Linkage mechanisms for mounting robotic arms to a surgical table
In some embodiments, an apparatus can include a surgical table and an adapter coupled thereto. The adapter includes an interface structure, a first link member coupled to a second link member, and a third link member coupled to a fourth link member. The first link member and the third link member are each pivotally coupled to the interface mechanism at a shared first pivot joint. The second link member and the fourth link member are each coupleable to a robotic arm. The first link member and the second link member collectively provide for movement of the first robotic arm in at least one of a lateral, longitudinal or vertical direction relative to the table top. The third link member and the fourth link member collectively provide for movement of the second robotic arm in at least one of a lateral, longitudinal or vertical direction relative to the table top.
1. An apparatus, comprising:
a surgical table having a table top, a support coupled to the table top, and a base coupled to the support; and
an adapter coupled to, and supported by, the surgical table, the adapter including an interface structure that is fixedly attached to the surgical table between the table top and the support of the surgical table,
the adapter including a first link member coupled to the interface structure, the first link member pivotally coupled to the interface structure such that the first link member can rotate about a first pivot axis defined in a vertical direction relative to the table top, the first link member configured to be coupled to a first robotic arm and provide for movement of the first robotic arm about the first pivot axis,
the adapter including a second link member coupled to the interface structure, the second link member pivotally coupled to the interface structure such that the second link member can rotate about a second pivot axis different than the first pivot axis and defined in a vertical direction relative to the table top, the second link member configured to be coupled to a second robotic arm and provide for movement of the second robotic arm about the second pivot axis,
the adapter including a first coupling with a first coupling portion that is configured to be coupled to the first link member and to the first robotic arm at a mounting end of the first robotic arm, the first coupling portion having a first joint that provides for rotation of the first robotic arm about a third pivot axis, and
the adapter including a second coupling with a second coupling portion that is configured to be coupled to second link member and to the second robotic arm at a mounting end of the second robotic arm, the second coupling portion having a second joint that provides for rotation of the second robotic arm about a fourth pivot axis.
2. The apparatus of claim 1 , wherein the first link member is coupled to the interface structure on a first side of the table top, and the second link member is coupled to the interface structure on a second side of the table top opposite the first side of the table top.
3. The apparatus of claim 1 , wherein the first link member and the second link member are each coupled to the interface structure on the same side of the table top.
4. The apparatus of claim 1 , wherein the first link member is slidably coupled to the interface structure such that the first link member can move in a lateral direction relative to the table top.
5. The apparatus of claim 1 , further comprising:
a column mount coupled to the support of the surgical table, the adapter being configured to be slidably received within a track defined by the column mount.
6. The apparatus of claim 1 , wherein the first link member can rotate about the first pivot axis such that the first link member can rotate about the interface structure, and
the second link member can rotate about the second pivot axis such that the second link member can rotate about the interface structure.
7. The apparatus of claim 1 , wherein the first link member and the second link member each include a bar link member.
8. The apparatus of claim 1 , wherein the adapter is coupled to the support of the surgical table.
9. The apparatus of claim 1 , wherein the adapter is coupleable to the surgical table above the base.
10. The apparatus of claim 1 , wherein the first joint is a first target joint configured to be positioned at a first target location relative to the table top such that a distal end of the first robotic arm can be disposed in a desired first treatment zone and can be maneuvered within a prescribed range of motion in the first treatment zone.
11. The apparatus of claim 10 , wherein the second joint is a second target joint configured to be positioned at a second target location relative to the table top such that a distal end of the second robotic arm can be disposed in a desired second treatment zone and can be maneuvered within a prescribed range of motion in the second treatment zone.
12. The apparatus of claim 1 , wherein the third pivot axis and the fourth pivot axis are transverse to the first pivot axis and the second pivot axis.
13. The apparatus of claim 1 , wherein the first link member is slidably received within a track such that the first link members is movable between a stowed positon at least partially within the interface mechanism and an extended position extended or slid outwardly from the interface mechanism.
14. The apparatus of claim 13 , wherein the second link member is slidably received within a track such that the second link members is movable between a stowed positon at least partially within the interface mechanism and an extended position extended or slid outwardly from the interface mechanism.
15. An apparatus, comprising:
a surgical table having a table top, a support coupled to the table top, and a base coupled to the support; and
an adapter coupled to, and supported by, the surgical table, the adapter including an interface structure that is fixedly coupled to the table top or the support of the surgical table,
the adapter including a plurality of link members, each link member directly pivotally coupled to the interface structure at a different joint that rotates about a different, respective pivot axis that is defined in a vertical direction relative to the table top and extends through the interface structure and the table top,
the adapter including plurality of couplings, each coupling of the plurality of coupling being configured to couple respective link members of the plurality of link members to corresponding robotic arms of a plurality of robot arms, such that each link member is configured to provide for movement of a corresponding robotic arm in at least one of a lateral, a longitudinal or a vertical direction relative to the table top, each coupling including a coupling portion that is coupled to the corresponding robotic arm at a mounting end thereof, each coupling portion having a joint that provides for rotation of the corresponding robotic arm about an additional pivot axis.
16. The apparatus of claim 15 , wherein the joint is a target joint configured to be positioned at a target location relative to the table top such that a distal end of the corresponding robotic arm can be disposed in a desired treatment zone and can be maneuvered within a prescribed range of motion in the treatment zone.
17. The apparatus of claim 15 , wherein at least one link member of the plurality of link members is coupled to the interface structure on a first side of the table top, and at least one link member of the plurality of link members is coupled to the interface structure on an opposing, second side of the table top.
18. The apparatus of claim 15 , wherein two or more link members of the plurality of link members are coupled to the interface structure along one side of the table top.
19. The apparatus of claim 18 , wherein at least one additional link member of the plurality of link members is coupled to the interface structure on a side that is opposite the table top to the one side.
20. The apparatus of claim 15 , wherein each link member of the plurality of link members is slidably coupled to the interface structure such that each link member can move in a lateral direction relative to the table top.
21. The apparatus of claim 15 , wherein each link member of the plurality of link members includes a bar link member.
22. The apparatus of claim 15 , wherein the adapter is coupleable to the surgical table above the base.
23. The apparatus of claim 15 , wherein interface structure is fixedly coupled to the surgical table between the table top and the support such that a top side of the interface structure is joined to the bottom side of the table top and a bottom side of the interface structure is joined to a top side of the support, and wherein the interface structure includes a plurality of corners and each of the plurality of link members are coupled to the interface structure at or adjacent a respective corner of the plurality of corners.
24. An apparatus, comprising:
a surgical table having a table top, a support coupled to the table top, and a base coupled to the support; and
an adapter coupled to, and supported by, the surgical table, the adapter including an interface structure fixedly coupled to the support of the surgical table such that the interface structure remains fixated to the support during use of the adapter,
the adapter including a plurality of link members pivotally coupled to the interface structure, such that each link member each link member can rotate about a different, respective pivot axis defined in a vertical direction relative to the table top, each link member of the plurality of link members being slidably received within a track such that each link member is movable between a stowed positon at least partially within the interface mechanism and an extended position extended or slid outwardly from the interface mechanism,
the adapter including plurality of couplings, each coupling of the plurality of coupling being configured to couple respective link members of the plurality of link members to corresponding robotic arms of a plurality of robot arms, such that each link member is configured to provide for movement of a corresponding robotic arm in at least one of a lateral, a longitudinal or a vertical direction relative to the table top, each coupling including a coupling portion that is coupled to the corresponding robotic arm at a mounting end thereof, each coupling portion having a joint that provides for rotation of the corresponding robotic arm about an additional pivot axis.