surgical table. For example, fig. 12A-12H are schematic diagrams of a surgical table 1800 and an arm cart 1850. As shown in fig. 12A, the arm cart 1850 contains and supports a robotic arm 1830. Surgical table 1800, arm cart 1850, and robotic arm 1830 may be the same as or similar in structure and/or function to any of the surgical tables, arm carts, and robotic arms, respectively, described herein. For example, the arm cart 1850 may include an arm receptacle 1852 and a base 1854. Surgical table 1800 may include a table top 1820, a table support 1822, and a table base 1824. As schematically shown in fig. 12A, table 1820 has an upper surface on which patient P may be placed during a surgical procedure. The table 1820 is disposed on a support 1822, which may be, for example, a pedestal located at a suitable height above the floor. The support 1822 may be mounted to a base 1824 that may be fixed to the floor of the operating room or may move relative to the floor (e.g., using wheels on the base). Additionally, the adapter 1846 may be coupled to or separate from the surgical table 1800. For example, as shown in fig. 12A, adapter 1846 may be coupled to or separate from tabletop 1820 but engageable with or coupleable to the tabletop. The robotic arm 1830 may be releasably coupled to the adapter 1846. The robotic arm 1830 may include a coupling mechanism 1839 such that the robotic arm 1830 may be coupled to an engagement feature (not shown) of the adapter 1846 via the coupling mechanism 1839. Additionally, the adapter 1846 may be configured to move the robotic arm 1830 via the coupling mechanism 1839 without a change in the configuration or orientation of the robotic arm 1830 relative to the coupling mechanism 1830. For example, the adapter 1846 may rotate the robotic arm 1830 about the Z-axis from the arm cart 1850 to a stowed position below the tabletop 1820 (as shown in fig. 12E), and/or rotate the robotic arm 1830 about the Z-axis and/or the X-axis into an operational position (as shown in fig. 12G).

Arm cart 1850 can be moved on a support surface relative to surgical table 1800. For example, as shown in fig. 12A, arm cart 1850 may be positioned near surgical table 1800. The robotic arm 1830 may be disposed in or on the arm cart 1850 such that when the arm cart 1850 is properly aligned with the surgical table 1800, the coupling mechanism 1839 is properly positioned for engagement with the adapter 1846. As shown in fig. 12B, arm cart 1850 may then be moved into alignment and/or engagement with surgical table 1800 for transferring robotic arm 1830 from arm cart 1850 to adapter 1846 of surgical table 1800. In such a position, the coupling mechanism 1839 may be coupled to the engagement feature of the adapter 1846 without a change in the configuration or orientation of the robotic arm 1830 relative to the arm cart 1850.

After engagement between the coupling mechanism 1839 and the adapter 1846, the arm cart 1850 may be moved away from the surgical table 1800 and the robotic arm 1830, as shown in fig. 12C. As shown in fig. 12D, which is a top view of the surgical table 1800 and the robotic arm 1830, with the tabletop 1820 shown in phantom, when the arm wagon 1850 is moved away from the surgical table 1800, the robotic arm 1830 may be supported by the adapter 1846 in a transfer position with the robotic arm 1830 extending away from the table along the X-axis.

As shown in fig. 12E and 12F, which are front and top views, respectively, of surgical table 1800 and robotic arm 1830, adapter 1846 may rotate robotic arm 1830 from the transport position shown in fig. 12C and 12D to a stowed position below tabletop 1820. The robotic arm 1830 may maintain the same configuration during rotation of the robotic arm 1830 from the transfer position to the stowed position and while remaining in the stowed position.

As shown in fig. 12G and 12H, which are side and top views, respectively, of surgical table 1800 and robotic arm 1830, adapter 1846 may also rotate robotic arm 1830 from a stowed position to an operational position. In some embodiments, the adapter 1846 may first rotate the robotic arm 1830 about the Z-axis until the robotic arm 1830 is in the original transfer position. The adapter 1846 may then rotate the robotic arm 1830 about the X-axis such that the robotic arm 1830 extends above the tabletop 1820. The robotic arm 1830 may maintain the same configuration during rotation about the Z-axis and the X-axis. In some embodiments, the adapter 1846 may first rotate the robotic arm 1830 about the Z-axis until the robotic arm 1830 is in the original transfer position. The configuration of the robotic arm may then be changed so that robotic arm 1830 may access the top surface of tabletop 1820 and/or patient P disposed on tabletop 1820.

While various embodiments have been described above, it should be understood that they have been presented by way of example only, and not limitation. Where the above-described method indicates that certain events occur in a certain order, the ordering of certain events may be modified. In addition, certain events may be performed concurrently in a parallel process, if possible, as well as performed sequentially as described above.

Where the above-described schematic and/or embodiments show certain components arranged in certain orientations or positions, the arrangement of the components may be modified. While embodiments have been particularly shown and described, it will be understood that various changes in form and detail may be made. Any portions of the devices and/or methods described herein can be combined in any combination, except mutually exclusive combinations. The embodiments described herein may include various combinations and/or subcombinations of the functions, features and/or properties of the different embodiments described.