DE-202025107780-U1 - System for supporting a robot drive

Abstract

System for supporting a robot drive, wherein the system comprises: a base, a first carriage coupled to the base and designed to move in a first direction with respect to the base; a second carriage coupled to the first carriage and designed to move along the first carriage in a second direction that is largely perpendicular to the first direction; a third carriage coupled to the second carriage and designed to move along the second carriage in a third direction, largely perpendicular to the first and second directions; and a tilting mechanism that includes a table interface, wherein a movement of a table coupled to the table interface in the first direction causes the first carriage to move in the first direction, wherein a movement of the table coupled to the table interface in the second direction causes the second carriage to move in the second direction, wherein a movement of the table coupled to the table interface in the third direction causes the third carriage to move in the third direction, and Tilting the table causes the tilting mechanism and the robot drive to tilt.

Assignees

• Siemens Healthineers Endovascular Robotics Inc

Dates

Publication Date

20260513

Application Date

20251217

Priority Date

20241220

Claims (18)

1. System for supporting a robot drive, the system comprising: a base, a first carriage coupled to the base and configured to move with respect to the base in a first direction; a second carriage coupled to the first carriage and configured to move along the first carriage in a second direction largely perpendicular to the first direction; a third carriage coupled to the second carriage and configured to move along the second carriage in a third direction largely perpendicular to both the first and second directions; and a tilting mechanism comprising a table interface, whereby a movement of a table coupled to the table interface in the first direction causes the first carriage to move in the first direction, whereby a movement of the table coupled to the table interface in the second direction causes the second carriage to move in the second direction, whereby a movement of the table coupled to the table interface in the third direction causes the third carriage to move in the third direction, and whereby tilting the table causes the tilting mechanism and the robot drive to tilt.
2. System according Claim 1 , wherein the first direction is perpendicular to a surface of the table, the second direction is longitudinal with respect to the surface of the table, and the third direction is transverse to the surface of the table.
3. System according Claim 1 or 2 , wherein the third carriage includes the tilting mechanism and the robot drive is mounted on the third carriage, and wherein tilting the table causes the third carriage and the robot drive to tilt relative to the second carriage.
4. System according Claim 3 , whereby the tilting of the table and the third carriage occurs to the same extent.
5. System according Claim 3 or 4 , wherein the third carriage includes an actuator for actuating the table interface in order to couple the third carriage to the table.
6. System according Claim 5 , wherein the table interface comprises one or more projections that can be actuated by the actuator.
7. system according to one of the Claims 1 until 6 , wherein the first carriage comprises at least one rail on which the second carriage moves, and the second carriage comprises a first locking arm which can be actuated to lock the second carriage to the at least one rail.
8. System according Claim 7 , wherein the second carriage comprises a rod arranged in the third direction on which the third carriage rotates, and the third carriage comprises a second locking arm which can be actuated to prevent the third carriage from rotating about the rod.
9. System according Claim 8 , wherein the second locking arm can be actuated to prevent movement of the third carriage along the second carriage in the third direction.
10. System according Claim 9 , wherein the second locking arm can be actuated to lock the second carriage on the rod.
11. System for supporting a robot drive, the system comprising: a base, a first carriage coupled to the base and designed to move vertically with respect to the base, and comprising a first mechanism actuable to prevent vertical movement of the first carriage; a second carriage coupled to the first carriage and designed to move longitudinally along the first carriage, and comprising a second mechanism actuable to prevent longitudinal movement of the second carriage; and a third carriage coupled to the second carriage and designed to move transversely along the second carriage and rotate about an axis of the second carriage, and comprising a third mechanism actuable to prevent transverse movement and rotation of the third carriage.
12. System according Claim 11 , wherein the third carriage includes a table interface and an actuator for actuating the table interface in order to couple the third carriage to a table.
13. System according Claim 12 , wherein the table interface comprises one or more projections that can be actuated by the actuator.
14. System according Claim 12 or 13 , wherein a vertical movement of the table while coupled to the third carriage causes the first carriage to move vertically, wherein a longitudinal movement of the table while coupled to the third carriage causes the second carriage to move longitudinally, wherein a transverse movement of the table while coupled to the third carriage causes the third carriage to move transversely, and wherein a rotation of the table while coupled to the third carriage causes the third carriage to rotate.
15. System according Claim 14 , whereby the rotation of the table and the third carriage occurs to the same extent.
16. system according to one of the Claims 11 until 15 , wherein the first carriage comprises at least one rail on which the second carriage moves, and the first mechanism for securing the second carriage to the at least one rail is operable.
17. System according Claim 16 , wherein the second carriage comprises a rod arranged in the third direction on which the third carriage rotates, and the second mechanism is operable to prevent the third carriage from rotating around the rod.
18. System according Claim 17 , wherein the second mechanism for securing the third carriage to the pole is operable.

Description

BACKGROUND Vascular diseases can be treated in various ways. For example, cardiovascular diseases can be treated with bypass surgery. In contrast to surgical treatments, catheter-based interventional procedures, such as angioplasty, represent a potentially safer and less invasive alternative. Robotic catheter systems perform catheter-based interventional procedures through motor-controlled manipulation of catheters, guidewires, and other elongated medical devices (EMDs). During a procedure, drive elements of a robotic actuator are operated to impart the desired movement to the EMDs mounted within it. This movement can consist of rotation, linear translation, and/or another type of motion. During a catheter-based interventional procedure, an articulated arm typically holds a robotic drive next to a patient access site. Conventionally, the arm remains attached to a rail mounted on the patient table throughout the procedure. The combined weight of the arm and drive must therefore be managed to prevent overloading the rail and table. Between procedures, the arm and drive are removed from the rail and moved to the floor or another storage area. Removing and moving the arm and drive can be difficult and cumbersome. For convenience, it may be desirable to mount the arm to a structure other than the table, such as the floor, ceiling, or a mobile trolley. Since the table (and any patient lying on it) can move during a procedure, mounting the arm to a structure other than the table requires visual tracking of the patient access site in three-dimensional space, as well as moving the arm and robotic drive in accordance with this tracking. Mechanisms for performing this tracking and the corresponding movement of the arm and robotic drive significantly increase the system's complexity and the likelihood of errors. Systems are desired that respond efficiently and precisely to the movement of the patient and table during a robotic catheter-based interventional procedure, while simultaneously offering the convenience of mounting a robotic drive on a structure other than the table. Such systems preferably take into account movements including table tilt and deflections. BRIEF DESCRIPTION OF THE DRAWINGS The embodiments will be more easily understood from the following detailed description in conjunction with the accompanying drawings, where the reference numerals refer to identical parts. The drawings show: 1 a perspective view of a robot drive, arm and trolley according to some embodiments; 2 and 3 Views showing different vertical positions of a vertical carriage according to some embodiments; 4 and 5 Views showing different longitudinal positions of a longitudinal carriage according to some embodiments; 6 and 7 Views showing different transverse positions of a transverse carriage according to some embodiments; 8 a view illustrating the tilting of a transverse carriage and a robot drive and arm mounted on it according to some embodiments; 9 a table interface of a transverse carriage according to some embodiments; 10 a detailed view of a transverse carriage according to some embodiments; 11 a perspective view of a table in an operating room; 12 and 13 Perspective views of a robot drive, arm, trolley and table according to some embodiments; 14 a perspective view of a trolley coupled to a table in an initial position, according to some embodiments; 15 a perspective view of a trolley coupled to a table which is moved laterally from an initial position, according to some embodiments; 16 and 17 Perspective views of a trolley coupled to a table that is moved longitudinally from an initial position, according to some embodiments; 18 an elevation view of a trolley coupled to a table in an initial position, according to some embodiments; 19 and 20 Elevation drawings of a trolley coupled to a table made of a The initial position is inclined, according to some embodiments; 21A and 21B a mechanism for coupling a carriage to a table according to some embodiments; 21C and 21D Cross-sectional views showing the coupling of a carriage to a table according to some embodiments; 22 a perspective view of a locking arm according to some embodiments; 22A and 22B Mechanisms for facilitating and preventing longitudinal movement of a carriage according to some embodiments; 23A and 23B a locking longitudinal movement of a carriage against a table according to some embodiments; 24 and 25 Mechanisms for providing rotation and lateral movement of a carriage according to some embodiments; and 26 , 27A and 27B the locking of the movement of a carriage according to some embodiments. DETAILED DESCRIPTION The present inventor recognized that changes in table tilt must be taken into account in such a way as to necessitate visual tracking of the patient splint. Visual tracking of the splint's position is not synonymous with visual tracking of the access point's position, particularly in a method involving large variations in the table's tilt angle and/or longit