# US 10,660,814 B2 · Robotic surgical table adapter to reduce efficiency of energy transmission between attached robotic arms > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 10,660,814 B2 - Document ID: US10660814B2 - Status: Granted - Kind: B2 - Application number: 15/823,042 - Filed: 2017-11-27 - Published: 2018-05-31 - Granted: 2020-05-26 - Earliest claimed: 2016-11-28 - Assignees: Verb Surgical Inc. - Applicants: Verb Surgical Inc. - Inventors: Vijay Soundararajan; David James Cagle; Richard William Timm - Web page: https://patentgrep.com/patent/US10660814B2 ## CPC - A61G 13/02: Adjustable operating tables; Controls therefor - A61B 34/30: Surgical robots - A61B 34/70: {Manipulators specially adapted for use in surgery} - A61B 90/50: Supports for surgical instruments, e.g. articulated arms - A61G 13/04: tiltable around transverse or longitudinal axis - A61G 13/06: raising or lowering of the whole table surface (A61G13/04 takes precedence) - A61G 13/101: {Clamping means for connecting accessories to the operating table (supports as part of surgical instruments A61B90/50)} - B25J 9/0009: {Constructional details, e.g. manipulator supports, bases} - B25J 9/1679: {characterised by the tasks executed} - G16H 40/63: for local operation - A61B 2090/571: {for clamping a support arm to a bed or other supports} - G05B 2219/39: Robotics, robotics to robotics hand - G05B 2219/41056: Compensation for changing stiffness, deformation of workpiece - G16H 40/40: for the management of medical equipment or devices, e.g. scheduling maintenance or upgrades - 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) - A61B: DIAGNOSIS; SURGERY; IDENTIFICATION (usefulness limited to only animals A61D) - 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}) - G16H: HEALTHCARE INFORMATICS, i.e. INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR THE HANDLING OR PROCESSING OF MEDICAL OR HEALTHCARE DATA - G05B: CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS (systems for controlling or regulating non-electric variables G05D; systems for regulating electric or magnetic variables G05F; control devices or systems insofar as characterised by mechanical features only G05G) ## Abstract Apparatus and methods for providing a surgical table base with sufficient stiffness and adjustable support members with force feedback are described herein. In some embodiments, a base for a surgical table includes a base body to which other components of a surgical table can be coupled. A surgical table, and optionally a patient supportable by the surgical table, and any equipment to be carried by the surgical table, collectively representing a table load to be carried by the base body to support the surgical table on a surface. The base further includes a support assembly coupled to the base body to support the base body on the surface. The support assembly includes at least four support members. Each support member has a surface-engaging end and can transmit a portion of a total load represented by the weight of the base and the table load through the surface-engaging end to the surface. The surface-engaging ends of any three of the four support members define a plane. One of the support members is adjustable to move the one support member relative to a plane defined by the three of the other support members and thereby to change the portion of the total load carried by one of the support members. The base further includes a load sensor operably coupled to the support assembly and disposed to detect the portion of the total load carried by one of the support members. ## Claims ### Claim 1 An apparatus, comprising: an adapter coupled to a surgical table below a tabletop of the surgical table, the surgical table having a support coupled to the tabletop and a base coupled to the support, the adapter having a first section coupled to a proximal end portion of a first robotic arm and a second section coupled to a proximal end portion of a second robotic arm, the first section having a first stiffness and the second section having a second stiffness greater than the first stiffness, a distal end portion of the first robotic arm coupled to a first surgical tool and a distal end portion of the second robotic arm coupled to a second surgical tool. ### Claim 2 (depends on 1) The apparatus of claim 1, wherein the first section of the adapter has a first thickness and the second section of the adapter has a second thickness greater than the first thickness. ### Claim 3 (depends on 1) The apparatus of claim 1, wherein the first section of the adapter is formed from a first material and the second section of the adapter is formed from a second material different from the first material. ### Claim 4 (depends on 1) The apparatus of claim 1, wherein the adapter further includes a third section disposed between the first section and the second section, the third section having a third stiffness greater than both the first stiffness and the second stiffness. ### Claim 5 (depends on 4) The apparatus of claim 4, wherein the third section has a third thickness greater than both the first thickness and the second thickness. ### Claim 6 (depends on 1) The apparatus of claim 1, wherein the adapter is coupled to the support of the surgical table. ### Claim 7 An apparatus, comprising: an adapter coupled to a surgical table below a tabletop of the surgical table, the surgical table having a support extending upwardly from a base, wherein the tabletop is coupled to the support, the adapter having a first section coupled to a proximal end portion of a first robotic arm and a second section coupled to a proximal end portion of a second robotic arm, the first section and the second section defining a gap therebetween; and a damper disposed within the gap of the adapter to absorb crosstalk vibration between the first robotic arm and the second robotic arm. ### Claim 8 (depends on 7) The apparatus of claim 7, wherein the damper is formed of elastomeric material. ### Claim 9 (depends on 7) The apparatus of claim 7, wherein the adapter is coupled to the support of the surgical table. ### Claim 10 An apparatus, comprising: an adapter coupled to a surgical table below a tabletop of the surgical table, the surgical table having a support extending upwardly from a base, wherein the tabletop is coupled to the support, the adapter having a first section coupled to a proximal end portion of a first robotic arm and a second section coupled to a proximal end portion of a second robotic arm, the first section and the second section defining a gap therebetween; and a spring-damper assembly disposed within the gap of the adapter to absorb crosstalk vibration between the first robotic arm and the second robotic arm. ### Claim 11 (depends on 10) The apparatus of claim 10, wherein the adapter is coupled to the support of the surgical table. ### Claim 12 (depends on 10) The apparatus of claim 10, wherein the adapter is disposed between the tabletop and the support. ### Claim 13 (depends on 10) The apparatus of claim 10, wherein the spring-damper assembly comprises a dashpot that is coupled to the first section and is coupled to the second section. ### Claim 14 (depends on 13) The apparatus of claim 13, wherein the spring-damper assembly further comprises a spring structure that is coupled to the first section and is coupled to the second section. ### Claim 15 (depends on 10) The apparatus of claim 10, wherein the gap is a first gap, wherein the adapter further comprises a third section coupled to a proximal end portion of a second robotic arm, the second section and the third section defining a second gap therebetween, wherein the apparatus further comprises a damper component disposed within the second gap. ### Claim 16 (depends on 9) The apparatus of claim 9, wherein the adapter is disposed between the tabletop and the support. ### Claim 17 (depends on 16) The apparatus of claim 16, wherein the adapter comprises a central portion that is coupled to the first section and the second section. ### Claim 18 (depends on 17) The apparatus of claim 17, wherein the central portion of the adapter is coupled to the tabletop and to the support. ### Claim 19 (depends on 9) The apparatus of claim 9, wherein the first section and the second section form the adapter as an integrated unit. ### Claim 20 (depends on 1) The apparatus of claim 1, wherein the second section comprises one or more ribs or flanges integrated therein. ### Claim 21 (depends on 1) The apparatus of claim 1, wherein the proximal end portion of the first robotic arm and the proximal end portion of the second robotic arm are removably coupled to the first section and the second section, respectively.