# US 10,368,949 B2 · Robotic surgical station > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 10,368,949 B2 - Document ID: US10368949B2 - Status: Granted - Kind: B2 - Application number: 14/897,639 - Filed: 2014-06-13 - Published: 2016-05-19 - Granted: 2019-08-06 - Earliest claimed: 2013-06-13 - Assignees: The Board of Trustees of the University of Illinois - Applicants: The Board of Trustees of the University of Illinois - Inventors: Pier Giulianotti; Arturo Vittori; Andreas Vogler - Web page: https://patentgrep.com/patent/US10368949B2 ## CPC - A61B 34/30: Surgical robots - A61F 5/37: Restraining devices for the body or for body parts; Restraining shirts - A61B 2018/00291: {using suction} - A61B 2034/304: {including a freely orientable platform, e.g. so called 'Stewart platforms'} - A61G 13/06: raising or lowering of the whole table surface (A61G13/04 takes precedence) - A61G 13/08: the table being divided into different adjustable sections - A61B: DIAGNOSIS; SURGERY; IDENTIFICATION (usefulness limited to only animals A61D) - A61F: FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS (dental prosthetics A61C) - A61G: TRANSPORT, PERSONAL CONVEYANCES OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS (appliances for aiding patients or disabled persons to walk A61H3/00); OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES (embalming corpses A01N1/00) ## Abstract A robotic surgical station is described. The robotic surgical station has a base configured to be fixed to the ground, a ring-shaped structure to which a patient bed and a plurality of robot arms are restrained at respective first and second mounts and a remote control unit that may be used by a surgeon to carry out a surgical intervention on a patient. ## Claims ### Claim 1 A robotic surgical station, comprising: i) a base configured to be fixed to the ground; ii) a ring-shaped structure to which a patient bed and a plurality of robot arms are restrained at respective first and second mounts; and iii) a remote control unit that may be used by a surgeon to carry out a surgical intervention on a patient, wherein the ring-shaped structure is rotatable relative to the base about a roll axis configured to be parallel to the ground and passing through the center of the ring-shaped structure. ### Claim 2 (depends on 1) The robotic surgical station of claim 1, wherein the base comprises a pair of vertical uprights configured to be extending perpendicularly to the ground, each upright comprising an arcuate member protruding in a transverse direction therefrom and wherein the uprights are arranged such that said arcuate members face each other, the arcuate members being hollow bodies wherein the ring-shaped structure is fitted. ### Claim 3 (depends on 2) The robotic surgical station of claim 2, further comprising motorized rollers housed in the arcuate members, said motorized rollers contacting the ring-shaped structure in order to allow rotation thereof. ### Claim 4 (depends on 1) The robotic surgical station of claim 1, wherein said first and second mounts of the ring-shaped structure are arranged opposite to each other along a diameter thereof. ### Claim 5 (depends on 1) The robotic surgical station of claim 1, wherein the ring-shaped structure is also rotatable relative to the base about a pitch axis configured to be parallel to the ground and perpendicular to said roll axis. ### Claim 6 (depends on 5) The robotic surgical station of claim 5, wherein the arcuate members are rotatably restrained to the uprights and operably connected to respective motors housed therein by way of toothed belts. ### Claim 7 (depends on 1) The robotic surgical station of claim 1, wherein the first and second mounts have a telescopic structure. ### Claim 8 (depends on 7) The robotic surgical station of claim 7, wherein the first and second mounts are hydraulic or electromechanical linear actuators. ### Claim 9 (depends on 1) The robotic surgical station of claim 1, wherein the frame associated with the second mount is a hollow structure wherein electrical wires and cables are arranged along its inner periphery and connected in parallel to a number of sockets configured to allow mechanical and electrical assembly of a respective number of robotic arms. ### Claim 10 (depends on 1) The robotic surgical station of claim 1, wherein both the first and second mounts are rotatable about a yaw axis configured to be perpendicular to the ground and to the roll and pitch axes. ### Claim 11 (depends on 1) The robotic surgical station of claim 1, wherein the patient's bed is configured to be removably mounted on the first mount and wherein the patient's bed comprises a flange provided with engaging means configured to fit corresponding engaging means provided on a flange formed at the free end of the first mount. ### Claim 12 (depends on 1) The robotic surgical station of claim 1, further comprising a vacuum system allowing to restrain a patient to the patient's bed, said vacuum system comprising apertures formed on the surface of the bed intended to receive a patient and respective cavities arranged under said apertures, said cavities being respectively connected to a network of suction ducts formed in the bed structure and allowing to suck air through the apertures. ### Claim 13 (depends on 12) The robotic surgical station of claim 12, wherein a plug is fitted within each one of the cavities arranged under the respective apertures and wherein the plugs are housed in the respective cavities and urged against the respective apertures by way of elastic means so as to close them.