# US 10,945,904 B2 · Tilt mechanisms for medical systems and applications > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 10,945,904 B2 - Document ID: US10945904B2 - Status: Granted - Kind: B2 - Application number: 16/810,469 - Filed: 2020-03-05 - Published: 2020-09-10 - Granted: 2021-03-16 - Earliest claimed: 2019-03-08 - Assignees: Auris Health, Inc. - Applicants: Auris Health, Inc. - Inventors: Christian de Jesus Ruiz - Web page: https://patentgrep.com/patent/US10945904B2 ## CPC - A61G 13/04: tiltable around transverse or longitudinal axis - A61B 34/30: Surgical robots - A61B 34/37: Leader-follower robots (A61B34/35 takes precedence) - A61B 34/74: {Manipulators with manual electric input means} - B25J 9/0096: {co-operating with a working support, e.g. work-table} - B25J 11/009: {Nursing, e.g. carrying sick persons, pushing wheelchairs, distributing drugs} - A61B 2017/00477: {Coupling (A61B2017/0046 takes precedence)} - A61B 2034/301: {for introducing or steering flexible instruments inserted into the body, e.g. catheters or endoscopes} - A61B 2034/302: {specifically adapted for manipulations within body cavities, e.g. within abdominal or thoracic cavities} - A61B 2034/303: {specifically adapted for manipulations within body lumens, e.g. within lumen of gut, spine, or blood vessels} - 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}) ## Abstract A robotic medical system can include a patient platform. The patient platform includes a tilt mechanism. The tilt mechanism can include a lateral tilt mechanism and a longitudinal tilt mechanism. The lateral tilt mechanism can include a tilt plate and a pivot housing. A linear actuator mounted on the tilt plate can apply a linear force to the pivot housing. The lateral tilt mechanism can also include a first linear guide that extends along a first axis, and the pivot housing can translate along the first linear guide. Application of the linear force to the pivot housing tilts the tilt plate by causing the pivot housing to translate along the first linear guide. ## Claims ### Claim 1 A tilt mechanism for a medical platform, the tilt mechanism comprising: a tilt plate; a gimbal attached to the tilt plate, the gimbal configured to allow the tilt plate to at least tilt about a lateral tilt axis; a linear actuator mounted on the tilt plate; and a first linear guide attached to the gimbal, wherein the first linear guide extends along a first axis; and a pivot housing configured to translate along the first linear guide wherein the linear actuator is configured to apply a linear force to the pivot housing, wherein application of the linear force to the pivot housing tilts the tilt plate about the lateral tilt axis by causing the pivot housing to translate along the first linear guide, and wherein the pivot housing is configured to pivot relative to the gimbal about a pivot axis, and the pivot axis is configured to translate relative to the gimbal along the first axis. ### Claim 2 (depends on 1) The tilt mechanism of claim 1, wherein the pivot housing is further configured to pivot relative to the first linear guide as the pivot housing translates along the first linear guide. ### Claim 3 (depends on 1) The tilt mechanism of claim 1, wherein the linear actuator applies the linear force in a direction along a second axis. ### Claim 4 (depends on 3) The tilt mechanism of claim 3, wherein the first axis and the second axis are not parallel. ### Claim 5 (depends on 1) The tilt mechanism of claim 1, wherein: the linear actuator comprises a motor that is configured to rotate a lead screw; and the pivot housing comprises a screw nut housing mounted on the lead screw. ### Claim 6 (depends on 1) The tilt mechanism of claim 1, further comprising a second linear guide attached to the tilt plate, wherein: the first linear guide comprises a first set of rails; and the second linear guide comprises a second set of rails. ### Claim 7 (depends on 6) The tilt mechanism of claim 6, wherein the first set of rails are positioned between the second set of rails. ### Claim 8 (depends on 1) The tilt mechanism of claim 1, wherein: the tilt plate is attached to a patient platform; and the gimbal is attached to a column that supports the patient platform. ### Claim 9 A robotic medical system, comprising: a patient platform configured to support a patient during a medical procedure; a column coupled to the patient platform by a gimbal configured to allow the patient platform to pivot in a lateral direction about a lateral tilt axis and in a longitudinal direction about a longitudinal tilt axis; and a tilt mechanism connecting the column to the patient platform, the tilt mechanism comprising: a lateral tilt mechanism configured to pivot the patient platform about the lateral tilt axis, wherein the lateral tilt mechanism comprises: a tilt plate attached to the patient platform; a linear actuator mounted on the tilt plate; a pivot housing; a first linear guide attached to the gimbal, wherein the first linear guide extends along a first axis and the pivot housing is configured to translate along the first linear guide; and a second linear guide attached to the tilt plate, wherein the second linear guide extends along a second axis and the pivot housing is configured to translate along the second linear guide; wherein the linear actuator is configured to apply a linear force to the pivot housing to cause the pivot housing to translate along the first linear guide and the second linear guide, thereby pivoting the title plate about the lateral tilt axis; and a longitudinal tilt mechanism configured to pivot the patient platform about the longitudinal tilt axis. ### Claim 10 (depends on 9) The system of claim 9, wherein the lateral tilt mechanism and the longitudinal tilt mechanism are configured to be operated simultaneously. ### Claim 11 (depends on 9) The system of claim 9, wherein the lateral tilt mechanism is positioned on top of the longitudinal tilt mechanism. ### Claim 12 (depends on 9) The system of claim 9, wherein the lateral tilt mechanism comprises the linear actuator configured to apply the linear force in a direction perpendicular to the lateral tilt axis to pivot the patient platform about the lateral tilt axis. ### Claim 13 (depends on 9) The system of claim 9, wherein the linear actuator applies the linear force in a direction that is parallel to the second axis. ### Claim 14 (depends on 9) The system of claim 9, wherein the first axis and the second axis are not parallel. ### Claim 15 (depends on 9) The system of claim 9, wherein: the linear actuator comprises a motor that is configured to rotate a lead screw; and the pivot housing comprises a screw nut housing mounted on the lead screw. ### Claim 16 (depends on 9) The system of claim 9, wherein: the tilt plate is configured to pivot relative to the gimbal about the lateral tilt axis, and the lateral tilt axis is configured to translate relative to the gimbal along the first axis. ### Claim 17 (depends on 9) The system of claim 9, wherein the longitudinal tilt mechanism comprises: a longitudinal tilt linkage extending between the column and the gimbal; and an actuator configured to actuate the longitudinal tilt linkage to pivot the gimbal relative to the column to cause the patient platform to tilt about the longitudinal tilt axis. ### Claim 18 (depends on 9) The system of claim 9, wherein the linear actuator comprises a longitudinal linear actuator configured to translate along an axis of the column to actuate the longitudinal tilt linkage.