NL2034301B1 - Service trolley comprising a robot arm with a tool - Google Patents
Service trolley comprising a robot arm with a tool Download PDFInfo
- Publication number
- NL2034301B1 NL2034301B1 NL2034301A NL2034301A NL2034301B1 NL 2034301 B1 NL2034301 B1 NL 2034301B1 NL 2034301 A NL2034301 A NL 2034301A NL 2034301 A NL2034301 A NL 2034301A NL 2034301 B1 NL2034301 B1 NL 2034301B1
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- Netherlands
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- base plate
- robot arm
- tool
- service trolley
- trolley according
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Classifications
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/30—Surgical robots
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B50/00—Containers, covers, furniture or holders specially adapted for surgical or diagnostic appliances or instruments, e.g. sterile covers
- A61B50/10—Furniture specially adapted for surgical or diagnostic appliances or instruments
- A61B50/13—Trolleys, e.g. carts
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
- A61B90/50—Supports for surgical instruments, e.g. articulated arms
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
- A61B90/50—Supports for surgical instruments, e.g. articulated arms
- A61B2090/5025—Supports for surgical instruments, e.g. articulated arms with a counter-balancing mechanism
- A61B2090/504—Supports for surgical instruments, e.g. articulated arms with a counter-balancing mechanism with a counterweight
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
- A61B90/50—Supports for surgical instruments, e.g. articulated arms
- A61B90/57—Accessory clamps
- A61B2090/571—Accessory clamps for clamping a support arm to a bed or other supports
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- Health & Medical Sciences (AREA)
- Surgery (AREA)
- Life Sciences & Earth Sciences (AREA)
- Engineering & Computer Science (AREA)
- Heart & Thoracic Surgery (AREA)
- Biomedical Technology (AREA)
- Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
- Medical Informatics (AREA)
- Molecular Biology (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Pathology (AREA)
- Oral & Maxillofacial Surgery (AREA)
- Robotics (AREA)
- Manipulator (AREA)
Abstract
The invention relates to a service trolley 1 for performing surgery with a tool 2 on a body part of a patient, where the trolley 1 comprises a frame 3 and a base plate 4 with a robot arm 5 with the tool 2 and where the base plate 2 comprises a fixing place 6 for the body part, where in between on the one hand: the frame 3 and on the other hand: the base plate 4 with the robot arm 5 and tool 2, there is a flexible support device 15 to provide a force to the base plate 4 with the robot arm 5 and tool 2 and a guidance device 16 that enables the base plate 4 with the robot arm 5 and the tool 2 to move with respect to the frame 3. Figure 1a
Description
Title: Service trolley comprising a robot arm with a tool
The invention relates to a service trolley for performing surgery with a tool on a body part of a patient, where the trolley comprises a frame and a base plate with a robot arm with the tool and where the base plate comprises a fixing place for the body part.
Such service trolleys are used for surgery on the body part. The tool is fixed to an ulterior end of the robot arm. Both the base end of the robot arm and the body part are fixed on the base plate, so that the locations of the body part and the robot arm with the tool are well- defined with respect to each-other, i.e. they form a closed force loop. The robot arm moves the tool, so that the tool can perform a surgery on the body part in its fixing device. The invention relates to a service trolley that is independent from an operating table where the rest of the body of the patient is resting. This way the service trolley can be used with different operating tables.
Such an arrangement is known from NL2029875, where a robot arm is described that is independent from an operating table.
It is in practice difficult to make the robot arm suitable to be used with different operating tables. Operating tables have a general design and are not meant to support a rather heavy robot arm with tool, so that the robot arm cannot be supported completely by the operating table.
It is the aim of the invention to provide a service trolley with robot arm and tool that can be used with many different operating tables varying in height and construction and where the service trolley enables the robot arm with tool to perform surgery on the body part with a high accuracy.
According to the invention there is in between on the one hand: the frame and on the other hand: the base plate with the robot arm and tool, a flexible support device to provide a force to the base plate with the robot arm and tool and a guidance device that enables the base plate with the robot arm and the tool to move with respect to the frame. Such a flexible support device thus provides support and the guidance device makes it possible that the base plate with the robot arm and tool can move independently from the frame of the service trolley. Such a support device can be realized for instance with a rope, pulley and counter weight. The pulley rope construction makes it possible for the base plate to move independently from the frame, so that the base plate can be located on top of the operating table. Moreover the pulley, rope, counterweight device makes the position of the base plate easily adjustable, i.e. the support force is not dependent on the position of the base plate in respect of the frame. It is also possible to use a hydraulic or air cylinder to function both as a support and guidance device. The guidance device can also be a linear ball bearing or slider with one fixed part attached to the frame and the other moving part fixed to the base plate.
Preferably the flexible support device provides a force that is at least 60 % of the combined weight of the base plate with the robot arm, the tool, the body part and its fixing device and a moving part of the guidance device, but less than 100% of the combined weight. The combined weight thus exerts a force on the support device, where the support device compensates that force between 60- 100%. That means that the base plate can be easily moved even by hand, while still providing a slight downforce when located on the operating table. That way the forces on all operating tables will be well within the design limits of the table and there is no risk of damage to the operating table.
In a preferred embodiment the flexible support device comprises a spring between the base plate and the frame for providing the force. This way the construction of the service trolley becomes more easy to manufacture. The strength of the spring can be chosen so that the forces on the operating table caused by the base plate with the robot arm are well within the design limits of the operating table. The spring constant can be chosen such that the displacement versus force curve of the spring allows a relatively large displacement with a small change in force.
In a further preferred embodiment the spring comprises a gas operated spring. Such a gas spring uses compressed gas contained within an enclosed tube sealed by a sliding piston on a shaft. A gas spring has a very flat displacement versus force curve meaning that a large displacement can be obtained with a slight variation in force. This means again that the support of the plate is almost position independent, i.e. not depending on the height difference of the base plate with respect to the frame. When the support device provides more than 60% of the force necessary to lift the base plate, robot arm and tool, a person can easily adjust the height of the base plate manually, since only a slight force is needed to place the base plate above an operating table. The base plate can then be lowered on the table by releasing the slight force. With the slight force the risk of damaging the table or patient is minimal.
Preferably the support device comprises a damper to filter out vibrations. Springs or pulleys transfer forces directly, for instance from one end of the spring to the other end or directly via the rope. In order to filter out any vibration from the service trolley or a floor on which the trolley stands, a damper is provided to the support device. The damper is preferably provided parallel to the support device. The damper may be additional since due to friction in the support device there may already be some damping properties. For instance a gas spring itself will also have some damping due to friction between the piston and the enclosed tube of the gas spring.
Preferably the guidance device comprises an elongated element that can slide via a bearing attached to the frame and where the base plate can be attached to the element to guide it in a direction with a vertical component. Such an element can be a tube that can have different cross-sections like rectangular or square. Preferably the tube is a hollow cylinder, so that the base plate can also rotate. That way the base plate and the robot arm with tool can be lifted vertically and rotate in a well-defined way, guided by the tube in its bearings.
The base plate can thus be placed on top of an operating table. The bearings make a smooth movement of the base plate possible. The bearings can be made in different ways, like longitudinal bearings in a vertical direction. Preferably the bearings comprise single round balls that can rotate within a recess within the frame. That way a very simple construction can be realized that nonetheless guides the vertical tube with the attached base plate very well. Here vertical means perpendicular to a horizontal floor on which the service trolley rests. In the same way horizontal is defined as parallel to this floor. The vertical component means that the element can be vertically oriented, but can also have a slight tilt, i.e. a horizontal component.
In order to make sure that the table is adequately supported, the trolley comprises a counter balance arm, where one side of the balance arm is attached to the element and the other side of the balance arm comprises a compensation spring that provides a compensation force to the base plate close to a center of gravity of the base plate, the robot arm with tool and the body part and its fixing device. In general the tool on the robot arm is located somewhat away from the service trolley in order to be able to locate it above the body part and the operating table. This means that the center of gravity of the base plate with the robot arm and tool is away from the service trolley. This causes a tilting momentum on the element and the service trolley. In order to compensate for this momentum there is the counter balance arm that has a point of action on the base plate close to where the center of gravity of the base plate, robot arm, tool and body part is located. Here close means within a few centimeters, since the weight of the body part can differ depending on the specific body part or patient. This way the momentum that is generated by the robot arm on the vertical element is compensated, so that the base plate does not tilt too much. It is advantageous when the counter balance arm is located inside a recess of the base plate.
That way the base plate rests on the operating table, while the counter balance arm does not touch the operating table and is free to move so as to compensate the momentum.
It is further preferred when the base plate is attached to the support device via a horizontal pin. That way the baseplate can adapt to the table by pivoting around the pin. It is further preferable when the trolley comprises a detachable clamp that can connect and disconnect the base plate to the element. That way the element and the base plate can be connected, i.e. more or less locked for transport. When disconnected the base plate can move with respect to the element. This is useful when the base plate has to adapt to the operating table. In a preferred embodiment the clamp comprises at least one cam attached to the pin, where in a first position of the cam the element is directly connected to the base plate and where in a second position of the cam, the base plate is not directly connected to the element and can move in any direction over a limited stroke. The horizontal pivot pin is connected to the base plate and to the top of the support device, i.e. the spring. The cam on the element has two positions. In a first position the cam connects the base plate directly to the element. This can be done for instance by locating the pin in a recess (hole) of the tube just below the top end of the tube. The cam touches the top end of the tube. When the cam is in the first position it lifts the tube towards the base plate until base plate and tube make contact. For this the tube is preferably provided with protrusions that can make contact with the base plate in the first position to provide a more stable support for the base plate.
The protrusions make contact with the base plate at different locations to provide better balance and a precise contact. This way the pin is circumvented and the base plate cannot pivot. In this position the base plate is attached to the tube for transport and also for placing the base plate, robot arm and tool on the operating table. In the second position the cam is lowered. Then the tube follows and rests directly on the support device, i.e. on the spring.
The direct contact between the tube and the baseplate, i.e. via the protrusions is then broken. This means that the base plate can move slightly in the vertical direction as well as tilt and pivot via the pin. The vertical movement is limited to the stroke of the cam. Thus in the second position the base plate rests on the spring and the compensation spring and has no further connection with the trolley. In that position the baseplate has six degrees of freedom that are determined by the operating table. Gravity holds the base plate down on both the spring, the compensation spring and the operating table.
For transport the trolley comprises a lock for locking the base plate to the frame. This lock fixes the vertical element both in a vertical and rotational direction. Combined with the possibility to lock the base plate to the tube in the first position of the cam this provides a safe way to transport the trolley without the base plate or vertical element moving with respect to the frame.
Preferably the robot arm is part of an autonomously operating robot. The service trolley 5 according to the invention fixes the body part of the patient directly to the base plate and thus to the robot arm, while the rest of the body of the patient lies on the operating table.
That results in, that the tool on the robot arm and the body part are in well-defined pasitions with respect to each-other. A surgeon using a manually operating robot can make corrections during an operation. An autonomously operating robot is much less capable of corrections. The well-defined position of the body part with respect to the robot arm with the tool makes the service trolley well suited for an autonomously operating robot. Also the force loop between robot, body part and base plate is small making it possible that the robot can operate with high accuracy.
The invention is further explained with the help of the following drawing in which
Figure 1a, b show two different schematic views of the service trolley during transport and when placing the robot on an operating table,
Figure 2a b show two different schematic views of the service trolley during an actual operation,
Figure 3 shows a schematic view of the base plate resting on an operating table.
Figure 1 shows that the invention relates to a service trolley 1 for performing surgery with a tool 2 on a body part of a patient, where the trolley 1 comprises a frame 3 and a base plate 4 with a robot arm 5 with the tool 2 and where the base plate 4 comprises a fixing place 6 for the body part.
Such service trolleys 1 are used for surgery on the body part. The tool 2 is fixed to an ulterior end 7 of the robot arm 5. Both the base end 8 of the robot arm 5 and the body part are fixed on the base plate 4, so that the locations of the body part and the robot arm 5 with the tool 2 are well-defined with respect to each-other, i.e. they form a closed force loop. The robot arm 5 moves the tool 2, so that the tool 2 can perform a surgery on the body part in its fixing device. The invention relates to a service trolley 1 that is independent from an operating table 10 where the rest of the body of the patient is resting. This way the service trolley 1 can be used with different operating tables 10.
According to the invention there is between on the one hand the base plate 4 with the robot arm 5 and tool 2 and on the other hand the frame 3, a flexible support device 15 and a guidance device 16 that enables the base plate 4 with the robot arm 5 and the tool 2 to move with respect to the frame 3. Such a flexible support device 15 thus provides support and the guidance device 16 makes it possible that the base plate 4 with the robot arm 5 and tool 2 can move in a specific way independently from the frame 3 of the service trolley 1.
Such a support device 15 can be realized for instance with a rope, pulley and counter weight (not shown). The rope is then connected to the base plate 4. The rope is led over the pulley, where the pulley is connected to the frame 3 and is located above the base plate 4. The counter weight hangs on the other side of the pulley. That way the counter weight can compensate for the weight of the base plate 4, the robot arm 5, the tool 2 and part of the weight of the body part. The pulley rope construction makes it possible to compensate for the weight of the base plate 4, the robot arm 5 and the tool 2. The guidance device 16 can be a linear ball bearing or slider with one fixed part attached to the frame 3 and the other moving part fixed to the base plate 4. The support device 15 and the guidance device 16 make it possible to move the base plate 4 independently from the frame 3, so that the base plate 4 can be located on top of an operating table 10. Moreover the pulley, rope, counterweight device makes the position of the base plate easily adjustable, i.e. the support force is not dependent on the position of the base plate 4 in respect of the frame 3.
Preferably the flexible support device 15 provides a force F, of at least 60 % of the combined weight of the base plate with the robot arm, the tool, the body part and its fixing device and moving part of the guidance device 16, but less than 100% of the combined weight. That means that the base plate 4 can be easily moved even by hand, while still providing a slight downforce when located on the operating table 10. That way the forces on most operating tables 10 will be well within the design limits of the table 10 and there is no risk of damage to the operating table 10.
Figures 1 and 2 show a preferred embodiment, where the flexible support device 15 comprises a spring 17 between the base plate 4 and the frame 3, so that the spring supports the baseplate 4 with the robot arm 5 with respect to the frame 3. This way the construction of the service trolley 1 becomes more easy to manufacture. Moreover such a construction can be more easily shielded so that contamination and cleaning the trolley 1 for use in an operating room is no issue. The strength of the spring 17 can be chosen so that the forces on the operating table 10 caused by the base plate 4 with the robot arm 5, the tool 2, the body part and it fixing means are well within the design limits of the operating table 10. The spring constant can be chosen such that the displacement versus force curve of the spring 17 allows a relatively large displacement with a small change in force.
In a further preferred embodiment the spring 17 comprises a gas operated spring. Such a gas spring 17 uses compressed gas contained within an enclosed tube sealed by a sliding piston on a shaft. A gas spring has a very flat displacement versus force curve meaning that a large displacement can be obtained with a slight variation in force. This means again that the support of the plate 4 is almost position independent, i.e. not depending on the height difference of the base plate 4 with respect to the frame 3. When the support device 15 provides more than 60% of the force Fy necessary to lift the base plate 4, robot arm 5, tool 2 and the body part with its fixing means, a person can easily adjust the height of the base plate 4 manually, since only a slight force is needed to place the base plate 4 above an operating table 10. The base plate 4 can then be lowered on the table 10 by releasing the slight force. With the slight force the risk of damaging the table 10 or patient is minimal.
In this example the base plate 4, robot arm 5, tool 2 and fixing means weigh together about 400N. A spring with a spring constant k of 1500 N/m is sufficient to provide 60 % of the weight with a possible displacement of 200 mm.
Preferably the support device 15 comprises a damper. Springs or pulleys transfer forces directly, for instance from one end of the spring to the other end or directly via the rope. In order to filter out any vibration from the service trolley 1 or a floor on which the trolley 1 stands, a damper is provided to the support device 15. The damper is preferably provided parallel to the support device 15. The damper may be additional since due to friction in the support device 15 and guidance device 16 there may already be some damping properties.
For instance a gas spring itself will also have some damping due to friction between the piston and the enclosed tube of the gas spring. There are also gas springs available with built in damping properties that can be used for the gas spring with damper.
Figures 1 and 2 show that preferably the guidance device 16 comprises a tube 20 that can slide vertically via bearings 21 attached to the frame 3 and where the base plate 4 can be attached to the tube 20 to guide it in the vertical direction. Such a tube 20 can have different cross-sections like rectangular or square. Preferably the tube 20 is a hollow cylinder, so that the base plate 4 can also rotate. That way the base plate 4 and the robot arm 5 with tool 2 can be lifted vertically and rotate in a well-defined way, guided by the tube 20 in its bearings 21. The base plate 4 can thus be placed on top of an operating table 10. The bearings 21 make a smooth movement of the base plate 4 possible. The bearings 21 can be made in different ways, like longitudinal bearings in a vertical direction. Preferably the bearings 21 comprise single round balls that can rotate within a recess within the frame 3. In practice the balls from bearings 21 are adjustable so that a good contact between cylinder 20 and guiding balls is guaranteed. That way a very simple construction can be realized that nonetheless guides the vertical tube 20 with the attached base plate 4 very well. Here vertical means perpendicular to a horizontal floor on which the service trolley 1 rests. In the same way horizontal is defined as parallel to this floor.
Figure 3 shows another refinement of the service trolley 1. In order to make sure that the base plate 4 is adequately supported, the trolley 1 comprises a counter balance arm 25, where one side of the balance arm 25 is attached to the tube 20 and the other side of the balance arm 25 is attached via a compensation spring 26 to the base plate 4 at a location 28 close to a center of gravity of the base plate 4, the robot arm 5, the tool 2 and the body part. In general the tool 2 on the robot arm 5 is located somewhat away from the service trolley 1 in order to be able to locate it above the body part and the operating table 10. This means that the center of gravity of the base plate 4 loaded with the robot arm 5, tool 2, body part and its fixing means is located away from the guidance and support devices 15, 16 of the service trolley 1. This causes a tilting momentum on the tube 20 and the service trolley 1. In order to compensate for this momentum there is the counter balance arm 25 that has a point of action 28 on the base plate 4 close to where the center of gravity of the base plate 4, robot arm 5, tool 2 and body part with its fixing means is located. Here close means within a few centimeters, since the weight of the body part can differ depending on the specific body part or patient. This way the momentum that is generated by the robot arm 5 on the vertical tube 20 is compensated, so that the base plate 4 does not tilt. Figures 1, 2 and 3 show that it is advantageous when the counter balance arm 25 is located inside a recess 27 of the base plate 4. That way the base plate 4 rests on the operating table 10, while the counter balance arm 25 does not touch the operating table 10 and is free to move so as to compensate the momentum. This will also make it easy to make a cover underneath the base plate 4 that covers the counter balance arm so that cleaning the device becomes more easy. The compensation spring 26 has a spring constant k of 18 N/m and a stroke of 5mm.
Figures 1 and 2 show that the base plate 4 is attached to the support device 15 via a horizontal pin 30, where the base plate 4 can pivot around the pin 30. The horizontal pivot pin 30 is connected to the base plate 4 and to the top of the support device 15, i.e. the spring 17. Figures 1b, 2b show that for that purpose the base plate 4 is provided with bearings 31 around pin 30 that allow the base plate 4 to rotate around pin 30. That way the base plate can accommodate a slight height difference between base plate 4 and operating table 10 or a slight tilt that may occur in the table 10.
Preferably the pin 30 comprises at least one cam 32. The cam 32 on this pin 30 has two positions.
Figure 1 shows that in a first position of the cam 32 the tube 20 is directly connected to the base plate 4. This can be done for instance by locating the pin 30 in a recess of the tube 20 just below the top end of the tube 20. The cam 32 touches the top end 21 of the tube 20.
When the cam 32 is in the first position it lifts the tube 20 towards the base plate until base plate 4 and tube 20 make contact. For this the tube 20 is preferably provided with protrusions 33 that make contact with the base plate 4 in the first position. The contact between base plate 4 and protrusions 33 comprises preferably a construction with ball 35 in a groove 36 to provide a precise contact. In this embodiment three protrusions 33 equally spaced around tube 20, are used to provide better balance and a precise contact. This way the pin 30 with bearings 31 is circumvented and the base plate 4 cannot pivot or tilt. In this first position the base plate 4 is pushed against the tube 20. When the tube 20 is unlocked, the first position can be used for placing the base plate 4, robot arm 5 and tool 2 on the operating table 10. When both the baseplate 4 and the tube 20 are locked the trolley 1 can be transported without risking movement of the baseplate 4 with the robot arm 5.
Figure 2 shows a second position of the cam 32 where the base plate 4 is not directly connected to the tube 20, but is connected to the top end of the spring 17 and the the compensation spring 26. In this position, the base plate 4 is unlocked, so that the base plate 4 and robot arm 5 can pivot and tilt around the pin 30 to accommodate height and tilt differences between base plate 4 and table 10. The base plate 4 now has six degrees of freedom to adapt itself to the position of the operating table 10. With a cylindrical tube 20 the base plate 4 with robot arm 5 can also rotate around the central axis of the tube 20. In the second position the cam 32 is lowered. Then the tube 20 follows and rests directly on the support device 15, i.e. on the spring 17 and compensation spring 26. The direct contact between the tube 20 and the baseplate 4 , i.e. via the protrusions 33 is then broken. This means that the base plate 4 can move slightly in the vertical direction as well as tilt via the pin 30. The vertical movement independent from the tube 20 is limited to the stroke of the cam 32. Thus in the second position the baseplate 4 can accommodate any movement of the operation table 10 better. The second position is used for doing an operation on the body part of the patient. A movement of the table 10, for instance when someone would accidently bump the table 10 leads to a movement of the patient. In the second position the support device 15, i.e. the spring 17 in the tube 20 would allow movement of the base plate 4 in a vertical direction, whereas the pin 30, bearings 31 and cam 32 would allow tilting and a further slight vertical movement of the base plate 4. The unlocked tube 20 would further allow a rotational movement of the base plate 4. Altogether these movements, i.e. degrees of freedom, allow the base plate 4 with the body part fixated on it, to follow the movement of the patient on the table 10. Thus avoiding any extra stress on the body part when the table 10 is accidently moved. Of course also when the trolley is accidently moved, an analog movement of the baseplate 4 prevents extra stress on the body part.
For transport the trolley 1 has the cam 32 in the first position as shown in figure 1. The robot arm 5 and base plate 4 are then also turned towards the trolley 1, i.e. away from an operating table 10, so that a very compact trolley 1 is obtained that can be easily moved around. Preferably the trolley 1 comprises a lock for fixing the tube 20 both in a vertical and rotational direction. Such a lock can be made by having a pin on the frame 3 that falls in a slot on the tube 20. Combined with the possibility to lock the base plate 4 to the tube 20 in the first position of the cam 32 this provides a safe way to transport the trolley 1 without the base plate 4 or vertical tube 20 moving with respect to the frame 3. It is also possible to use a clamp {not shown) for transport, where the clamp fixates the base plate 4 to the frame 3.
Preferably the robot arm 5 is part of an autonomously operating robot. The service trolley 1 according to the invention fixes the body part of the patient directly to the base plate 4 and thus to the robot arm 5, while the rest of the body of the patient lies on the operating table 10. That results in, that the tool 2 on the robot arm 5 and the body part are in well-defined positions with respect to each-other. A surgeon using a manually operating robot can make corrections during an operation. An autonomously operating robot is much less capable of corrections. The well-defined position of the body part with respect to the robot arm 5 with the tool 2 makes the service trolley 1 well suited for an autonomously operating robot.
Claims (15)
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| NL2034301A NL2034301B1 (en) | 2023-03-09 | 2023-03-09 | Service trolley comprising a robot arm with a tool |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| NL2034301A NL2034301B1 (en) | 2023-03-09 | 2023-03-09 | Service trolley comprising a robot arm with a tool |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| NL2034301B1 true NL2034301B1 (en) | 2024-09-20 |
Family
ID=85792484
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| NL2034301A NL2034301B1 (en) | 2023-03-09 | 2023-03-09 | Service trolley comprising a robot arm with a tool |
Country Status (1)
| Country | Link |
|---|---|
| NL (1) | NL2034301B1 (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN120203801A (en) * | 2025-05-26 | 2025-06-27 | 连云港新业细胞生物科技有限公司 | A surgical tool cart |
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| US20180344420A1 (en) * | 2017-06-01 | 2018-12-06 | Verb Surgical Inc. | Robotic arm cart with fine position adjustment features and uses therefor |
| US20210380152A1 (en) * | 2017-06-16 | 2021-12-09 | Verb Surgical Inc. | Robotic arm cart having locking swivel joints and other position adjustment features and uses therefor |
| US20200187885A1 (en) * | 2018-12-18 | 2020-06-18 | Shanghai United Imaging Healthcare Co., Ltd. | Lifting apparatus and a radiation system including the same |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN120203801A (en) * | 2025-05-26 | 2025-06-27 | 连云港新业细胞生物科技有限公司 | A surgical tool cart |
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