US-12616534-B2 - Surgical system with configurable mechanical arms stowable beneath a surgical bed

US12616534B2US 12616534 B2US12616534 B2US 12616534B2US-12616534-B2

Abstract

A robotic surgical system comprises a horizontal platform to support a patient, a rail positioned about the horizontal platform, a carriage operatively coupled to and configured to translate along the rail, and a robotic arm operatively coupled to the carriage and translated about the patient by the rail. The robotic arm is configured to operate on the patient in a variety of positions provided by the translating carriage. The rail provides a rounded path for the carriage, such as a U-shaped path. The U-shaped path may comprise a first leg and a second leg, the first leg longer than the second leg. Furthermore, the system may comprise a plurality of carriages operatively coupled to the rail and a plurality of robotic arms. Also, the system may further comprise a central base which the horizontal platform can articulate relative to, such as by translating horizontally or vertically, rotating, or titling.

Inventors

Frederic H. Moll
Alan Lau Yu

Assignees

AURIS HEALTH, INC.

Dates

Publication Date: 20260505
Application Date: 20240502

Claims (20)

1 . A medical system comprising: a base; a stand coupled to the base; a bed supported by the stand, the bed having a length and a width, the length being longer than the width, the bed having: a lower body portion that protrudes from a first side of the stand, an upper body portion that protrudes from a second side of the stand opposite the first side of the stand, a first lateral edge that extends along the length of the bed, and a second lateral edge that extends along the length of the bed opposite the first lateral edge; a first robotic arm having a proximal end supported beneath the bed and a distal end configured to manipulate a first medical instrument; a second robotic arm having a proximal end supported beneath the bed and a distal end configured to manipulate a second medical instrument; and control electronics configured to; drive movement of the first robotic arm and the second robotic arm to a stowed configuration where the first robotic arm and the second robotic arm are both positioned on the second side of the stand and beneath the upper body portion of the bed, and drive movement of the first robotic arm and the second robotic arm to a deployed configuration where the first robotic arm is raised over the first lateral edge of the bed and the second robotic arm is raised over the second lateral edge of the bed to perform a medical procedure.
2 . The medical system of claim 1 , further comprising: a third robotic arm having a proximal end supported beneath the bed and a distal end configured to manipulate a third medical instrument, the control electronics being configured to: drive movement of the third robotic arm to a stowed configuration where the third robotic arm is positioned on the second side of the stand together with the first robotic arm and the second robotic arm beneath the upper body portion of the bed.
3 . The medical system of claim 1 , the first robotic arm and the second robotic arm being positioned beside each other in a folded configuration when in the stowed configuration, and the first robotic arm and the second robotic arm being positioned on opposing sides of the bed in an extended configuration when in the deployed configuration.
4 . The medical system of claim 1 , the control electronics being configured to drive movement of the bed to a tilted configuration where the bed is tilted relative to the stand, and where the first robotic arm and the second robotic arm are tilted together with the bed relative to the stand.
5 . The medical system of claim 1 , the control electronics being configured to drive translation of the bed vertically relative to the base.
6 . The medical system of claim 1 , the control electronics being configured to drive translation of the bed horizontally relative to the base.
7 . The medical system of claim 1 , the proximal end of the first robotic arm and the proximal end of the second robotic arm being attached to a rail beneath the bed.
8 . The medical system of claim 1 , the stand housing at least some of the control electronics for control of the first robotic arm and the second robotic arm.
9 . A medical system comprising: a base; a stand coupled to the base; a bed supported by the stand, the bed having a substantially rectangular shape defining a length and a width, the length being longer than the width, the bed having: a first longitudinal portion that protrudes from a first side of the stand, the first longitudinal portion terminating at a first longitudinal edge, a second longitudinal portion that protrudes from a second side of the stand opposite the first side of the stand, the second longitudinal portion terminating at a second longitudinal edge opposite the first longitudinal edge, a first lateral portion that protrudes from a third side of the stand, the first lateral portion terminating at a first lateral edge, and a second lateral portion that protrudes from a fourth side of the stand opposite the third side of the stand, the second lateral portion terminating at a second lateral edge opposite the first lateral edge; a first robotic arm having a proximal end supported beneath the bed and a distal end configured to manipulate a first medical instrument; a second robotic arm having a proximal end supported beneath the bed and a distal end configured to manipulate a second medical instrument; and control electronics configured to: drive movement of the first robotic arm and the second robotic arm to a stowed configuration where the first robotic arm and the second robotic arm are both positioned on the first side of the stand and beneath the first longitudinal portion of the bed, and drive movement of the first robotic arm and the second robotic arm to a deployed configuration where the first robotic arm is raised over the first lateral edge of the bed and the second robotic arm is raised over the second lateral edge of the bed to perform a medical procedure.
10 . The medical system of claim 9 , further comprising: a third robotic arm having a proximal end supported beneath the bed and a distal end configured to manipulate a third medical instrument, the control electronics being configured to: drive movement of the third robotic arm to a stowed configuration where the third robotic arm is positioned on the second side of the stand together with the first robotic arm and the second robotic arm beneath the first longitudinal portion of the bed.
11 . The medical system of claim 9 , the first robotic arm and the second robotic arm being positioned beside each other in a folded configuration when in the stowed configuration, and the first robotic arm and the second robotic arm being positioned on opposing sides of the bed in an extended configuration when in the deployed configuration.
12 . The medical system of claim 9 , the control electronics being configured to drive movement of the bed to a tilted configuration where the bed is tilted relative to the stand, and where the first robotic arm and the second robotic arm are tilted together with the bed relative to the stand.
13 . The medical system of claim 9 , the control electronics being configured to drive translation of the bed vertically and horizontally relative to the base.
14 . The medical system of claim 9 , the proximal end of the first robotic arm and the proximal end of the second robotic arm being attached to a rail beneath the bed.
15 . The medical system of claim 9 , the stand housing at least some of the control electronics for control of the first robotic arm and the second robotic arm.
16 . A method comprising: supporting a center portion of a substantially rectangular surgical bed with a stand such that: a first longitudinal portion of the surgical bed protrudes from a first side of the stand in a first longitudinal direction, the first longitudinal portion of the surgical bed terminating at a first longitudinal edge of the surgical bed, a second longitudinal portion of the surgical bed protrudes from a second side of the stand opposite the first side of the stand in a second longitudinal direction opposite the first longitudinal direction, the second longitudinal portion of the surgical bed terminating at a second longitudinal edge of the surgical bed opposite the first longitudinal edge, a first lateral portion of the surgical bed protrudes from a third side of the stand in a first lateral direction, the first lateral portion of the surgical bed terminating at a first lateral edge of the surgical bed, and a second lateral portion of the surgical bed protrudes from a fourth side of the stand opposite the third side of the stand in a second lateral direction opposite the first lateral direction, the second lateral portion of the surgical bed terminating at a second lateral edge of the surgical bed opposite the first lateral edge; raising a first robotic arm over the first lateral edge of the surgical bed to perform a medical procedure; raising a second robotic arm over the second lateral edge of the surgical bed to perform the medical procedure; and stowing the first robotic arm and the second robotic arm beneath the first longitudinal portion of the surgical bed such that the first robotic arm and the second robotic arm are positioned on the first side of the stand.
17 . The method of claim 16 , further comprising: raising a third robotic arm over the first lateral edge of the surgical bed to perform the medical procedure; and stowing the third robotic arm beneath the first longitudinal portion of the surgical bed such that the third robotic arm is positioned together with the first robotic arm and the second robotic arm on the first side of the stand.
18 . The method of claim 16 , the stowing of the first robotic arm and the second robotic arm comprising: positioning the first robotic arm and the second robotic arm beside each other in a folded configuration.
19 . The method of claim 16 , further comprising: tilting the surgical bed relative to the stand, and tilting the first robotic arm and the second robotic arm with the surgical bed relative to the stand.
20 . The method of claim 16 , further comprising housing electronics in the stand for control of the first robotic arm and the second robotic arm.

Description

CROSS REFERENCE TO RELATED APPLICATIONS This application is a continuation of U.S. patent application Ser. No. 16/914,873 filed Jun. 29, 2020, now U.S. Pat. No. 12,193,769, which is a continuation U.S. patent application Ser. No. 16/195,206, filed Nov. 19, 2018, now U.S. Pat. No. 10,702,348, which is a continuation of U.S. patent application Ser. No. 15/094,179, filed Apr. 8, 2016, now U.S. Pat. No. 10,159,533, which claims priority to U.S. Provisional Application No. 62/145,418, filed Apr. 9, 2015, all of which are incorporated by reference herein as if reproduced in their entireties. The present invention relates to medical instruments, tools, and methods that may be incorporated into a robotic system, such as those disclosed in U.S. patent application Ser. No. 14/523,760, filed Oct. 24, 2014, now U.S. Pat. No. 9,763,741, U.S. Provisional Patent Application No. 62/019,816, filed Jul. 1, 2014, U.S. Provisional Patent Application No. 62/037,520, filed Aug. 14, 2014, and U.S. Provisional Patent Application No. 62/057,936, filed Sep. 30, 2014, the entire contents of which are incorporated herein by reference. INCORPORATION BY REFERENCE All publications and patent applications mentioned in this specification are herein incorporated by reference in their entirety to the same extent as if each individual publication or patent application was specifically and individually indicated to be incorporated by reference. FIELD OF THE INVENTION The field of the present invention relates to a robotics platform that may be used in a number of surgical procedures. More particularly, the field of the invention pertains to robotic platforms that enable robotically-controlled tools to perform diagnostic and therapeutic surgical procedures. BACKGROUND OF THE RELATED ART Use of robotic technologies presents a number of advantages over traditional, manual surgery procedures. In addition to other advantages, robotic surgeries often allow for greater precision, control, and access. Despite these advantages, however, the pre-existing robotics platforms have built-in limitations that are tied to their structural designs and underpinnings. In the absence of a truly flexible system, hospitals and health care practitioners are forced to acquire a variety of robotic systems in order to robotically perform a variety of procedures. The high capital costs, combined with the relatively specialization of the systems, have slowed adoption of robotics platforms for surgery. Accordingly, there is a need for a robotics platform that is configurable for a number of procedures. BRIEF SUMMARY OF THE INVENTION In general, the present invention provides a medical device that comprises a rail having a rounded path, a carriage configured to translate along the rail, the carriage being operatively coupled to the rail, a robotic arm operatively coupled to the carriage, and a horizontal platform proximate to the rail, wherein the robotic arms are configured to perform medical procedures on a patient on the platform. In one aspect, the rounded path is U-shaped. In one aspect, the U-shaped path comprises of a first leg and a second leg, wherein the first leg is longer than the second leg. In another aspect, the rail is configured around a central base. In one aspect, the central base is shaped like a column. In another aspect, a horizontal platform is operatively coupled to the top of the base. In one aspect, the rail is disposed below the platform. In one aspect, the rail is around the platform. In one aspect, the arm is configured to be angled over platform. In another aspect, the platform is a surgical bed, configured to support the weight of a patient. In one aspect, the surgical bed comprises a first part and a second part, wherein the second part is configured to articulate relative to the first part. In another aspect, the rail is configured around a horizontal platform. In one aspect, the platform is a surgical bed, configured to support the weight of a patient. In another aspect, the rounded path is circular. In one aspect, the rail is disposed below the platform. In one aspect, the rail is around the platform. BRIEF DESCRIPTION OF THE DRAWINGS The invention will be described, by way of example, and with reference to the accompanying diagrammatic drawings, in which: FIG. 1 illustrates a surgical bed with an oval track for robotic arms along the edge of the bed, consistent with an embodiment of the present invention; FIG. 2 illustrates a surgical bed with a U-shaped track for robotic arms along the edge of the bed, consistent with an embodiment of the present invention; FIG. 3 illustrates an alternative robotics platform to system 201 from FIG. 2; FIG. 4 illustrates a surgical bed with a rounded track for robotic arms along the edge of the bed, consistent with an embodiment of the present invention; FIG. 5A illustrates a surgical bed with a rounded track for robotic arms along the edge of the bed, consistent with an embodiment of the present inventio