# US 10,500,015 B2 · Surgical robotic arm support systems and methods of use > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 10,500,015 B2 - Document ID: US10500015B2 - Status: Granted - Kind: B2 - Application number: 15/310,546 - Filed: 2015-04-28 - Published: 2017-03-16 - Granted: 2019-12-10 - Earliest claimed: 2014-05-13 - Assignees: Covidien LP - Applicants: Covidien LP - Inventors: Eric Taylor; Josh Snow; Peter Hathaway; Michael Stow; Russell Pribanic; Andrew Miesse; Christopher Switalski; Michael Zemlok; Jason Iceman - Web page: https://patentgrep.com/patent/US10500015B2 ## CPC - A61B 90/50: Supports for surgical instruments, e.g. articulated arms - A61B 34/30: Surgical robots - A61B 90/06: {Measuring instruments not otherwise provided for} - A61G 13/10: Parts, details or accessories (surgical drape sheets A61B46/00) - B25J 9/0009: {Constructional details, e.g. manipulator supports, bases} - B25J 9/0084: {comprising a plurality of manipulators} - B25J 9/0096: {co-operating with a working support, e.g. work-table} - A61B 2090/061: {for measuring dimensions, e.g. length} - A61B 2090/067: {for measuring angles} - A61B 2090/506: {using a parallelogram linkage, e.g. panthograph} - A61G 2203/70: with special adaptations, e.g. for safety or comfort - A61B: DIAGNOSIS; SURGERY; IDENTIFICATION (usefulness limited to only animals A61D) - 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) - B25J: MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES ({manipulators specially adapted for use in surgery A61B34/70; manipulators used in cleaning hollow articles B08B9/04}; manipulators associated with rolling mills B21B39/20; manipulators associated with forging machines B21J13/10; {manipulators associated with picking-up and placing mechanisms B23P19/007}; means for holding wheels or parts thereof B60B30/00; {vehicles with ground-engaging propulsion means, e.g. walking members B62D57/02, B62D57/032; devices for picking-up and depositing articles or materials between conveyors B65G47/90, B65G47/91; manipulators with gripping or holding means for transferring packages B65H67/065}; cranes B66C; {manipulators used in the protection or supervision of pipe-line installations F17D5/00; walking equipment adapted for nuclear steam-generators F22B37/006}; manipulators specially adapted for, or associated with, nuclear reactors G21C; {apparatus used for handling wafers during manufacture or treatment of semiconductor H10P72/50}) ## Abstract A surgical robotic arm support system may include a base and at least one post and/or a connection for coupling a robot arm to the support system. The base may be configured to at least partially surround a surgical table. The at least one post may have a first end supported on the base and a second end configured to support a robotic arm. The at least one post may be configured to be coupled to a surgical table. The connection may support a mechanical and/or electrical connectivity between the support system and a coupled robot arm. Electrical connectivity may be configured to identify at least one of the robot arm connections to which at least one robot arm is connected. Each robot arm connection may be configured to maintain a portion of a connected robot arm at a predetermined position from the base. ## Claims ### Claim 1 A surgical robotic arm support system, comprising: a base configured to at least partially surround a surgical table, the base including a plurality of links connected to one another; at least one post having a first end supported on the base and a second end configured to support a robotic arm, the at least one post being configured to be coupled to the surgical table; at least one linear sensor configured to identify a positional change resulting from a movement of at least one of the plurality of links; and a processing device configured to trigger a notification when the identified positional change exceeds a threshold value. ### Claim 2 (depends on 1) The surgical robotic support system according to claim 1, wherein the plurality of links are selectively adjustable relative to one another, each of the plurality of links having one post of the at least one post supported thereon. ### Claim 3 (depends on 2) The surgical robotic support system according to claim 2, wherein the plurality of links includes: a first L-shaped link having a first leg and a second leg; and a second L-shaped link having a first leg and a second leg, the first legs of the first and second L-shaped links being connected to one another and defining a first axis therethrough, wherein the first and second L-shaped links are movable relative to one another along the first axis to adjust a width of the base. ### Claim 4 (depends on 3) The surgical robotic support system according to claim 3, wherein the plurality of links further includes: a first linear link connected to the second leg of the first L-shaped link, wherein a second axis, perpendicular to the first axis, is defined through the first linear link and the second leg of the first L-shaped link, the first linear link being movable relative to the second leg of the first L shaped link along the second axis to adjust a first length of the base; and a second linear link connected to the second leg of the second L-shaped link, wherein a third axis, perpendicular to the first axis, is defined through the second linear link and the second leg of the second L-shaped link, wherein the second linear link is movable relative to the second leg of the second L-shaped link along the third axis to adjust a second length of the base. ### Claim 5 (depends on 1) The surgical robotic support system according to claim 1, wherein the base has a rectangular configuration. ### Claim 6 (depends on 1) The surgical robotic support system according to claim 1, wherein the at least one post includes a joint movably connecting the first and second ends of the at least one post to one another. ### Claim 7 (depends on 6) The surgical robotic support system according to claim 6, wherein the first and second ends of the at least one post are movable relative to one another along an axis defined along the at least one post. ### Claim 8 (depends on 6) The surgical robotic support system according to claim 6, wherein the joint is configured to be slidingly coupled to a rail of the surgical table. ### Claim 9 (depends on 1) The surgical robotic support system according to claim 1, wherein one of the first and second ends of the at least one post is configured to be slidingly coupled to a rail of the surgical table. ### Claim 10 (depends on 9) The surgical robotic support system according to claim 9, wherein the first end of the at least one post is pivotably coupled to the base. ### Claim 11 A method of supporting surgical robotic arms, comprising: providing a surgical robotic arm support system, the support system including: a base configured to at least partially surround a surgical table, the base including a plurality of links; and at least one first post and at least one second post, each of the posts having a first end supported on the base and a second end configured to support a robotic arm, the posts being configured to be coupled to a surgical table; positioning the base of the support system to at least partially surround the surgical table; coupling the at least one first post to a first rail of the surgical table; coupling the at least one second post to a second rail of the surgical table; coupling the robotic arm to the second end of each post; processing a signal from a position sensor configured to detect a movement of at least one of the links and a signal from an angular sensor configured to identify an angular alignment change of at least one of the posts or the robotic arm; identifying from the processed linear sensor signal an amount of detected movement; identifying from the processed angular sensor signal an amount of angular alignment change of the at least one of the posts or the robotic arm; comparing the identified amount of detected movement and the amount of angular alignment change to respective threshold values; and triggering respective notifications when the compared amounts exceed their respective threshold values. ### Claim 12 (depends on 11) The method according to claim 11, further including selectively adjusting at least one of a width or a length of the base of the support system. ### Claim 13 (depends on 12) The method according to claim 12, further including axially moving the plurality links of the base relative to one another, wherein each of the plurality of links supports a respective post thereon. ### Claim 14 (depends on 13) The method according to claim 13, wherein the plurality of links of the base includes: a first L-shaped link having a first leg and a second leg; and a second L-shaped link having a first leg and a second leg, the first legs of the first and second L-shaped links being connected to one another and defining a first axis therethrough, the method further including moving the first and second L-shaped links relative to one another along the first axis to adjust a width of the base. ### Claim 15 (depends on 14) The method according to claim 14, wherein the plurality of links of the base further includes: a first linear link connected to the second leg of the first L-shaped link, wherein a second axis, perpendicular to the first axis, is defined through the first linear link and the second leg of the first L-shaped link; and a second linear link connected to the second leg of the second L-shaped link, wherein a third axis, perpendicular to the first axis, is defined through the second linear link and the second leg of the second L-shaped link; the method further including: moving the first linear link relative to the second leg of the first L-shaped link along the second axis to adjust a first length of the base; and moving the second linear link relative to the second leg of the second L-shaped link along the third axis to adjust a second length of the base. ### Claim 16 (depends on 12) The method according to claim 12, further including adjusting a configuration of the base to correspond to a profile of the surgical table. ### Claim 17 (depends on 12) The method according to claim 12, further including moving the first end of each post relative to the second end of each post about a respective joint of each post. ### Claim 18 (depends on 17) The method according to claim 17, further including moving the first and second ends of each post relative to one another along an axis extending along each respective post. ### Claim 19 (depends on 11) The method according to claim 11, further including sliding the second end of each post along the first and second rails of the surgical table. ### Claim 20 (depends on 19) The method according to claim 19, further including pivoting the first end of each post relative to the base. ### Claim 21 A surgical robotic arm support system, comprising: a base having a rectangular configuration configured to at least partially surround a surgical table, the base including: a first link having a first end and a second end and defining a first axis therebetween; a second link movably coupled to the first end of the first link and defining a second axis therealong, the second axis being perpendicular to the first axis, wherein the second link is axially movable relative to the first link along the second axis to adjust a first length of the base; and a third link movably coupled to the second end of the first link and defining a third axis therealong, the third axis being perpendicular to the first axis, wherein the third link is axially movable relative to the first link along the third axis to adjust a second length of the base; a plurality of posts, each post of the plurality of posts being supported on one of the second and third links of the base and configured to be coupled to a robotic arm, wherein each post of the plurality of posts includes a joint; at least one angular sensor configured to identify an angular alignment change of at least one post of the plurality of posts or the robotic arm; and a processing device configured to trigger a notification when the identified angular alignment change exceeds a threshold value. ### Claim 22 (depends on 21) The surgical robotic arm support system according to claim 21, wherein the first and second ends of the first link are axially movable relative to one another along the first axis to adjust a width of the base. ### Claim 23 (depends on 21) The surgical robotic arm support system according to claim 21, further comprising at least one linear sensor configured to identify a positional change resulting from a movement of at least one of the links, wherein the processing device is further configured to trigger a notification when the identified positional change exceeds a threshold value. ### Claim 24 A surgical robotic arm support system, comprising: a base having a rectangular configuration and being configured to at least partially surround a surgical table, the base including: a first link having a first end and a second end and defining a first axis therebetween; a second link movably coupled to the first end of the first link and defining a second axis therealong, the second axis being perpendicular to the first axis, the second link being axially movable relative to the first link along the second axis to adjust a first length of the base; and a third link movably coupled to the second end of the first link and defining a third axis therealong, the third axis being perpendicular to the first axis, the third link being axially movable relative to the first link along the third axis to adjust a second length of the base; a plurality of posts, each post of the plurality of posts supported on a respective one of the second and third links of the base and configured to be coupled to a robotic arm, wherein each post of the plurality of posts includes a joint; at least one linear sensor configured to identify a positional change resulting from a movement of at least one of the first, second or third links; and a processing device configured to trigger a notification when the identified positional change exceeds a threshold value.