阅读说明：本技术 机器人手术系统及其机器人臂推车 (Robot operation system and robot arm cart thereof ) 是由 贾森·艾斯曼 沙恩·里尔登 威廉·派纳 迈尔·罗森贝格 肖恩·霍姆斯 于 2020-02-18 设计创作，主要内容包括：一种手术推车包含竖直延伸的支撑柱、可移动地联接到所述支撑柱以承载机器人臂的托架,及用于减弱所述手术推车中引起的振动的阻尼器组合件。(A surgical cart includes a vertically extending support column, a carriage movably coupled to the support column to carry a robotic arm, and a damper assembly for damping vibrations induced in the surgical cart.)

1. A surgical cart for supporting a robotic arm, comprising:

a vertically extending support column having a rail;

a pulley supported on the support post;

a cable extending over the pulley and having a first end and a second end;

a carriage attached to the first end of the cable and vertically movable along the support post; and

a tuned mass damper assembly attached to the second end of the cable and movably coupled to the rail, wherein the tuned mass damper assembly is configured to dampen vibrations induced in the surgical cart.

2. The surgical cart of claim 1, wherein the tuned mass damper assembly is configured to move in a first vertical direction along the rails of the support column when the carriage moves in a second vertical direction along the support column, the first and second vertical directions being opposite one another.

3. The surgical cart of claim 1, further comprising a coupling member fixed to the tuned mass damper assembly and slidably coupled to the rail of the support column.

4. The surgical cart of claim 1, wherein the tuned mass damper assembly includes:

a housing attached to the second end of the cable and movably coupled to the rail;

a mass suspended within the housing and configured to move horizontally within the housing; and

a damper coupled between the mass and the housing.

5. The surgical cart of claim 4, wherein the damper is a bumper.

6. The surgical cart of claim 4, wherein the tuned mass damper assembly further includes a spring coupling the mass to the housing.

7. The surgical cart of claim 4, wherein the damper extends horizontally in a gap defined between the housing and the mass.

8. The surgical cart of claim 4, wherein the tuned mass damper assembly further includes a link movably coupling the mass to the housing.

9. The surgical cart of claim 4, wherein the damper is a plurality of dampers disposed about the mass.

10. The surgical cart of claim 1, further comprising:

a base on which the support post is supported; and

a plurality of wheels operably coupled to the base to permit movement of the surgical cart along a horizontal surface.

11. A surgical cart for supporting a robotic arm, comprising:

a vertically extending support column having a rail;

a pulley supported on the support post;

a cable extending over the pulley and having a first end and a second end;

a carriage attached to the first end of the cable and vertically movable along the support post;

a weight attached to the second end of the cable and movably coupled to the rail; and

a magnetic damper assembly supported adjacent a top end portion of the support column, wherein the magnetic damper assembly is configured to dampen vibrations induced in the surgical cart.

12. The surgical cart of claim 11, wherein the magnetic damper assembly includes:

a pair of metal plates;

a metal ring disposed between the pair of metal plates; and

a magnet suspended within the metal ring such that movement of the magnet relative to the metal ring induces eddy currents between the pair of metal plates and the magnet.

13. The surgical cart of claim 12, wherein the magnetic damper assembly further includes a plurality of springs disposed circumferentially around the magnet and coupling the magnet to the metal ring.

14. The surgical cart of claim 12, wherein the magnet is configured to move horizontally within the metal ring relative to the metal ring.

15. The surgical cart of claim 12, wherein the pair of metal plates and the metal ring are made of non-ferrous metals.

16. The surgical cart of claim 15, wherein the magnet is a rare earth magnet.

17. The surgical cart of claim 1, further comprising:

a base in which the vertical column is supported; and

a plurality of wheels operably coupled to the base to permit movement of the surgical cart along a horizontal surface.

18. A surgical cart for supporting a robotic arm, comprising:

a vertically extending support column having a rail;

a pulley supported on the support post;

a cable extending over the pulley and having a first end and a second end;

a carriage attached to the first end of the cable and vertically movable along the support post;

a magnetic damper assembly supported adjacent a top end portion of the support post; and

a tuned mass damper assembly attached to the second end of the cable and movably coupled to the rail, wherein the magnetic damper assembly and the tuned mass damper assembly are configured to dampen vibrations induced in the surgical cart.

19. The surgical cart of claim 18, wherein the tuned mass damper assembly includes:

a housing attached to the second end of the cable and movably coupled to the rail;

a mass suspended within the housing and configured to move horizontally within the housing; and

a damper coupled between the mass and the housing.

20. The surgical cart of claim 19, wherein the magnetic damper assembly includes:

a pair of metal plates;

a metal ring disposed between the pair of metal plates; and

a magnet suspended within the metal ring such that movement of the magnet relative to the metal ring induces eddy currents between the pair of metal plates and the magnet.

Technical Field

The present invention relates to robotic surgical systems for use in minimally invasive medical procedures due to increased accuracy and convenience relative to hand-held surgical instruments.

Background

Robotic surgical systems are used in minimally invasive medical procedures due to their greater accuracy and convenience relative to hand-held surgical instruments. In these robotic surgical systems, a robotic arm supports a surgical instrument having an end effector mounted thereto by a wrist assembly. In operation, the robotic arm is moved to a position above the patient, and then a surgical instrument is guided into a small incision via a surgical port or the patient's natural orifice to position the end effector at a work site within the patient's body.

Typically, a cart is provided to support the robotic arm and allow the clinician to move the robotic arm to different locations within the operating room. The height of the robotic arm above the patient may require adjustment (e.g., lowering or raising the robotic arm) to accurately position the end effector at the work site within the patient's body. Adjusting the height of the robotic arm involves moving the robotic arm vertically along a support post of the cart. Manual adjustment of the vertical position of the robotic arm may require a significant amount of force to be applied, either manually or by a motor, due to the weight of the robotic arm and/or other components associated with the robotic arm.

Accordingly, solutions are sought for overcoming the challenges involved in adjusting the height of a robotic arm. Further, there is room for improvement in the mechanisms used in maintaining the robotic arm at a selected height. Still further, it would be advantageous to reduce vibrations induced in the surgical cart during use.

Disclosure of Invention

According to one aspect of the present disclosure, there is provided a surgical cart for supporting a robotic arm, comprising: a vertically extending support column; a pulley supported on the support post; a cable extending over the pulley; a carriage attached to a first end of the cable and vertically movable along the support post; and a tuned mass damper assembly attached to the second end of the cable and movably coupled to the rail of the support post. The tuned mass damper assembly is configured to dampen vibrations induced in the surgical cart.

In aspects, the tuned mass damper assembly may be configured to move in a first vertical direction along the rail of the support column as the carriage moves in a second vertical direction along the support column. The first and second vertical directions may be opposite to each other.

In aspects, the surgical cart may further include a coupling member fixed to the tuned mass damper assembly and slidably coupled to the rail of the support column.

In aspects, the tuned mass damper assembly may include a housing, a mass suspended within the housing, and a damper coupled between the mass and the housing. The housing may be attached to the second end of the cable and movably coupled to the rail, and the mass may be configured to move horizontally within the housing.

In aspects, the damper may be a bumper.

In aspects, the tuned mass damper assembly may further include a spring coupling the mass to the housing.

In aspects, the damper may extend horizontally in a gap defined between the housing and the mass.

In aspects, the tuned mass damper assembly may further include a linkage movably coupling the mass to the housing.

In aspects, the damper may be a plurality of dampers disposed around the mass.

In various aspects, the surgical cart may further include a base and a plurality of wheels operably coupled to the base. The support column may be supported on the base, and the wheels may permit the surgical cart to move along a horizontal surface.

According to another aspect of the present disclosure, a surgical cart for supporting a robotic arm includes: a vertically extending support column; a pulley supported on the support post; a cable extending over the pulley; a carriage attached to a first end of the cable and vertically movable along the support post; a weight attached to the second end of the cable and movably coupled to the rail of the support post; and a magnetic damper assembly supported adjacent a top end portion of the support post. The magnetic damper assembly is configured to dampen vibrations induced in the surgical cart.

In aspects, the magnetic damper assembly may include a pair of metal plates, a metal ring disposed between the pair of metal plates, and a magnet suspended within the metal ring such that movement of the magnet relative to the metal ring induces eddy currents between the pair of metal plates and the magnet.

In aspects, the magnetic damper assembly may further include a plurality of springs disposed circumferentially around the magnet and coupling the magnet to the metal ring.

In aspects, the magnet may be configured to move horizontally within the metal ring relative to the metal ring.

In various aspects, the pair of metal plates and the metal ring may be made of a non-ferrous metal, and the magnet may be a rare earth magnet.

According to yet another aspect of the present disclosure, a surgical cart for supporting a robotic arm includes: a vertically extending support column; a pulley supported on the support post; a cable extending over the pulley; a carriage attached to a first end of the cable and vertically movable along the support post; a magnetic damper assembly supported adjacent a top end portion of the support post; and a tuned mass damper assembly attached to the second end of the cable and movably coupled to the rail of the support post. The magnetic damper assembly and the tuned mass damper assembly are configured to dampen vibrations induced in the surgical cart.

Further details and aspects of exemplary embodiments of the present disclosure are described in more detail below with reference to the drawings.

As used herein, the terms parallel and perpendicular should be understood to encompass both substantially parallel and substantially perpendicular relative configurations that differ from true parallel and true perpendicular by about + or-10 degrees.

Drawings

The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments of the disclosure and, together with a general description of the disclosure given above and the detailed description of the embodiments given below, serve to explain the principles of the disclosure, in which:

fig. 1 is a schematic illustration of a robotic surgical system including a surgical cart according to the present disclosure;

FIG. 2 is a rear perspective view of one embodiment of a surgical cart of the robotic surgical system of FIG. 1;

FIG. 3 is a perspective view of a pulley assembly disposed within a support column of the surgical cart of FIG. 2;

FIG. 4 is an enlarged perspective view of the pulley assembly of FIG. 3;

FIG. 5 is a top perspective view of the sheave assembly of FIG. 3 coupled to a counterweight;

FIG. 6 is a perspective view of the counterweight of FIG. 5;

fig. 7 is a front perspective view of the surgical cart of fig. 2;

FIG. 8 is a front perspective view showing the brake mechanism of the surgical cart of FIG. 2 with parts removed;

fig. 9 is an enlarged view of the rolling base of the surgical cart of fig. 2 with the cover removed therefrom;

FIG. 10 is a perspective view of another embodiment of a surgical cart having a robotic arm attached thereto;

FIG. 11 is a perspective view of the support column and its braking mechanism of the surgical cart of FIG. 10, with some parts separated;

FIG. 12 is a perspective view of another embodiment of a brake mechanism for use with the surgical cart of FIG. 10;

fig. 13 is an enlarged view of the braking mechanism of fig. 12 shown attached to the rail of the surgical cart;

fig. 14 is a first side view of the surgical cart of fig. 10;

fig. 15 is an enlarged second side view of the surgical cart of fig. 10 illustrating another embodiment of a brake mechanism;

FIG. 16 is an enlarged view of the rack and pinion of the braking mechanism of FIG. 15;

fig. 17 is a perspective view of the surgical cart of fig. 10 showing a spring-based counterbalance mechanism;

fig. 18 is another perspective view of the surgical cart of fig. 10;

FIG. 19 is an enlarged view of components of the spring-based counterbalance mechanism of FIG. 17;

FIG. 20 is a rear view of the counter balance mechanism of FIG. 17;

fig. 21 is a schematic illustration of an embodiment of a surgical cart having a damper assembly;

FIG. 22 is a top cross-sectional view of a damper assembly of the surgical cart of FIG. 21;

FIG. 23 is a side cross-sectional view of the damper assembly of the surgical cart of FIG. 21;

FIG. 24 is a schematic illustration of another embodiment of a surgical cart having a damper assembly;

FIG. 25 is a top cross-sectional view of a damper assembly of the surgical cart of FIG. 24; and

fig. 26 is a side cross-sectional view of the damper assembly of the surgical cart of fig. 24.

Detailed Description

Embodiments of the presently disclosed robotic surgical system, including various embodiments of a robotic arm cart and methods of using the same, are described in detail with reference to the drawings in which like reference numerals designate identical or corresponding elements in each of the several views. As used herein, the term "distal" refers to the portion of the robotic surgical system or components thereof that is closer to the patient, while the term "proximal" refers to the portion of the robotic surgical system or components thereof that is further from the patient.

As will be described in detail below, embodiments of a surgical cart for supporting a robotic arm and for facilitating movement of the robotic arm about within an operating room are provided. The cart includes a base equipped with wheels, and a support column extending vertically from the base. The support column supports a carriage that is movable along a vertical axis of the support column and carries a robotic arm. The surgical cart further includes a counter balance mechanism to assist a clinician in manually adjusting the vertical position of the cradle along the support column. The present disclosure further provides a brake mechanism that maintains a selected vertical position of the carriage relative to the support column. The present disclosure additionally provides embodiments of a damper assembly for damping vibrations induced in a surgical cart during use.

Referring initially to fig. 1, a surgical system, such as a robotic surgical system 1, is shown. In an embodiment, the robotic surgical system 1 is located within an operating room "OR". The robotic surgical system 1 generally includes a plurality of surgical robotic arms 2, 3 having surgical instruments (e.g., electromechanical instruments 10 detachably attached thereto); a control device 4; and an operation console 5 coupled with the control device 4.

The operating console 5 comprises display means 6, in particular arranged to display a three-dimensional image; and manual input means 7, 8 by means of which a person (not shown), for example a clinician, can remotely control the robot arms 2, 3 in a first mode of operation, as is known in principle to a person skilled in the art. Each of the robot arms 2, 3 may be composed of a plurality of components connected by joints.

The robot arms 2, 3 may be driven by an electrical drive (not shown) connected to the control device 4. The control device 4, for example a computer, is provided to activate the drive, in particular by means of a computer program, in such a way that the robot arms 2, 3 and thus the electromechanical instrument 10, including the electromechanical end effector (not shown), execute the desired movement according to the movement defined by means of the manual input devices 7, 8. A control device 4 may also be provided in such a way that it regulates the movement of the robot arms 2, 3 and/or the drive.

The robotic surgical system 1 is configured to be used on a patient "P" lying on an operating table "ST" to be treated in a minimally invasive manner by means of a surgical instrument (e.g., the electromechanical instrument 10). The robotic surgical system 1 may also include more or less than two robotic arms 2, 3, additional robotic arms also being connected to the control device 4 and being remotely controllable by means of the operating console 5. Surgical instruments, such as electromechanical instrument 10 (including electromechanical end effectors), may also be attached to the additional robotic arm.

A robotic arm (e.g., robotic arm 3) is supported on surgical cart 100. The surgical cart 100 may incorporate the control device 4. In an embodiment, a robotic arm (e.g., robotic arm 2) may be coupled to surgical table "ST".

For a detailed discussion of the construction and operation of robotic surgical systems, reference may be made to U.S. patent No. 8,828,023 entitled Medical Workstation, the entire contents of which are incorporated herein by reference.

Referring to fig. 2, one exemplary embodiment of a surgical cart configured for use with the robotic surgical system 1 according to the present disclosure is shown generally using reference numeral 100. The surgical cart 100 is configured to move the robotic arm 3 (fig. 1) to a selected position within an operating room "OR" (fig. 1) and provide height adjustment of the robotic arm 3. Surgical cart 100 generally includes a cart base 102, a support post 104 extending vertically (i.e., vertically) from cart base 102, and a carriage or slide 106 slidably supported on post 104 and configured for supporting robotic arm 3 thereon.

The support column 104 of the surgical cart 100 defines a longitudinal axis "X" and has a first end 104a and a second free end 104b supported on the cart base 102. The support column 104 includes a pair of opposing sidewalls 108a, 108 b. A pair of handles 110a, 110b are attached to the respective sidewalls 108a, 108b and are configured to be grasped by a clinician to facilitate movement of the surgical cart 100 within the operating room "OR". The sidewalls 108a, 108b of the support post 104 are laterally spaced apart from one another to define a longitudinally extending channel 112 having an internal support structure 114 disposed therein.

Referring to fig. 2 and 3, the internal support structure 114 of the support column 104 extends along a longitudinal axis "X" of the support column 104 and is configured to slidably support both the carriage 106 and the counterweight 130. Specifically, the internal support structure 114 of the support column 104 has a first longitudinal side 114a defining a first longitudinally extending track 116a, and a second longitudinal side 114b defining a second longitudinally extending track 116 b. The carriage 106 is slidably supported in the first track 116a of the first longitudinal side 114a and the counterweight 130 is slidably supported in the second track 116b of the second longitudinal side 114 b. The support post 104 includes a platform 118 disposed on the internal support structure 114 at the second free end 104b of the post 104 for supporting a pulley assembly 120 thereon.

Referring to fig. 4 and 5, surgical cart 100 includes a pulley assembly that mechanically engages carriage 106 with counterweight 130. The pulley assembly 120 includes a first pair of pulleys 120a and a second pair of pulleys 120b, each supported on the platform 118 of the support column 104 and fixed to the platform 118. The first and second pairs of pulleys 120a, 120b are laterally spaced from each other such that the first pair of pulleys 120a is disposed adjacent to a first sidewall 108a (fig. 2) of the support column 104 and the second pair of pulleys 120b is disposed adjacent to a second sidewall 108b (fig. 2) of the support column 104. It is contemplated that the pulley assembly 120 can include first and second single pulleys instead of the first and second pairs of pulleys.

Pulleys 120a, 120b are rotatably supported on platform 118 via respective hubs 122a, 122 b. It is contemplated that each of hubs 122a, 122b can include a braking mechanism 124, such as a servo motor brake or an electromagnetic brake, configured to selectively stop rotation of pulleys 120a, 120 b. In an embodiment, the hubs 122a, 122b may each include a motor 126 for driving rotation of the pulleys 120a, 120b, thereby moving the carriage 106. A detailed description of an exemplary servo motor brake may be found in U.S. patent No. 6,273,221, which is incorporated herein by reference in its entirety. In an embodiment, the pulleys 120a, 120b may have absolute encoders to determine the position of the robotic arm 3.

Referring to fig. 5 and 6, the pulley assembly 120 includes first and second cables 128, 132 and a switch lever 134. A first cable 128 extends over the first pair of pulleys 120a and a second cable 132 extends over the second pair of pulleys 120 b. A first end 128a of the first cable 128 is fixedly coupled to the counterweight 130, and a second end (not expressly shown) is fixedly coupled to the carriage 106. Similarly, a first end (not expressly shown) of the second cable 132 is fixedly coupled to the counterweight 130, and a second end (not expressly shown) is fixedly coupled to the carriage 106.

The switch lever 134 of the pulley assembly 120 is pivotally supported on the counterweight 130. The first end 128a of the first cable 128 is fixed to the first end 134a of the switch lever 134, and the first end of the second cable 132 is fixed to the second end 134b of the switch lever 134. The middle portion of the switch lever 134 is pivotally attached to a fulcrum 136, which is attached to the counterweight 130.

The toggle bar 134 allows for any manufacturing tolerances or stretching in the cables 128, 132 that may occur over time. For example, if the first cable 128 begins to stretch or elongate and the second cable 132 does not, the switch lever 134 will pivot to move the first end 134a of the switch lever 134 toward the counterweight 130 to account for the elongation of the first cable 128. As such, the first and second cables 128, 132 continue to carry an equal load of the counterweight 130 even if there is uneven tension in one of the cables 128, 132. Further, the switch lever 134 accommodates manufacturing tolerances in the cables 128a, 132.

Referring to fig. 6, the mass of the counterweight 130 is substantially equal to the combined mass of the carriage 106, the robotic arm 3, and the attached surgical instrument 10. In some embodiments, the mass of the counterweight 130 may be substantially equal to the combined mass of the carriage 106, the robotic arm 3, and/or the surgical instrument 10. The counterweight 130 serves to reduce the effort required by the clinician (or in some embodiments, the motor) in raising or lowering the carriage 106 (with the robotic arm 3 attached) along the support post 104 by making the carriage 106 free floating. As shown, the counterweight 130 may include a plurality of precision weights stacked on top of one another. Each of the weights may be detachable from the weight unit 130 to provide the clinician with the ability to adjust the mass of the weight 130 depending on the mass of the carriage 106, the robotic arm 3, and/or other components ultimately supported by the carriage 106. In an embodiment, the counterweight 106 may be considered a component of the pulley assembly 120.

Referring to fig. 7 and 8, the surgical cart 100 includes a brake mechanism 140 disposed within the cavity 112 of the support column 104. The detent mechanism 140 includes a shaft or rod 142, and a detent 144 slidably mounted to the shaft 142. The shaft 142 extends longitudinally within the support column 104 and is fixed at its ends between the platform 118 and the cart base 102.

A connector or extension 146 of the brake 144 secures the brake 144 to the carriage 106 such that axial movement of the carriage 106 along the track 116a of the support post 104 causes the brake 144 to slide along the shaft 142. A longitudinally extending channel 148 is defined through the detent 144 and has the shaft 142 extending therethrough. The brake 144 may be configured as an electromagnetic brake, a servo motor brake, a hydraulic brake, a pneumatic brake, or the like.

In response to actuation of brake 144 via control device 4, brake 144 frictionally engages shaft 142. In some embodiments, instead of, or in addition to, the control device 4 being responsible for actuating the brake 144, the brake 144 may include a sensor (not expressly shown) that senses a threshold force applied on the carriage 106, causing the brake 144 to automatically release engagement with the shaft 142. The threshold force sensed by the sensor may be an upward force applied by the clinician on the carriage 106 for raising the carriage 106. In an embodiment, the brake 144 may automatically frictionally engage the shaft 142 in the absence of a threshold force.

In other embodiments, the sensor may be configured to detect when the motor 126 (fig. 5) of the pulley assembly 120 is being activated, or may receive a simultaneous signal from the control device 4 indicating that the motor 126 is being activated. After the sensor senses activation of the motor 126 or receipt of a signal from the control device 4, the brake 144 releases engagement with the shaft 142 to allow the carriage 106 driven by the motor 126 to be raised or lowered.

Referring to fig. 9, cart base 102 of surgical cart 100 is secured to first end 104a of support column 104 and includes four casters 103a, 103b, 103c, 103 d. In some embodiments, the cart base 102 can include more or less than four casters. Cart base 102 further includes two foot pedals 105a, 105b coupled to casters 103a-103d via links 107a, 107b to rotate casters 103a-103d in a selected direction. Thus, using foot pedals 105a, 105b, the clinician can control the direction of movement of surgical cart 100.

In operation, with the robotic arm 3 supported on the carriage 106, the carriage 106 may be raised or lowered to a selected vertical position along the longitudinal axis "X" of the support column 104. For example, to raise the carriage 106 and, in turn, the robotic arm 3, the clinician may actuate the motor 126 in the hubs 122a, 122b of the pulley assembly 120 via the control device 4, or manually raise the carriage 106 by hand. In either scenario, the counterweight 130 of the pulley assembly 120 reduces the energy or force required to raise the carriage 106 due to the counterweight 130 acting on the carriage 106 in the same direction that the carriage 106 is being moved by the clinician or the motor 126.

After the clinician stops applying an upward force on the carriage 106, the brake 144 of the brake mechanism 140 automatically frictionally engages the shaft 142 of the brake mechanism 140 (e.g., via a sensor), thereby stopping further vertical movement of the carriage 106 along the support column 104 in either direction. Similarly, in the context of using the motor 126 of the pulley assembly 120 to adjust the height of the carriage 106, after the motor 126 stops rotating the pulleys 120a, 120b, the brake 144 of the brake mechanism 140 is automatically actuated (e.g., via a sensor) to engage the shaft 142 of the brake mechanism 140, thereby stopping further vertical movement of the carriage 106 along the support column 104 in either direction. In an embodiment, the brake 144 may have a manual override in the event of a power failure.

With the brake 144 engaged to the shaft 142, the carriage 106 will be fixed in its vertical position on the support post 104. In the event that the combined mass of the carriage 106, the robotic arm 3, and the surgical instrument 10 is greater than the mass of the counterweight 130, the brake 144 will prevent the carriage 106 from being lowered as long as the brake 144 is in the activated state. In the alternative situation where the mass of the counterweight 130 is greater than the combined mass of the carriage 106, the robotic arm 3, and the surgical instrument 10, the brake 144 will prevent the carriage 106 from being raised as long as the brake 144 is in the activated state.

Referring to fig. 10 and 11, another embodiment of a surgical cart 200 configured as a robotic surgical system 1 for use in accordance with the present disclosure is shown. The surgical cart 200 is configured to move the robotic arm 3 to a selected position within an operating room "OR" (fig. 1), and to provide vertical movement of the robotic arm 3. Surgical cart 200 generally includes a cart base 202, a support column 204 extending vertically (e.g., vertically) from cart base 202, and a carriage or slide 206 configured for supporting robotic arm 3 thereon. Only those components of the surgical cart 200 that are considered important for illustrating features of the surgical cart 100 that differ from fig. 2-9 will be described in detail.

Surgical cart 200 includes a detent mechanism 240 for selectively fixing the vertical position of carriage 206 and, in turn, robotic arm 3 relative to support column 204. In one embodiment, the braking mechanism 240 includes ball screw assemblies 242, 244 and a motorized brake 246 operably engaged to the ball screw assemblies. The ball screw assembly includes a ball screw 242 and a ball nut 244 threadably coupled to the ball screw 242. In an embodiment, instead of the braking mechanism 240 having a ball screw assembly, the braking mechanism 240 may include a conventional lead screw and a conventional nut threaded thereto. The ball screw 242 has a high pitch relative to conventional ball screws, wherein such a relatively high pitch facilitates the raising and lowering of the carriage 106 and, in turn, the robotic arm 3.

The ball nut 244 of the brake mechanism 240 is rotatably mounted to the bracket 206 such that the nut 244 moves axially with the bracket 206 along the length of the support post 204. It is contemplated that the nut 244 may have surface features (not expressly shown) defined on its outer surface that engage corresponding surface features (not expressly shown) on the bracket 206 that allow relative rotation of the nut 244 while inhibiting relative axial movement of the nut 244. The nut 244 is threadably coupled to the ball screw 242 such that axial movement of the nut 244 along the ball screw 242 causes the ball screw 242 to rotate about its longitudinal axis. The ball screw 242 of the detent mechanism 240 extends longitudinally within the support column 204 and is axially fixed at its ends between a platform 248 and a detent 246 of the detent mechanism 240.

The brake 246 of the brake mechanism 240 is mounted on the end of the ball screw 242, and may be an electromagnetic brake, a servo motor brake, or the like. The detent 246 defines a longitudinally extending channel 250 through which the end of the ball screw 242 extends. The brake 246 is configured to selectively frictionally engage the ball screw 242 in response to actuation of the brake 246 via the control device 4. In some embodiments, instead of, or in addition to, the control device 4 being responsible for actuating the brake 246, the brake 246 may include a sensor (not explicitly shown) that controls actuation of the brake 246. In particular, the sensor may be configured to sense a threshold force exerted on the carriage 206 and in response cause the brake 246 to automatically release engagement with the ball screw 242. The threshold force sensed by the sensor may be caused by the clinician applying an upward force on the cradle 206 that is intended to raise the cradle 206. The brake 246 may be further configured to automatically frictionally engage the ball screw 242 in the absence of a threshold force. As such, the sensor controls the brake 246 of the brake mechanism 240 to selectively fix the vertical position of the bracket 206 on the support column 204. As can be appreciated, a processor (not explicitly shown) may be provided to direct operation of the brake 246 in response to the sensor sensing a threshold force.

In some embodiments, surgical cart 200 may further include a motor 252 operably coupled to ball screw 242 to effect rotation of ball screw 242. In this embodiment, activation of the motor 252 causes the ball screw 242 to rotate, thereby driving upward or downward movement of the nut 244 along the ball screw 242, and in turn driving corresponding upward or downward movement of the carriage 206. In other embodiments, a sensor may be configured to detect when the motor 252 is being activated, and after the sensor senses activation of the motor 252, the brake 246 may be configured to automatically release engagement with the ball screw 242 to allow the carriage 206 to be raised or lowered by the motor 252. In still other embodiments, another brake (not shown) may be provided that selectively engages nut 244 to prevent rotation of nut 244 and/or axial translation of nut 244.

In operation, to raise or lower the robotic arm 3, the clinician may manually apply a force on the carriage 206, or the motor 252 may be activated by the clinician pressing a button to drive movement of the carriage 206. A sensor senses the manual force being applied to the carriage 206 or a sensor senses activation of the motor 252. The sensor communicates with the processor, which in turn directs the brake 246 of the braking mechanism 240 to release the ball screw 242. If vertical adjustment of the carriage 206 is being driven manually, the force exerted by the clinician on the carriage 206 moves the carriage 206 and the attached nut 244 and robotic arm 3 along the ball screw 242 because the ball screw 242 is no longer prevented from rotating by the brake 246. If vertical adjustment of the bracket 206 is being driven by the motor 252, activation of the motor 252 rotates the ball screw 242 because the ball screw 242 is no longer prevented from rotating by the brake 246. As the ball screw 242 rotates, the nut 244 moves along the ball screw 242, thereby moving the carriage 206 and attached robotic arm 3 along the support column 204.

Referring to fig. 12 and 13, another embodiment of a brake mechanism 340 for use with the surgical cart 200 of the robotic surgical system 1 is shown. The brake mechanism 260 includes a linear motion brake mounted to the carriage 206 and movable therewith. The linear motion actuator includes a pair of clamp arms 262a, 262b that selectively grip the track 205 of the support column 204 to stop axial movement of the carriage 206 along the track 205. The linear motion actuator may include a manual actuator 264 operable by a clinician to manually actuate the linear actuator. A detailed description of an exemplary linear motion actuator may be found in U.S. patent No. 8,220,592.

Referring to fig. 14-20, another embodiment of a surgical cart 300 configured as a robotic surgical system 1 for use in accordance with the present disclosure is shown. Surgical cart 300 is configured to move robotic arm 3 to a selected position within an operating room "OR" (fig. 1), and to provide vertical movement of robotic arm 3. Surgical cart 300 generally includes a cart base 302, a support post 304 extending vertically (e.g., vertically) from cart base 302, and a carriage or slide 306 configured for supporting robotic arm 3 thereon. Only those components of surgical cart 300 that are considered important for illustrating features of surgical cart 100 that differ from fig. 2-9 will be described in detail.

Surgical cart 300 includes a brake mechanism 340, similar to brake mechanism 240 described with reference to fig. 11. The brake mechanism 340 is configured to fix the vertical position of the carriage 306 and, in turn, the robotic arm 3, relative to the support column 304. The brake mechanism 340 includes a rack 342 and a pinion 344 operatively coupled to each other to selectively stop axial movement of the carriage 306 along the support column 304.

The gear rack 342 of the brake mechanism 340 is fixedly mounted to the support post 304 and extends parallel to the longitudinal axis of the support post 304. The rack 342 defines a plurality of teeth 346 along its length that are configured to matingly engage the posts 348 of the pinion gear 344. The pinion gear 344 of the brake mechanism 340 is non-rotatably mounted to an axle 350 that is rotatably mounted to the bracket 306. As such, the pinion gear 344 is able to rotate relative to the carrier 306 while being axially fixed relative to the carrier 306. In some embodiments, the axle 350 is rotatably fixed relative to the bracket 306 while the pinion gear 344 is rotatably mounted to the axle 350. In some embodiments, the pinion gear 344 may have helical teeth to reduce backlash.

The brake mechanism 340 further includes a brake 352 mounted to an end of the axle 350. Brake 352 may be an electromagnetic brake, a servo motor brake, or the like, and is configured to selectively frictionally engage pinion gear 344 in response to actuation of brake 344 via control device 4. In some embodiments, instead of, or in addition to, control device 4 being responsible for actuating the brakes, brakes 344 may include sensors (not expressly shown) that control actuation of brakes 344. In particular, the sensor may be configured to sense a threshold force exerted on the carrier 306 and in response cause the brake 352 to automatically release engagement with the pinion gear 344. The threshold force sensed by the sensor may be caused by the clinician applying an upward force on the cradle 306 that is intended to raise the cradle 306. The brake 352 may be further configured to automatically frictionally engage the pinion gear 344 in the absence of a threshold force. As such, the sensor controls the brake 352 of the brake mechanism 340 to selectively fix the vertical position of the bracket 306 on the support post 304. As can be appreciated, a processor (e.g., control device 4) may be provided to direct operation of brake 352 in response to the sensor sensing a threshold force.

The support column 304 may further include a motor (not expressly shown) operably coupled to the pinion 344 or the axle 350 to effect rotation of the pinion 344 either directly or indirectly via the axle 350. In this embodiment, activation of the motor causes the pinion gear 344 to rotate, thereby driving the pinion gear 344 up or down along the rack 342, and in turn driving the carriage 306 up or down along the support column 304, respectively. In other embodiments, a sensor may be configured to detect when the motor is being activated, and after the sensor senses the motor is activated, the brake 352 may automatically release engagement with the pinion gear 344 to allow the carrier 306 to be raised or lowered. As can be appreciated, the processor may be configured to direct operation of the brake 352 in response to the sensor sensing activation or deactivation of the motor.

In one embodiment, both the axle 350 and the pinion gear 344 may be non-rotatable relative to the carrier 306. In this embodiment, the pinion gear 344 is movable between a first or braking position in which the pinion gear 344 is engaged to the rack 342 and a second or non-braking position in which the pinion gear 344 is disengaged from the rack 342. As such, the pinion gear 344 acts as a brake 352 by selectively engaging the rack gear 342 to stop movement of the carriage 306 along the support column 304.

In operation, to raise or lower the robotic arm 3, the clinician may manually exert a force on the carriage 306, or may activate a motor to drive movement of the carriage 306. The sensor senses that manual force is being exerted on the cradle 306 by the clinician, or the sensor senses activation of the motor. The sensor communicates with the processor, which in turn directs the brake 352 of the braking mechanism 340 to release the pinion gear 344. If vertical adjustment of the carriage 306 is being driven manually, the force exerted by the clinician on the carriage 306 moves the carriage 306, attached robotic arm 3, and pinion gear 344 along the support post 304 because the pinion gear 344 is no longer prevented from rotating by the brake 352. If the vertical adjustment of the cradle 306 is being driven by the motor, activation of the motor rotates the pinion gear 344 because the pinion gear 344 is no longer prevented from rotating by the brake 352. As the pinion gear 344 rotates, the pinion gear 344 moves axially along the rack gear 342, thereby moving the carriage 306 and attached robotic arm 3 along the support column 304.

Referring to fig. 17-20, surgical cart 300 includes a pair of spring members 320a, 320b mounted in support column 304 and configured to counter balance the combined mass of cradle 306 and attached robotic arm 3. Each of the spring members 320a, 320b may be a constant force spring having one or more laminates or layers made of stainless steel, fiberglass, or any suitable material. The number and thickness of the laminates and the type of material used to fabricate the constant force springs 320a, 320b are selected based on the combined mass of the carriage 306, the robotic arm 3, and the attached surgical instrument.

Constant force springs 320a, 320b are each wound around a barrel 322a, 322 b. The two barrels 322a, 322b are disposed adjacent to one another and are each rotatably mounted to a respective axle or pivot pin 324a, 324 b. A first end of each of the springs is secured (e.g., bolted or welded) to the respective barrel 322a, 322b, and a second end 326, 328 of each of the springs 320a, 320b extends downwardly from the respective barrel 322a, 322 b. One or both of the second ends 326, 328 of the springs 320a, 320b are directly attached to the bracket 306. The springs 320a, 320b serve to reduce the effort required by the clinician (or in some embodiments, the motor) in raising or lowering the carriage 306 (with the robotic arm 3 attached) along the support posts 304 by making the carriage 306 free floating. As shown in fig. 18 and 19, an electrical switch 341, such as a hall effect sensor, may be associated with the springs 320a, 320b for detecting whether the springs 320a, 320b are broken. In particular, if the sum springs 320a, 320b are to be broken, the respective electrical switches 341 will be activated, thereby providing a clinician or technician with a signal that a fault has occurred, or the like, and in embodiments, placing the system in a permanent or temporary "suspend" or "shutdown" state until the particular robotic cart 300 is replaced and/or repaired.

In operation, with the robotic arm 3 supported on the carriage 306, the carriage 306 may be raised or lowered to a selected position along the longitudinal axis of the support post 304. For example, to lower the carrier 306, a threshold amount of force is required to overcome the spring force of the springs 320a, 320 b. After overcoming the spring force of the springs 320a, 320b, the bracket 306 is lowered away from the barrels 322a, 322b, thereby deploying the springs 320a, 320 b. A brake, such as a brake mechanism 340, can be used to maintain the bracket 306 in a selected vertical position on the support column 304.

To raise the carrier 306 from the lowered position, the brake is released, allowing the spring force of the springs 320a, 320b to act on the carrier 306. As the springs 320a, 320b attempt to return to their natural wound state, the springs 320a, 320b exert an upwardly directed force on the bracket 306 to facilitate the bracket 306 moving vertically upward along the support column 304. As such, the springs 320a, 320b reduce the energy required to raise the cradle 306 due to the springs 320a, 320b acting on the cradle 306 in the same direction that the cradle 306 is being moved by the clinician or motor.

With continued reference to fig. 17-20, the cart 300 may further include an over latch mechanism for adjusting the force required to rotate the pinion gear 344 of the detent mechanism 340. Specifically, the latch-passing mechanism includes a cable 330, a lever 331, and a pivot arm 333 (fig. 20). First end 330a of cable 330 is anchored to joystick 331 and second end 330b is anchored to the base of support post 304. The cable 330 is wrapped around the pinion 344 of the brake mechanism 340 to provide a selective amount of resistance to rotation of the pinion 344. For example, the tighter the cable 330 is wrapped around the pinion 344, the greater the force required to rotate the pinion 344 and in turn move the bracket 306 along the axis of the support column 304. To reduce the tension in cable 330, lever 331 is actuated, which causes pivot arm 333 to pivot downward, thereby bringing first end 330a of cable 330 closer to second end 330 b. In this manner, cable 330 is loosened about pinion 344 to allow pinion 344 to rotate more easily.

Referring to fig. 21 through 23, another embodiment of a surgical cart 400 configured as a robotic surgical system 1 for use in accordance with the present disclosure is shown. The surgical cart 400 is configured to move the robotic arm 3 to a selected position within an operating room "OR" (fig. 1), and to provide vertical movement of the robotic arm 3. Surgical cart 400 generally includes a cart base 402, a support column 404 extending vertically (e.g., perpendicularly) from cart base 402, and a damper assembly, such as a tuned mass damper assembly 420 for reducing vibrations induced in surgical cart 400 during use. Only those components of the surgical cart 400 that are deemed important for elucidating features different from the surgical cart described above will be described in detail.

The cart base 402 has a plurality of wheels 408, such as casters for movably supporting the surgical cart 400 on a horizontal surface. The support column 404 has a pair of side walls 404a, 404b extending vertically from the cart base 402 and a top portion 404c or top disposed on the side walls 404a, 404 b. The first and second pulleys 412a, 412b are operably supported on the top end portion 404c of the support column 404. A cable 414 extends over each of the pulleys 412a, 412b and has a first end 414a and a second end 414 b. In embodiments, the support column 404 may have more or less than two pulleys. A first end 414a of the cable 414 may be disposed outside of the support column 404 and a second end 414b of the cable 414 may be disposed within the support column 404.

The first end 414a of the cable 414 has a bracket or crossbar 406 secured thereto. The carriage 406 is configured to support a robotic arm, such as the robotic arm 3 (FIG. 1), thereon. Movement of the cable 414 over the pulleys 412a, 412b causes the carriage 406 and associated robotic arm 3 to move vertically along the support post 404. A tuned mass damper assembly 420 is secured to the second end 414B of cable 414 such that movement of cable 414 over pulleys 412a, 412B moves tuned mass damper assembly 420 and carriage 406 in opposite vertical directions along support column 404, which opposite vertical directions are indicated by arrows "a" and "B" in fig. 21.

Referring to fig. 22 and 23, tuned mass damper assembly 420 generally includes a housing 422, a mass 424, and a plurality of dampers 426. The housing 422 is secured to the second end 414b of the cable 414 and is slidably coupled to the rail 416 of the support post 404 via a coupling device or bracket 418. The housing 422 may be a square, hollow structure sized to be received within the support post 404. The mass 424 may be a mass having a weight substantially equal to the combined weight of the carriage 406 and the robotic arm 3 (FIG. 1). The mass 424 is disposed spaced inwardly from the inner periphery of the outer shell 422 within the outer shell 422 to define a gap 428 between the inner periphery of the outer shell 422 and the mass 424.

Damper 426 of tuned mass damper assembly 420 is disposed about mass 424 and extends across a gap 428 defined between mass 424 and housing 424. The damper 426 attaches the mass 424 to the inner periphery of the housing 422, whereby the mass 424 is suspended within the housing 422 and is free to move horizontally within the housing 422 along a horizontal plane relative to the housing 422. Damper 426 may be any suitable damper, such as a bumper, configured to absorb vibrations of surgical cart 400. Tuned mass damper assembly 420 may further include a plurality of springs 430 disposed about mass 424. The spring 430 couples the mass 424 to the inner periphery of the housing 422 and is configured to provide resistance to, but not prevent, horizontal movement of the mass 424 within the housing 422. A plurality of linkages or bearings 432 may be provided to help couple the mass 424 to the housing 422 while permitting the mass 424 to move horizontally relative to the housing 424.

In use, movement of the surgical cart 400, whether intentional or unintentional, inevitably results in vibration of the surgical cart 400 and its components, including the attached surgical instruments. When surgical cart 400 vibrates, mass 424 of tuned mass damper assembly 420 oscillates in a horizontal direction relative to housing 422 of tuned mass damper assembly 420. Dampers 426 (e.g., bumpers) of tuned mass damper assembly 420 reduce the amplitude of these vibrations by absorbing the kinetic energy (i.e., horizontal movement) of surgical cart 400.

Referring to fig. 24 to 26, there is shown yet another embodiment of a surgical cart 500 of a robotic surgical system 1 configured for use in accordance with the present disclosure. The surgical cart 500 is configured to move the robotic arm 3 to a selected position within an operating room "OR" (fig. 1), and to provide vertical movement of the robotic arm 3. The surgical cart 500 generally includes a cart base 502, a support column 504 extending vertically (e.g., perpendicularly) from the cart base 502, and a damper assembly, such as a magnetic damper assembly 520 for reducing vibrations induced in the surgical cart 500 during use. Only those components of surgical cart 500 that are deemed important for elucidating features different from surgical cart 400 described above will be described in detail.

Cart base 502 has a plurality of wheels, such as caster wheels 508 for movably supporting surgical cart 500 on a horizontal surface. The support column 504 has a pair of sidewalls 504a, 504b extending vertically from the cart base 502 and a top portion 504c or roof disposed on the sidewalls 504a, 504 b. The first and second pulleys 512a, 512b are operably supported on the top end portion 504c of the support column 504. A cable 514 extends over each of the pulleys 512a, 512b and has a first end 514a and a second end 514 b. In embodiments, the support column 504 may have more or less than two pulleys. A first end 514a of the cable 514 may be disposed outside of the support column 504 and a second end 514b of the cable 514 may be disposed within the support column 504.

A bracket or crossbar 506 is secured to the first end 514a of the cable 514. The carriage 506 is configured to support a robotic arm, such as the robotic arm 3 (FIG. 1), thereon. Movement of the cable 514 over the pulleys 512a, 512b causes the carriage 506 and associated robotic arm 3 to move vertically along the support column 504. A weight 519 may be secured to a second end 514b portion of the cable 514 such that movement of the cable 514 over the pulleys 512a, 512b moves the weight 519 and the carriage 506 in opposite vertical directions along the support column 504. In an embodiment, the counterweight 519 may be approximately the combined weight of the carriage 506 and the attached robotic arm 3 (FIG. 1). In other embodiments, the tuned mass damper assembly 420 of fig. 21-23 can be secured to the second end 514b of the cable 514 instead of the weight 519.

The magnetic damper assembly 520 is supported on the top end portion 504c of the support column 504 and generally includes a pair of metal plates 522a, 522b, a metal ring 524 and a magnet 526. In embodiments, magnetic damper assembly 520 may be supported at any suitable location along surgical cart 500. The metal ring 524 is disposed between the pair of metal plates 522a, 522b, wherein the metal plates 522a, 522b are fixed to upper and lower surfaces of the metal ring 524, respectively. The pair of metal plates 522a, 522b and the metal ring 524 may each be made of a non-ferrous metal, and the magnet 526 may be made of a rare earth element. In an embodiment, the pair of metal plates 522a, 522b may be copper and/or aluminum. A magnet 526 is disposed within the central cavity of the metal ring 524 and between the pair of metal plates 522a, 522 b. The magnets 526 are spaced inwardly from the inner periphery of the metal ring 524, defining a gap 528 between the inner periphery of the metal ring 524 and the magnets 526.

The magnetic damper assembly 520 further includes a plurality of springs 530 disposed circumferentially around the magnets 526 and extending across a gap 528 defined between the magnets 526 and the metal ring 524. The spring 530 attaches the magnet 526 to the inner periphery of the metal ring 524, whereby the magnet 526 is suspended within the metal ring 524 and is free to move horizontally within the metal ring 524 along a horizontal plane relative to the metal ring 524. The spring 530 may be any suitable biasing member that provides resistance to but allows horizontal movement of the magnet 526 relative to the metal ring 524.

In use, movement of the surgical cart 500, whether intentional or unintentional, inevitably results in vibration of the surgical cart 500 and its components, including the attached surgical instruments. When the surgical cart 500 vibrates, the magnets 526 of the magnetic damper assembly 520 oscillate in a horizontal direction relative to the metal ring 524 of the magnetic damper assembly 520. When the magnet 526 oscillates relative to the metal ring 524 and the plates 522a, 522b via the spring 530, eddy currents are generated between the magnet 526 and the plates 522a, 522 b. The eddy currents produce damping of the magnets 526 of the magnetic damper assembly 520, thereby reducing the amplitude of vibrations in the surgical cart 500.

It is contemplated that surgical carts 100, 200, 300, 400 and 500 of the present disclosure may incorporate any of the above-described braking mechanisms for securing the carriage in a selected vertical position along the support column.

While several embodiments of the disclosure are illustrated in the drawings, it is not intended that the disclosure be limited thereto, but rather that the disclosure be as broad in scope as the art will allow and that the specification be read likewise. Any combination of the above embodiments is also contemplated and is within the scope of the claimed invention. Therefore, the foregoing description is not to be construed as limiting, but merely as exemplifications of particular embodiments. Those skilled in the art will envision other modifications within the scope and spirit of the claims appended hereto.