Robotic surgical table with relatively high resonant frequency structure to reduce efficiency of energy transmission between attached robotic arms
Apparatus and methods for providing a surgical table base with sufficient stiffness and adjustable support members with force feedback are described herein. In some embodiments, a base for a surgical table includes a base body to which other components of a surgical table can be coupled. A surgical table, and optionally a patient supportable by the surgical table, and any equipment to be carried by the surgical table, collectively representing a table load to be carried by the base body to support the surgical table on a surface. The base further includes a support assembly coupled to the base body to support the base body on the surface. The support assembly includes at least four support members. Each support member has a surface-engaging end and can transmit a portion of a total load represented by the weight of the base and the table load through the surface-engaging end to the surface. The surface-engaging ends of any three of the four support members define a plane. One of the support members is adjustable to move the one support member relative to a plane defined by the three of the other support members and thereby to change the portion of the total load carried by one of the support members. The base further includes a load sensor operably coupled to the support assembly and disposed to detect the portion of the total load carried by one of the support members.
1. A surgical table, comprising:
a base;
a support column that extends upwardly from the base and having an upper end that has a periphery in a plane transverse to a vertical axis of the support column;
a table top;
a pivot assembly coupling the table top to the upper end of the support column, the pivot assembly including:
a support flange attached to and disposed on top of the upper end of the support column and having a horizontal top surface that extends outside the periphery of the upper end of the support column; and
a primary load support, a first actuator, and a second actuator that are each mounted on the horizontal top surface,
wherein the primary load support has an upper end having a pivot joint coupled to the table top,
wherein the first actuator has an upper end having a pivot joint coupled to the table top, and is variable in length in a vertical direction with respect to the vertical axis to pivot the table top about the pivot joint of the primary load support along at least a lateral pivot axis with respect to the table top that runs through the pivot joint of the primary load support,
wherein the second actuator has an upper end having a pivot joint coupled to the table top, and is variable in length in the vertical direction to pivot the table top about the pivot joint of the primary load support along at least a longitudinal pivot axis with respect to the table top that runs through the pivot joint of the primary load support,
wherein the first and second actuators maintain a fixed vertical orientation with respect to the vertical axis while at least one of the first and second actuators varies in length in the vertical direction,
wherein the primary load support, the first actuator, and the second actuator are arranged in a triangle on the horizontal top surface such that each of the primary load support, the first actuator, and the second actuator are positioned at a vertex of the triangle, and
wherein a first side of the triangle from the first actuator to the primary load support extends along the longitudinal pivot axis and a second side of the triangle from the second actuator and the primary load support extends along the lateral pivot axis.
2. The surgical table of claim 1 , wherein the pivot assembly includes a third actuator that is mounted on the horizontal top surface, and has an upper end having a pivot joint coupled to the table top, the third actuator being variable in length in the vertical direction to pivot the table top about the pivot joint of the primary load support along at least the lateral pivot axis, wherein the third actuator maintains the fixed vertical orientation with respect to the vertical axis while at least one of the first actuator, second actuator, and third actuator varies in length in the vertical direction.
3. The surgical table of claim 2 ,
wherein the primary load support, the first actuator, the second actuator, and the third actuator are arranged in a T-shape on the horizontal top surface, and
wherein a first portion of the T-shape that extends along the longitudinal pivot axis includes the first actuator at a first end of the first portion, the third actuator at a second end of the first portion that is opposite to the first end of the first portion, and the primary load support that is between the first and second actuators and in the middle of the first portion, and
wherein a second portion of the T-shape that extends along the lateral pivot axis from the primary load support at a first end of the second portion to the third actuator at a second end of the second portion that is opposite to the first end of the second portion.
4. The surgical table of claim 1 , wherein the pivot joint of the primary load support is a gimbal joint.
5. The surgical table of claim 1 , wherein the lateral pivot axis and the longitudinal pivot axis are orthogonal and intersect one another at the pivot joint of the primary load support.
6. The surgical table of claim 1 , wherein each actuator includes a cylinder that includes a bottom portion that is fixed to the horizontal top surface and a movable piston, wherein the first and second actuators maintain their respective fixed vertical orientations and pivot the table top about the pivot joint of the primary load support as the movable piston of at least one of the first and second actuators extend away from or retract towards the support flange in the vertical direction.
7. The surgical table of claim 1 further comprising a robotic arm coupled to the surgical table.
8. The surgical table of claim 7 further comprising a table top adapter that is disposed between 1) a bottom side of the table top and 2) the upper end of the first actuator and the upper end of the second actuator, wherein the robotic arm is coupled to the surgical table via the table top adapter.
9. The surgical table of claim 8 , wherein the first and second actuators are arranged to cause the table top to perform a tilt motion about the pivot joint of the primary load support, wherein the robotic arm is arranged to perform the tilt motion in sync with the table top.
10. A surgical table, comprising:
a support column having an upper end that has a periphery in a plane transverse to a vertical axis of the support column;
a table top;
a pivot assembly coupling the table top to the support column, the pivot assembly including:
a support flange fixedly coupled to and disposed on top of the upper end of the support column and having a horizontal top surface that extends outside the periphery of the upper end of the support column,
a primary load support, a first actuator, and a second actuator that are each mounted on the horizontal top surface,
wherein the primary load support has an upper end having a pivot joint coupled to the table top,
wherein the first actuator has an upper end having a pivot joint coupled to the table top, and is variable in length in a vertical direction with respect to the vertical axis to pivot the table top about the pivot joint of the primary load support along at least a lateral pivot axis with respect to the table top that runs through the pivot joint of the primary load support,
wherein the second actuator has an upper end having a pivot joint coupled to the table top, and is variable in length in the vertical direction to pivot the table top about the pivot joint of the primary load support along at least a longitudinal pivot axis with respect to the table top that runs through the pivot joint of the primary load support,
wherein the first and second actuators maintain a fixed vertical orientation with respect to the vertical axis while at least one of the first and second actuators varies in length in the vertical direction,
wherein the primary load support, the first actuator, and the second actuator are arranged in a triangle on the horizontal top surface such that each of the primary load support, the first actuator, and the second actuator are positioned at a vertex of the triangle, and
wherein a first side of the triangle from the first actuator to the primary load support extends along the longitudinal pivot axis and a second side of the triangle from the second actuator and the primary load support extends along the lateral pivot axis.
11. The surgical table of claim 10 , wherein the pivot assembly includes a third actuator that is mounted on the horizontal top surface, and has an upper end having a pivot joint coupled to the table top, the third actuator being variable in length in the vertical direction to pivot the table top about the pivot joint of the primary load support along at least the lateral pivot axis, wherein the third actuator maintains the fixed vertical orientation with respect to the vertical axis while at least one of the first actuator, second actuator, and third actuator varies in length in the vertical direction.
12. The surgical table of claim 10 , further comprising a robotic arm coupled to the surgical table.
13. The surgical table of claim 12 , further comprising a table top adapter that is disposed between 1) a bottom side of the table top and 2) the upper end of the first actuator and the upper end of the second actuator, wherein the robotic arm is coupled to the surgical table via the table top adapter.
14. The surgical table of claim 13 , wherein the first and second actuators are arranged to cause the table top to perform a tilt motion about the pivot joint of the primary load support, wherein the robotic arm is arranged to perform the tilt motion in sync with the table top.
15. The surgical table of claim 10 , wherein the pivot joint of the primary load support is a gimbal joint.
16. An apparatus, comprising:
a pivot assembly that is coupled to a surgical table that has a table top, a support column, and a base, the pivot assembly coupling the table top to the support column that extends upward from the base, the support column having an upper end that has a periphery in a plane transverse to a vertical axis of the support column,
the pivot assembly having:
a support flange attached to and disposed on top of the upper end of the support column and having a horizontal top surface that extends outside the periphery of the upper end of the support column, and
a primary load support, a first actuator, and a second actuator that are each mounted on the horizontal top surface,
wherein the primary load support has an upper end having a pivot joint coupled to the table top,
wherein the first actuator has an upper end having a pivot joint coupled to the table top, and is variable in length in a vertical direction with respect to the vertical axis to pivot the table top about the pivot joint of the primary load support along at least a lateral pivot axis with respect to the table top that runs through the pivot joint of the primary load support,
wherein the second actuator has an upper end having a pivot joint coupled to the table top, and is variable in length in the vertical direction to pivot the table top about the pivot joint of the primary load support along at least a longitudinal pivot axis with respect to the table top that runs through the pivot joint of the primary load support,
wherein the first and second actuators maintain a fixed vertical orientation with respect to the vertical axis while at least one of the first and second actuators varies in length in the vertical direction,
wherein the primary load support, the first actuator, and the second actuator are arranged in a triangle on the horizontal top surface such that each of the primary load support, the first actuator, and the second actuator are positioned at a vertex of the triangle, and
wherein a first side of the triangle from the first actuator to the primary load support extends along the longitudinal pivot axis and a second side of the triangle from the second actuator and the primary load support extends along the lateral pivot axis.
17. The apparatus of claim 16 , wherein the pivot assembly includes a third actuator that is mounted on the horizontal top surface, and has an upper end having a pivot joint coupled to the table top, the third actuator being variable in length in the vertical direction to pivot the table top about the pivot joint of the primary load support along at least the lateral pivot axis, wherein the third actuator maintains the fixed vertical orientation with respect to the vertical axis while at least one of the first actuator, second actuator, and third actuator varies in length in the vertical direction.
18. The apparatus of claim 16 , wherein each actuator includes a cylinder that is fixed to the horizontal top surface and a movable piston, wherein the first and second actuators are arranged to pivot the table top about the pivot joint of the primary load support by having the movable piston of at least one of the actuators extend away from the support flange in the vertical direction.
19. The apparatus of claim 16 , wherein the pivot joint of the primary load support is a gimbal joint.
20. The apparatus of claim 16 , wherein the pivot assembly is coupled to the table top via a table top adapter that includes at least one robotic arm.
21. The apparatus of claim 20 , wherein the first and second actuators are arranged to cause the table top to perform a tilt motion about the pivot joint of the primary load support, wherein the robotic arm is arranged to perform the tilt motion in sync with the table top.