Tilt mechanisms for medical systems and applications
A robotic medical system can include a patient platform. The patient platform includes a tilt mechanism. The tilt mechanism can include a lateral tilt mechanism and a longitudinal tilt mechanism. The lateral tilt mechanism can include a tilt plate and a pivot housing. A linear actuator mounted on the tilt plate can apply a linear force to the pivot housing. The lateral tilt mechanism can also include a first linear guide that extends along a first axis, and the pivot housing can translate along the first linear guide. Application of the linear force to the pivot housing tilts the tilt plate by causing the pivot housing to translate along the first linear guide.
1. A method for controlling tilt of a patient platform, the method comprising:
tilting the patient platform about a lateral tilt axis based on:
driving a lead screw with a motor to apply a linear force to a pivot housing, the pivot housing comprising a screw nut housing mounted on the lead screw;
translating the pivot housing along a first linear guide along a first axis; and
translating the pivot housing along a second linear guide along a second axis.
2. The method of claim 1 , wherein the first axis is parallel to the linear force and the second axis is not parallel to the first axis.
3. The method of claim 1 , wherein the motor applies the linear force to the screw nut housing in a direction parallel to the lead screw.
4. The method of claim 1 , wherein the motor is attached to a tilt plate that supports the patient platform, and wherein the first linear guide is attached to the tilt plate.
5. The method of claim 4 , wherein driving the lead screw comprises applying the linear force to the screw nut housing in a direction parallel to a plane of the tilt plate.
6. The method of claim 4 , wherein the second linear guide is attached to a gimbal.
7. The method of claim 6 , wherein the gimbal is positioned between a column that supports the patient platform and the tilt plate.
8. The method of claim 6 , further comprising pivoting the gimbal relative to a column that supports the patient platform to tilt the patient platform about a longitudinal tilt axis.
9. The method of claim 8 , wherein pivoting the gimbal relative to the column comprises driving a longitudinal tilt linkage with a longitudinal linear actuator that translates along an axis of the column.
10. The method of claim 9 , wherein pivoting the gimbal relative to the column comprises pivoting the gimbal relative to the column in more than one direction.
11. The method of claim 9 , further comprising tilting the patient platform about the lateral tilt axis and the longitudinal tilt axis simultaneously.
12. The method of claim 11 , further comprising performing a robotic medical procedure on a patient supported on the patient platform.
13. The method of claim 1 , wherein the motor is attached to a tilt plate that supports the patient platform, and wherein the first linear guide is attached to the tilt plate.
14. The method of claim 13 , wherein tilting the patient platform about the longitudinal tilt axis comprises actuating a longitudinal link to apply a force to tilt the tilt plate longitudinally.
15. The method of claim 14 , wherein the longitudinal link is attached to a column that supports the patient platform with a carriage that is mounted on a lead screw.
16. The method of claim 15 , wherein actuating the longitudinal link to apply the force to tilt the tilt plate longitudinally comprises rotating the lead screw with the motor to drive the carriage along the column.
17. A method for controlling tilt of a patient platform, the method comprising:
tilting the patient platform about a lateral tilt axis based on:
driving a lead screw with a motor to apply a linear force to a pivot housing, the pivot housing comprising a screw nut housing mounted on the lead screw;
translating the pivot housing along a first linear guide along a first axis; and
translating the pivot housing along a second linear guide along a second axis; and
tilting the patient platform about a longitudinal tilt axis simultaneously with tilting the patient platform about the lateral tilt axis.
18. The method of claim 17 , wherein the first axis is parallel to the linear force and the second axis is not parallel to the first axis.