Robotic operating table and hybrid operating system
An operating table may include: a table on which to place a patient; a base buried or fixed to a floor; and an articulated robotic arm including first end supported on the base and a second end supporting the table, wherein the robotic arm includes at least one vertical joint, and a rotation axis of the vertical joint is positioned along a direction that is horizontal and substantially parallel to the longitudinal direction of the table.
1. An operating table comprising:
a table on which to place a patient;
a base buried or fixed to a floor; and
an articulated robotic arm including a first end supported on the base and a second end supporting the table,
wherein
the robotic arm includes a vertical articulated assembly including one or more vertical joints and a horizontal articulated assembly including one or more horizontal joints, and
the operating table is configured such that the vertical articulated assembly cannot rotate about a rotational axis extending through the vertical articulated assembly relative to the table along a vertical direction in such a manner that a rotation axis of each of the one or more vertical joints always extends along a direction that is substantially parallel to a longitudinal direction of the table in a plan view.
2. The operating table according to claim 1 , wherein the articulated robotic arm supports the table at a position near a first end in the longitudinal direction of the table.
3. The operating table according to claim 1 , wherein
the robotic arm further includes a drive mechanism that drives each vertical joint,
the drive mechanism includes a motor and a reducer that reduces speed of rotation transmitted from the motor, and
the rotation axis of each vertical joint is positioned to coincide with an axis of an output rotation shaft of the reducer.
4. The operating table according to claim 1 , wherein
the robotic arm further includes a drive mechanism that drives each vertical joint,
the drive mechanism includes a motor, a first reducer that reduces speed of rotation transmitted from the motor, and a second reducer that reduces speed of rotation transmitted from the first reducer, and
the rotation axis of each vertical joint is positioned to coincide with an axis of an output rotation shaft of the second reducer.
5. The operating table according to claim 1 , wherein
a first end of the horizontal articulated assembly is supported on the base and a second end of the horizontal articulated assembly supports a first end of the vertical articulated assembly, and
a second end of the vertical articulated assembly supports the table.
6. The operating table according to claim 5 , wherein the horizontal articulated assembly includes three horizontal joints, and the vertical articulated assembly includes three vertical joints.
7. The operating table according to claim 5 , wherein the robotic arm causes the table to yaw about an axis along a vertical direction.
8. The operating table according to claim 1 , wherein the robotic arm causes the table to roll about an axis along the longitudinal direction.
9. The operating table according to claim 1 , wherein the robotic arm includes a pitch mechanism that supports the table and causes the table to pitch.
10. The operating table according to claim 9 , wherein
the pitch mechanism includes a first ball screw arranged such that a shaft thereof extends in a vertical direction, a second ball screw that is positioned such that a shaft thereof extends in the vertical direction, a first support member that supports the table and is moved in the vertical direction by the first ball screw, and a second support member that supports the table and is moved in the vertical direction by the second ball screw, and
the first support member and the second support member are positioned away from each other by a predetermined distance in a direction parallel to the longitudinal direction of the table.
11. The operating table according to claim 10 , wherein
the pitch mechanism further includes a first linear guide disposed to extend in a direction parallel to a direction of extension of the first ball screw, and a second linear guide disposed to extend in a direction parallel to a direction of extension of the second ball screw,
the first support member is slidably mounted on the first linear guide, and
the second support member is slidably mounted on the second linear guide.
12. The operating table according to claim 9 , wherein the pitch mechanism includes a pitch-support member supporting a first end of the table such that the first end of the table is rotatable about a rotation axis along a transverse direction of the table.
13. The operating table according to claim 9 , wherein
a first end of the horizontal articulated assembly is supported on the base and a second end of the horizontal articulated assembly supports a first end of the vertical articulated assembly, and
the pitch mechanism is supported on a second end of the vertical articulated assembly.
14. The operating table according to claim 1 , wherein
the table includes a radiolucent part and a support part supporting the radiolucent part, and
the second end of the robotic arm supports the support part, which is situated on a first end side of the table.
15. The operating table according to claim 1 , wherein the robotic arm is supported on the base such that the robotic arm is rotatable about an axis along a vertical direction.
16. A hybrid operating system comprising:
at least one imaging apparatus selected from a radiographic imaging apparatus that captures a radiographic projection image and a magnetic resonance imaging apparatus that captures a magnetic resonance image; and
the operating table according to claim 1 .