System and method for mounting a robotic arm in a surgical robotic system
Systems and methods for mounting a robotic arm for use in robotic-assisted surgery, including a mobile shuttle that includes a support member for mounting the robotic arm that extends at least partially over a gantry of an imaging device. Further embodiments include a mounting apparatus for mounting a robotic arm to a base or support column of an imaging device, to a patient table, to a floor or ceiling of a room, or to a cart that extends over the top surface of the patient table.
1 . A surgical system comprising:
a patient support including a surgical table coupled to a column for supporting a patient;
a mount operatively attached to the patient support, the mount including:
a support element operatively attached to the column beneath the surgical table and extending away from the column and above the surgical table, and
a support arm fixed to and extending away from the support element;
an imaging device including an O-shaped gantry supported for movement relative to the patient support to obtain imaging data of the patient;
a surgical tool supporting a marker device;
a motion tracking apparatus configured to track the marker device of the surgical tool and at least one of the patient and the imaging device; and
a robotic arm having a base end operatively attached to the support arm of the mount, an end effector for supporting the surgical tool relative to the patient, and a plurality of actuators configured to articulate the end effector relative to the base end to adjust a position of the surgical tool relative to the patient.
2 . The surgical system of claim 1 , wherein the support arm defines a mounting surface for securing the base end of the robotic arm, the mounting surface being orientated generally perpendicular to the surgical table.
3 . The surgical system of claim 1 , wherein the base end of the robotic arm is disposed vertically higher than the surgical table.
4 . The surgical system of claim 1 , wherein the support element extends laterally away from the column.
5 . The surgical system of claim 4 , wherein the support element extends vertically away from the column.
6 . The surgical system of claim 5 , wherein the support arm is operatively attached to the support element at a location spaced laterally away from and vertically higher than the surgical table.
7 . The surgical system of claim 6 , wherein the support arm extends vertically away from the support element.
8 . The surgical system of claim 7 , wherein the support arm extends laterally towards the surgical table.
9 . The surgical system of claim 1 , wherein the support element has a generally L-shaped profile.
10 . The surgical system of claim 9 , wherein the support arm has a generally L-shaped profile.