Robotic arm cart having locking swivel joints and other position adjustment features and uses therefor
Apparatuses and methods described herein relate to arm carts for transporting and securing a robotic arm to a surgical table. In some embodiments, an arm cart may include an arm support having two joints that can be manipulated to move an arm into a position in which a coupler of the arm is engageable with a coupling site of a surgical table. In some embodiments, an arm cart may include an arm support that is rotatable and translatable to permit movement of an attachment area for receiving and attaching a coupling site of a surgical table to a coupler attached to an arm. In some embodiments, an arm cart may include an arm support that releasably couples to a middle segment of the arm positioned at least two segments away from an end of the arm having a coupler for coupling to a coupling site of a surgical table.
1. A cart for a surgical robotic arm having a coupler releasably coupleable to a coupling site on a surgical table, the cart comprising:
a base freely movable between a first location remote from the surgical table and a second location adjacent to the surgical table; and
an arm support coupled to the base and configured to be releasably coupled to the arm, the arm support including:
a first member having one end coupled to a second member via a first swivel joint and another end coupled to the base;
a third member having one end coupled to the second member via a second swivel joint and another end coupled to the arm;
locking mechanisms configured to lock and unlock the first and second swivel joints,
wherein the first and second swivel joints are configured to move the arm between a first position in which the coupler is not engageable with the coupling site and a second position in which the coupler is engageable with the coupling site when the base is at the second location.
2. The cart of claim 1 , wherein the first swivel joint is configured to allow rotation about a first axis,
wherein the second swivel joint is configured to allow rotation about a second axis different from the first axis.
3. The cart of claim 2 , wherein the locking mechanisms include at least one release, the at least one release configured to be actuated to unlock at least one of the first swivel joint and the second swivel joint.
4. The cart of claim 3 , wherein the second member is moveable relative to the first member when the first swivel joint is unlocked, and wherein the third member is moveable relative to the second member when the second swivel joint is unlocked.
5. The cart of claim 2 , wherein the first member extends along the first axis, the second member extends along a third axis, and the third member extends along the second axis,
wherein the third axis is orientated at a non-zero angle relative to the first and second axes.
6. The cart of claim 1 , wherein the coupler includes an opening configured to slide onto the coupling site and engage with a mating feature disposed on the coupling site, the opening having a trapezoidal shape.
7. A method, comprising:
moving a cart supporting a surgical robotic arm from a first location remote from a surgical table to a second location proximate to the surgical table, the surgical robotic arm including a coupler configured to releasably couple to a coupling site of the surgical table;
manipulating an arm support of the cart to move the arm from a first position in which the coupler is not engageable with the coupling site to a second position in which the coupler is engageable with the coupling site, wherein manipulating the arm includes:
unlocking a first swivel joint connecting a first member and a second member of the arm support;
rotating the second member relative to the first member about a first axis;
unlocking a second swivel joint connecting the second member and a third member of the arm support; and
rotating the third member relative to the second member about a second axis; and
releasably coupling the coupler to the coupling site.
8. The method of claim 7 , wherein unlocking the first swivel joint includes actuating a first release of a locking mechanism from a first position to a second position, the locking mechanism configured to lock the first swivel joint when the first release is in the first position and to unlock the first swivel joint when the first release is in the second position.
9. The method of claim 8 , wherein unlocking the second swivel joint includes actuating a second release of a locking mechanism from a first position to a second position, the locking mechanism configured to lock the second swivel joint when the second release is in the first position and to unlock the second swivel joint when the second release is in the second position.
10. The method of claim 7 , wherein the cart further includes a base having a plurality of wheels, the plurality of wheels configured to lock to prevent movement of the cart and to unlock to permit the cart to move from the first location to the second location.
11. The method of claim 7 , wherein releasably coupling the coupler to the coupling site includes sliding an opening defined by the coupler onto a mating feature disposed on the coupling site.
12. An apparatus, comprising:
a coupler attached to a surgical robotic arm and configured to releasably couple to a coupling site on a surgical table, the coupler including:
a first engagement member configured to releasably engage with an arm support of a cart;
a second engagement member configured to releasably engage with a portion of the coupling site; and
an actuator configured to engage and to disengage the first engagement member and the second engagement member; and
the cart including:
a base freely movable between a first location remote from the surgical table and a second location adjacent to the surgical table; and
the arm support moveably coupled to the base and configured to releasably couple to the arm, the arm support including an attachment device defining an attachment area configured to receive the coupling site and the coupler,
wherein the arm support is rotatable and translatable to permit movement of the attachment area such that the coupling site can be directed into the attachment area,
wherein the attachment device includes one or more tapered surfaces configured to direct the coupling site into the attachment area.
13. The apparatus of claim 12 , wherein the actuator is moveable from a first position to a second position,
wherein the actuator engages the first engagement member to the arm support when the actuator is in the first position,
wherein the actuator disengages the first engagement member from the arm support when the actuator is moved from the first position to the second position,
wherein the actuator engages the second engagement member to the coupling site when the arm support is in the second position.
14. The apparatus of claim 13 , wherein the first engagement member includes a wedge pin configured to be disposed in an opening of the arm support and the second engagement member includes a wedge pin configured to be disposed in an opening of the coupling site,
wherein the first engagement member is disposed in the opening of the arm support when the actuator is in the first position,
wherein the second engagement member is disposed in the opening of the coupling site when the actuator is in the second position.
15. The apparatus of claim 12 , wherein the arm support further includes a lifting member moveable between a first position in which a portion of the lifting member is disposed above the attachment device and supports the arm and a second position in which the lifting member is disposed below the attachment device and separated from the arm.
16. The apparatus of claim 15 , wherein the lifting member includes a wedge-shaped end configured to fit into an opening of the coupler when the lifting member is in the first position.
17. The apparatus of claim 12 , wherein the cart further includes a linear rail, wherein the arm support is mounted on the linear rail such that the arm support is configured to translate along the linear rail.