# US 10,869,640 B2 · Operation table with robot arm > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 10,869,640 B2 - Document ID: US10869640B2 - Status: Granted - Kind: B2 - Application number: 15/722,161 - Filed: 2017-10-02 - Published: 2018-04-26 - Granted: 2020-12-22 - Earliest claimed: 2016-10-26 - Assignees: Medicaroid Corporation - Applicants: Medicaroid Corporation - Inventors: Kazunori Suga; Tetsuya Nakanishi - Web page: https://patentgrep.com/patent/US10869640B2 ## CPC - A61B 6/0487: {Motor-assisted positioning} - A61B 34/71: {Manipulators operated by drive cable mechanisms} - A61G 13/02: Adjustable operating tables; Controls therefor - 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 13/10: Parts, details or accessories (surgical drape sheets A61B46/00) - A61G 13/0018: {Physician's examining tables} - A61G 2210/50: for radiography - 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) ## Abstract One or more embodiments of an operation table may include a table on which a patient is to be placed; a base fixed on a floor; and a robot arm comprising joints, a first end supported by the base, and a second end supporting the table, wherein the robot arm takes a first posture in which the robot arm is stored in a storage space that is a space under the table when the table is positioned at a first position, and the robot arm moves the table to a second position which is away from the first position by taking a second posture in which at least part of the robot arm horizontally protrudes from the storage space. ## Claims ### Claim 1 An operation table comprising: a table on which a patient is to be placed; a base fixed on a floor; and a robot arm comprising joints, a first end supported by the base, and a second end supporting the table, wherein the robot arm takes a first posture in which the robot arm is stored in a storage space that is a space under the table when the table is positioned at a first position, the robot arm moves the table to a second position which is away from the first position by taking a second posture in which at least part of the robot arm horizontally protrudes from the storage space, the joints include a first joint rotatable about a first vertical axis, a second joint rotatable about a second vertical axis, a third joint rotatable about a first horizontal axis and a fourth joint rotatable about a second horizontal axis, the robot arm comprises a wrist assembly that supports the table and includes the third joint, the fourth joint supports the wrist assembly rotatably about the second horizontal axis, the first position includes a descent position and an ascent position at which the table is lifted from the descent position, and the robot arm moves the table between the descent position and the ascent position by at least one joint of the third and fourth joints. ### Claim 2 (depends on 1) The operation table according to claim 1, wherein when the robot arm is in the first posture, a dimension of the robot arm in a direction parallel to a widthwise direction of the table is less than or equal to a width dimension of the table, and a dimension of the robot arm in a direction parallel to a lengthwise direction of the table is less than or equal to a length dimension of the table. ### Claim 3 (depends on 1) The operation table according to claim 1, wherein the robot arm moves the table with at least six degrees of freedom. ### Claim 4 An operation table comprising: a table on which a patient is to be placed; a base fixed on a floor; and a robot arm comprising joints, a first end supported by the base, and a second end supporting the table, wherein the robot arm takes a first posture in which the robot arm is stored in a storage space that is a space under the table when the table is positioned at a first position, the robot arm moves the table to a second position which is away from the first position by taking a second posture in which at least part of the robot arm horizontally protrudes from the storage space, the joints include a first joint rotatable about a first vertical axis, a second joint rotatable about a second vertical axis, a third joint rotatable about a first horizontal axis and a fourth joint rotatable about a second horizontal axis, the robot arm comprises a horizontal multi-articulated assembly that causes translation movement of the table, the horizontal multi-articulated assembly comprises the first joint rotatable about the first vertical axis and the second joint rotatable about the second vertical axis, the robot arm comprises a wrist assembly that supports the table, and includes the third joint rotatable about the first horizontal axis, and the horizontal multi-articulated assembly supports the wrist assembly via the fourth joint rotatable about the second horizontal axis. ### Claim 5 (depends on 4) The operation table according to claim 4, wherein the horizontal multi-articulated assembly comprises: a first movable part supported by the base via the first joint; and a second movable part supported by the first movable part via the second joint. ### Claim 6 (depends on 4) The operation table according to claim 4, wherein the horizontal multi-articulated assembly comprises: a fifth joint rotatable about a third vertical axis; a first movable part supported by the base via the first joint; a second movable part supported by the first movable part via the second joint; and a third movable part supported by the second movable part via the fifth joint. ### Claim 7 (depends on 1) The operation table according to claim 1, wherein the robot arm comprises a table slide mechanism that moves the table with a linear degree of freedom, and the second end of the robot arm supports the table via the table slide mechanism. ### Claim 8 (depends on 1) The operation table according to claim 1, wherein the robot arm causes the table to perform a roll operation, a pitch operation, and a yaw operation. ### Claim 9 (depends on 1) The operation table according to claim 1, wherein the first position is an operation position, and the second position is a test position. ### Claim 10 An operation table comprising: a table on which a patient is to be placed; a base fixed on a floor; and a robot arm comprising joints, a first end supported by the base, and a second end supporting the table, wherein the robot arm moves the table from a first position to a second position which is away from the first position, the joints include a first joint rotatable about a first vertical axis, a second joint rotatable about a second vertical axis, a third joint rotatable about a first horizontal axis and a fourth joint rotatable about a second horizontal axis, the robot arm comprises a wrist assembly that supports the table and includes the third joint, the fourth joint supports the wrist assembly rotatably about the second horizontal axis, the first position includes a descent position and an ascent position at which the table is lifted from the descent position, and the robot arm moves the table between the descent position and the ascent position by at least one joint of the third and fourth joints. ### Claim 11 (depends on 10) The operation table according to claim 10, wherein the robot arm comprises a horizontal multi-articulated assembly that causes translation movement of the table, and the horizontal multi-articulated assembly comprises the first joint rotatable about the first vertical axis and the second joint rotatable about the second vertical axis. ### Claim 12 (depends on 10) The operation table according to claim 10, wherein the robot arm comprises a table slide mechanism that moves the table with a linear degree of freedom, and the second end of the robot arm supports the table via the table slide mechanism. ### Claim 13 (depends on 10) The operation table according to claim 10, wherein the robot arm causes the table to perform a roll operation, a pitch operation, and a yaw operation. ### Claim 14 (depends on 10) The operation table according to claim 10, wherein the first position is an operation position, and the second position is a test position. ### Claim 15 An operation table comprising: a table on which a patient is to be placed; a base fixed on a floor; and a robot arm comprising joints, a first end supported by the base, and a second end supporting the table, wherein the joints include a first joint rotatable about a first vertical axis, a second joint rotatable about a second vertical axis, a third joint rotatable about a first horizontal axis and a fourth joint rotatable about a second horizontal axis, the robot arm comprises a horizontal multi-articulated assembly that causes translation movement of the table, the horizontal multi-articulated assembly comprises the first joint rotatable about the first vertical axis and the second joint rotatable about the second vertical axis, the robot arm comprises a wrist assembly that supports the table, and includes the third joint rotatable about the first horizontal axis, and the horizontal multi-articulated assembly supports the wrist assembly via the fourth joint rotatable about the second horizontal axis. ### Claim 16 (depends on 15) The operation table according to claim 15, wherein the robot arm moves the table with at least six degrees of freedom. ### Claim 17 (depends on 15) The operation table according to claim 15, wherein the horizontal multi-articulated assembly comprises: a first movable part supported by the base via the first joint; and a second movable part supported by the first movable part via the second joint. ### Claim 18 (depends on 15) The operation table according to claim 15, wherein the horizontal multi-articulated assembly comprises: a fifth joint rotatable about a third vertical axis; a first movable part supported by the base via the first joint; a second movable part supported by the first movable part via the second joint; and a third movable part supported by the second movable part via the fifth joint. ### Claim 19 (depends on 15) The operation table according to claim 15, wherein the robot arm comprises a table slide mechanism that moves the table with a linear degree of freedom, and the second end of the robot arm supports the table via the table slide mechanism. ### Claim 20 (depends on 15) The operation table according to claim 15, wherein the robot arm causes the table to perform a roll operation, a pitch operation, and a yaw operation.