# US 11,432,981 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 11,432,981 B2 - Document ID: US11432981B2 - Status: Granted - Kind: B2 - Application number: 17/202,220 - Filed: 2021-03-15 - Published: 2021-09-02 - Granted: 2022-09-06 - Earliest claimed: 2019-03-08 - Assignees: Auris Health, Inc. - Applicants: Auris Health, Inc. - Inventors: Christian de Jesus Ruiz - Web page: https://patentgrep.com/patent/US11432981B2 ## 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 method for controlling tilt of a patient platform, the method comprising: tilting the patient platform about a lateral tilt axis based on: driving a lead screw with a motor to apply a linear force to a pivot housing, the pivot housing comprising a screw nut housing mounted on the lead screw; translating the pivot housing along a first linear guide along a first axis; and translating the pivot housing along a second linear guide along a second axis. ### Claim 2 (depends on 1) The method of claim 1, wherein the first axis is parallel to the linear force and the second axis is not parallel to the first axis. ### Claim 3 (depends on 1) The method of claim 1, wherein the motor applies the linear force to the screw nut housing in a direction parallel to the lead screw. ### Claim 4 (depends on 1) The method of claim 1, wherein the motor is attached to a tilt plate that supports the patient platform, and wherein the first linear guide is attached to the tilt plate. ### Claim 5 (depends on 4) The method of claim 4, wherein driving the lead screw comprises applying the linear force to the screw nut housing in a direction parallel to a plane of the tilt plate. ### Claim 6 (depends on 4) The method of claim 4, wherein the second linear guide is attached to a gimbal. ### Claim 7 (depends on 6) The method of claim 6, wherein the gimbal is positioned between a column that supports the patient platform and the tilt plate. ### Claim 8 (depends on 6) The method of claim 6, further comprising pivoting the gimbal relative to a column that supports the patient platform to tilt the patient platform about a longitudinal tilt axis. ### Claim 9 (depends on 8) The method of claim 8, wherein pivoting the gimbal relative to the column comprises driving a longitudinal tilt linkage with a longitudinal linear actuator that translates along an axis of the column. ### Claim 10 (depends on 9) The method of claim 9, wherein pivoting the gimbal relative to the column comprises pivoting the gimbal relative to the column in more than one direction. ### Claim 11 (depends on 9) The method of claim 9, further comprising tilting the patient platform about the lateral tilt axis and the longitudinal tilt axis simultaneously. ### Claim 12 (depends on 11) The method of claim 11, further comprising performing a robotic medical procedure on a patient supported on the patient platform. ### Claim 13 (depends on 1) The method of claim 1, wherein the motor is attached to a tilt plate that supports the patient platform, and wherein the first linear guide is attached to the tilt plate. ### Claim 14 (depends on 13) The method of claim 13, wherein tilting the patient platform about the longitudinal tilt axis comprises actuating a longitudinal link to apply a force to tilt the tilt plate longitudinally. ### Claim 15 (depends on 14) The method of claim 14, wherein the longitudinal link is attached to a column that supports the patient platform with a carriage that is mounted on a lead screw. ### Claim 16 (depends on 15) The method of claim 15, wherein actuating the longitudinal link to apply the force to tilt the tilt plate longitudinally comprises rotating the lead screw with the motor to drive the carriage along the column. ### Claim 17 A method for controlling tilt of a patient platform, the method comprising: tilting the patient platform about a lateral tilt axis based on: driving a lead screw with a motor to apply a linear force to a pivot housing, the pivot housing comprising a screw nut housing mounted on the lead screw; translating the pivot housing along a first linear guide along a first axis; and translating the pivot housing along a second linear guide along a second axis; and tilting the patient platform about a longitudinal tilt axis simultaneously with tilting the patient platform about the lateral tilt axis. ### Claim 18 (depends on 17) The method of claim 17, wherein the first axis is parallel to the linear force and the second axis is not parallel to the first axis.