# US 10,500,739 B2 · Robotic surgical system > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 10,500,739 B2 - Document ID: US10500739B2 - Status: Granted - Kind: B2 - Application number: 14/941,094 - Filed: 2015-11-13 - Published: 2017-05-18 - Granted: 2019-12-10 - Earliest claimed: 2015-11-13 - Assignees: Ethicon, Inc. - Applicants: Ethicon Endo-Surgery, LLC - Inventors: Michael D. Auld; Michael P. Weir - Web page: https://patentgrep.com/patent/US10500739B2 ## CPC - B25J 19/0025: {Means for supplying energy to the end effector} - A61B 34/30: Surgical robots - A61B 34/37: Leader-follower robots (A61B34/35 takes precedence) - A61B 90/50: Supports for surgical instruments, e.g. articulated arms - A61B 2017/00199: {with a console, e.g. a control panel with a display} - A61B 2017/00411: {actuated by application of energy from an energy source outside the body} - A61B 2017/00477: {Coupling (A61B2017/0046 takes precedence)} - A61B 2017/00862: {elastic or resilient} - A61B 2034/302: {specifically adapted for manipulations within body cavities, e.g. within abdominal or thoracic cavities} - A61B 2090/571: {for clamping a support arm to a bed or other supports} - A61B 2562/227: Sensors with electrical connectors - 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}) - A61B: DIAGNOSIS; SURGERY; IDENTIFICATION (usefulness limited to only animals A61D) ## Abstract Techniques for a surgical system are provided that allow an electromechanical surgical arm to be coupled at a location adjacent to a patient, such as a surgical table. A first mating element can be formed on a support member and it can be in electrical communication with a power source and a controller, and a second mating element can be formed on the electromechanical arm. The first and second mating elements can each have a respective electrical contact, and they can be configured such that mechanical coupling between the first and second mating element causes electrical communication to be established between the first and second electrical contacts and thus between the electromechanical arm and the power source and the controller. The mating elements can include tolerance elements that allow for some discrepancies between the mating elements while still providing a desired mechanical and electrical connection between the mating elements. ## Claims ### Claim 1 A surgical system, comprising: a support member having a first mating element that is one of a male member and a female receiver, the first mating element having formed thereon a first electrical contact configured to electrically communicate with a power source; an electromechanical surgical arm having a tool interface configured to receive and support a surgical tool and a second mating element configured to mate to the first mating element, the second mating element having formed thereon a second electrical contact configured to contact the first electrical contact when the first and second mating elements are mated and to thereby enable electrical communication between the electromechanical surgical arm and the power source through the first electrical contact; and at least one tolerance element formed on at least one of the first mating element and the second mating element, the at least one tolerance element being configured to provide at least one of axial and radial compliance between the first mating element and the second mating element, wherein the at least one tolerance element comprises an elastomeric element. ### Claim 2 (depends on 1) The surgical system of claim 1, wherein the electromechanical surgical arm comprises an active arm portion configured to receive and support the surgical tool, and a passive arm portion removably coupled to the active arm portion and having the second mating element formed thereon. ### Claim 3 (depends on 1) The surgical system of claim 1, wherein the first electrical contact is in electrical communication with a controller. ### Claim 4 (depends on 3) The surgical system of claim 3, wherein the first electrical contact is configured to communicate power and control signals generated by the controller. ### Claim 5 (depends on 1) The surgical system of claim 1, wherein the electromechanical surgical arm comprises a mounting pole having the second mating element disposed thereon. ### Claim 6 (depends on 1) The surgical system of claim 1, wherein the first and second the A electrical contacts are formed such that, when the first and second mating elements are in the at least one of axial or radial compliance with respect to each other, the first and second electrical contacts provide an electrical coupling between the support member and the electromechanical surgical arm. ### Claim 7 (depends on 5) The surgical system of claim 5, wherein the support member is configured to be removably attached to a surgical table. ### Claim 8 (depends on 5) The surgical system of claim 5, wherein the first and second mating elements are configured to couple to provide a mechanical and electrical coupling between the support member and the electromechanical surgical arm. ### Claim 9 A surgical system, comprising: a support member having a first mating element that is one of a male member and a female receiver, the first mating element having formed thereon a first electrical contact configured to electrically communicate with a power source; an electromechanical surgical arm having a tool interface configured to receive and support a surgical tool and a second mating element configured to mate to the first mating element, the second mating element having formed thereon a second electrical contact configured to contact the first electrical contact when the first and second mating elements are mated and to thereby enable electrical communication between the electromechanical surgical arm and the power source through the first electrical contact; and a coupling element configured to secure the first mating element and the second mating element, wherein the coupling element comprises a nut. ### Claim 10 (depends on 9) The surgical system of claim 9, wherein the nut is attached to at least one of the first mating element and the second mating element via a threaded connection. ### Claim 11 (depends on 9) The surgical system of claim 9, wherein the electromechanical surgical arm comprises an active arm portion configured to receive and support the surgical tool, and a passive arm portion removably coupled to the active arm portion and having the second mating element formed thereon. ### Claim 12 (depends on 9) The surgical system of claim 9, wherein the first electrical contact is in electrical communication with a controller. ### Claim 13 (depends on 12) The surgical system of claim 12, wherein the first electrical contact is configured to communicate power and control signals generated by the controller. ### Claim 14 (depends on 9) The surgical system of claim 9, wherein the electromechanical surgical arm comprises a mounting pole having the second mating element disposed thereon. ### Claim 15 (depends on 9) The surgical system of claim 9, wherein the first and second electrical contacts are formed such that, when the first and second mating elements are in at least one of axial or radial compliance with respect to each other, the first and second electrical contacts provide an electrical coupling between the support member and the electromechanical surgical arm. ### Claim 16 (depends on 9) The surgical system of claim 9, wherein the support member is configured to be removably attached to a surgical table. ### Claim 17 (depends on 9) The surgical system of claim 9, wherein the first and second mating elements are configured to couple to provide a mechanical and electrical coupling between the support member and the electromechanical surgical arm.