Surgical robotic arm with wireless power supply interface
A proximal end portion of a robotic surgical arm is to be coupled to an adapter of a surgical robotic platform, for use during a surgical session at the platform, and then decoupled from the adapter for storage until being re-coupled for use during another surgical session at the platform. A resonant-mode transformer-coupled power converter is provided that has a secondary side and a primary side. The secondary side is in the arm and has a transformer secondary coil in the proximal end portion of the arm. The primary side has a transformer primary coil in the adapter. The primary and secondary coils are held at positions and orientations that enable mutual inductive coupling between them for operation of the power converter when the arm is coupled to the adapter. Other embodiments are also described and claimed.
1. A surgical robotic apparatus comprising:
a surgical robotic arm having a proximal end portion and a distal end portion, where the distal end portion is configured to receive a surgical tool, and the proximal end portion is configured to be removably coupled to an adapter of a surgical robotic platform for surgery and decoupled from the adapter for storage; and
a secondary side of a resonant-mode transformer-coupled power converter that also has a primary side,
wherein the secondary side of the power converter has a transformer secondary coil in the proximal end portion of the arm, and wherein the primary side has a transformer primary coil in the adapter, and wherein the primary and secondary coils are held at positions and orientations that enable mutual inductive coupling between them for operation of the power converter when the arm is coupled to the adapter.
2. The apparatus of claim 1 wherein the proximal end of the arm comprises
a coupling member formed as a receptacle to receive and hold the adapter, wherein the coupling member has a mechanical latching mechanism that latches the coupling member to the adapter, in a detachable and re-attachable manner.
3. The apparatus of claim 1 wherein the proximal end of the arm comprises:
a male coupling member that is to be received by and held by the adapter, wherein the male coupling member has a mechanical latching mechanism that latches the male coupling member to the adapter, in a detachable and re-attachable manner.
4. The apparatus of claim 1 wherein the secondary coil and the primary coil are fixed in position relative to each other once the arm has been coupled to the adapter.
5. The apparatus of claim 4 wherein the secondary coil is part of a second part of a multi-part transformer that also has a first part, wherein the multi-part transformer is of a core form or a shell form in which each of the primary coil and the secondary coil is wound around a respective, magnetic or ferromagnetic core or shell portion, and wherein the second part of the multi-part transformer is in the proximal end of the arm while the first part is in the adapter.
6. The apparatus of claim 5 wherein the first part of the multi-part transformer has a flat face that becomes aligned with, and is held at a fixed distance from, the second part of the multi-part transformer when the arm has been coupled to the adapter, and wherein in that position there is an electrically insulating gap between the primary coil and the secondary coil.
7. The apparatus of claim 1 wherein the primary and secondary coils are parts of a multi-part transformer, wherein the multi-part transformer is of a core form or a shell form in which each of the primary coil and the secondary coil is wound around a respective, magnetic or ferromagnetic core or shell portion, and wherein the part of the multi-part transformer that has the secondary coil is in the proximal end of the arm while the part that has the primary coil is in the adapter.
8. The apparatus of claim 7 wherein the multi-part transformer comprises a first support plate that supports the primary coil, and a second support plate that supports the secondary coil, and wherein the first and second supports are parallel to each other and separated when the arm has been coupled to the adapter.
9. The apparatus of claim 1 wherein the secondary coil is part of a second part of a multi-part magnetic transformer that also has a first part, wherein the multi-part magnetic transformer is of a coreless form, and wherein the second part of the multi-part transformer is in the proximal end of the arm while the first part is in the adapter.
10. The apparatus of claim 1 further comprising an electrical load coupled to an output of the power converter, wherein the electrical load comprises:
a communications interface in the arm, configured to receive an arm actuator control signal; and
motor driver circuitry in the arm that is coupled to the communications interface and configured to be controlled by the arm actuator control signal.
11. The apparatus of claim 9 wherein the power converter comprises an optical coupler having a transmitter that is affixed to the proximal end of the arm and transmits a feedback signal derived from the output of the power converter, and wherein the optical coupler has a receiver that is affixed to the adapter and receives the feedback signal when the arm is coupled to the adapter.
12. The apparatus of claim 10 further comprising the adapter, wherein the adapter of the surgical robot platform is a table adapter that is configured to be attached to a surgical table.
13. The apparatus of claim 12 wherein the adapter comprises a pivot joint that enables the coupling member to rotate about a pivot axis of the joint.
14. The apparatus of claim 1 wherein the power converter comprises an optical coupler having a transmitter that is affixed to the proximal end of the arm and transmits a feedback signal derived from the output of the power converter, and wherein the optical coupler has a receiver that is affixed to the adapter and receives the feedback signal when the arm is coupled to the adapter.
15. A surgical robotic apparatus comprising:
a surgical robotic arm having a proximal end portion and a distal end portion, where the distal end portion is configured to receive a surgical robotic tool, and the proximal end portion is configured to be removably coupled to a surgical robotic platform for surgery and decoupled from the platform for storage; and
a secondary side of a resonant-mode transformer-coupled power converter that also has a primary side,
wherein the secondary side of the power converter has a transformer secondary coil in the proximal end portion of the arm, and wherein the primary side has a transformer primary coil in the platform, and wherein the primary and secondary coils are held at positions and orientations that enable mutual inductive coupling between them for operation of the power converter when the arm is coupled to the platform for wireless power transfer through the transformer primary and secondary coils.
16. The apparatus of claim 15 wherein the secondary coil and the primary coil are fixed in position relative to each other once the arm has been coupled to the platform.
17. The apparatus of claim 16 wherein the secondary coil is part of a second part of a multi-part transformer that also has a first part, wherein the multi-part transformer is of a core form or a shell form in which each of the primary coil and the secondary coil is wound around a respective, magnetic or ferromagnetic core or shell portion, and wherein the second part of the multi-part transformer is in the proximal end of the arm while the first part is in the platform.
18. The apparatus of claim 17 wherein the first part of the multi-part transformer has a flat face that becomes aligned with, and is held at a fixed distance from, the second part of the multi-part transformer when the arm has been coupled to the platform, and wherein in that position there is an electrically insulating gap between the primary coil and the secondary coil.
19. The apparatus of claim 18 wherein the multi-part transformer comprises a first support plate that supports the primary coil, and a second support plate that supports the secondary coil, and wherein the first and second supports are parallel to each other and separated when the arm has been coupled to the table.
20. The apparatus of claim 15 wherein the proximal end of the arm comprises
a coupling member formed as a receptacle to receive and hold part of the platform, wherein the coupling member has a mechanical latching mechanism that latches the coupling member to said part of the platform, in a detachable and re-attachable manner.