US 11,858,127 B2
System and method for mounting a robotic arm in a surgical robotic system
Paul Sebring, Townsend, MA (US); Eugene Gregerson, Bolton, MA (US); Russell Stanton, Lunenberg, MA (US); Edward Daley, Maynard, MA (US); and Gordon Row, Groton, MA (US)
Assigned to Mobius Imaging, LLC, Shirley, MA (US)
Filed by Mobius Imaging, LLC, Shirley, MA (US)
Filed on Jul. 21, 2021, as Appl. No. 17/381,534.
Application 17/381,534 is a continuation of application No. 15/706,210, filed on Sep. 15, 2017, granted, now 11,103,990.
Claims priority of provisional application 62/491,645, filed on Apr. 28, 2017.
Claims priority of provisional application 62/426,491, filed on Nov. 26, 2016.
Claims priority of provisional application 62/395,443, filed on Sep. 16, 2016.
Prior Publication US 2021/0347036 A1, Nov. 11, 2021
Int. Cl. B25J 5/04 (2006.01); A61B 34/30 (2016.01); A61B 34/20 (2016.01); A61B 34/00 (2016.01); A61B 90/00 (2016.01); A61B 90/50 (2016.01); A61B 6/04 (2006.01); A61B 5/00 (2006.01); A61B 6/00 (2006.01); B25J 5/00 (2006.01); B25J 9/00 (2006.01); B25J 9/16 (2006.01); A61B 90/57 (2016.01)
CPC B25J 5/04 (2013.01) [A61B 5/6835 (2013.01); A61B 6/0407 (2013.01); A61B 6/4405 (2013.01); A61B 6/4458 (2013.01); A61B 34/00 (2016.02); A61B 34/20 (2016.02); A61B 34/30 (2016.02); A61B 90/37 (2016.02); A61B 90/50 (2016.02); B25J 5/007 (2013.01); B25J 9/0018 (2013.01); B25J 9/0027 (2013.01); B25J 9/0096 (2013.01); B25J 9/1697 (2013.01); A61B 2034/2055 (2016.02); A61B 2090/3762 (2016.02); A61B 2090/571 (2016.02); Y10S 901/50 (2013.01)] 15 Claims
OG exemplary drawing
 
1. A surgical system comprising:
an imaging device having a gantry and a base;
a robotic arm having a base end, an end effector, and a plurality of actuators configured to articulate the end effector relative to the base end; and
a mobile shuttle for mounting the robotic arm proximate to the imaging device, the mobile shuttle comprising:
a mobile base configured to move the shuttle to a position adjacent to the imaging device, the mobile base including:
a pair of base rails spaced apart from one another and moveable adjacent to first and second sides of the base of the imaging device,
a plurality of wheels attached to the mobile base, wherein at least a portion of the wheels are attached to the pair of base rails, and
a connecting member extending between the pair of base rails proximate to a first end of the mobile base, the connecting member comprising a raised bridge portion moveable over a top surface of the base of the imaging device; and
a support member for mounting the robotic arm, the support member supported by the mobile base and extending at least partially over the gantry of the imaging device when the shuttle is moved to the position adjacent to the imaging device;
wherein when the base end of the robotic arm is mounted to a carriage, the carriage is moveable to various positions along a length of the support member.