# US 2018/0147104 A1 · Surgical table base with high stiffness and adjustable support members with force feedback > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 2018/0147104 A1 - Document ID: US20180147104A1 - Status: Published application - Kind: A1 - Application number: 15/822,986 - Filed: 2017-11-27 - Published: 2018-05-31 - Earliest claimed: 2016-11-28 - Assignees: Verb Surgical Inc. - Applicants: Verb Surgical Inc. - Inventors: Richard William TIMM; Vijay SOUNDARARAJAN - Web page: https://patentgrep.com/patent/US20180147104A1 ## 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 A base for a surgical table, comprising: a base body having a lower side and an upper side to which other components of a surgical table can be coupled, the 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; a support assembly coupled to the base body to support the base body on the surface, the support assembly including at least four support members spaced about the base body, each support member having surface-engaging end and configured to 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 defining a plane, one of the support members being adjustable to move the surface-engaging end of the one support member relative to a plane defined by the surface-engaging ends of three of the other support members and thereby to change the portion of the total load carried by one of the support members; and 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. ### Claim 2 (depends on 1) The base of claim 1, wherein at least one of the support members includes a wheel to support the base for movement on the surface. ### Claim 3 (depends on 2) The base of claim 2, wherein the adjustable one of the support members includes the wheel. ### Claim 4 (depends on 1) The base of claim 1, wherein the at least four support members includes five support members, four of the support members being non-adjustable relative to the base body or the other support members. ### Claim 5 (depends on 1) The base of claim 1, further comprising at least three wheels coupled to the base body to support the base for movement on the surface. ### Claim 6 (depends on 5) The base of claim 5, wherein at least one of the at least three wheels is movable upwardly relative to the surface-engaging ends of the support members to change the base from a first, movable configuration in which the base is supported only on the wheels and movable relative to the surface on the wheels, and a second, fixed configuration in which the base is supported at least in part by at least two of the support members and fixed relative the surface. ### Claim 7 (depends on 6) The base of claim 6, wherein all of the at least three wheels are moveable upwardly relative to the surface-engaging ends of the support members, and wherein in the fixed configuration the base is supported only by the support members. ### Claim 8 (depends on 5) The base of claim 5, wherein the surface-engaging ends of at least two of the support members are movable downwardly relative to the wheels to change the base from a first, movable configuration in which the base is supported only on the wheels and movable relative to the surface on the wheels, and a second, fixed configuration in which the base is supported at least in part by the at least two of the support members and fixed relative the surface. ### Claim 9 (depends on 8) The base of claim 8, wherein the surface engaging ends of at least four of the support members are movable downwardly relative to the wheels, and wherein in the fixed configuration the base is supported only by the support members. ### Claim 10 (depends on 5) The base of claim 5, wherein at least one of the at least three wheels is coupled to one of the support members and defines the surface-engaging end of the support member. ### Claim 11 (depends on 1) The base of claim 1, further comprising an actuator coupled to the adjustable support member and operable to move the surface engaging end of the adjustable support member. ### Claim 12 (depends on 11) The base of claim 11, wherein the actuator includes a motor. ### Claim 13 (depends on 12) The base of claim 12, further comprising a controller operable to: receive a signal from the load sensor indicative of the portion of the total load carried by the one of the support members; determine whether the portion of the total load is not within an acceptable range; and if the portion of the total load is not within the acceptable range, send a signal to the motor to cause the motor to move the surface-engaging end of the adjustable support member to change the portion of the total load carried by the one of the support members. ### Claim 14 (depends on 13) The base of claim 13, wherein the signal from the load sensor is a first load sensor signal and the signal to the motor is a first motor signal, the controller being further operable to: receive a second signal from the load sensor indicative of the portion of the total load carried by the one of the support members; determine whether the portion of the total load is not outside of the acceptable range; and if the portion of the total load is not outside of the acceptable range, send a second signal to the motor to cause the motor to stop moving the surface-engaging end of the adjustable support. ### Claim 15 A method of stabilizing a surgical table on a surface, the surgical table having a base, the surgical table and optionally a patient supported by the surgical table, and any equipment carried by the surgical table collectively representing a total load supported on the surface, the base including a support assembly having at least four support members spaced about the base, each support member having surface-engaging end and configured to transmit a portion of the total load through the surface engaging end to the surface, one of the support members being adjustable to move the surface-engaging end of the one support member, the base having a load sensor disposed to detect the portion of the total load carried by one of the support members, the method comprising: receiving a signal from the load sensor indicative of the portion of the total load carried by the one of the support members; determining whether the portion of the total load is not within an acceptable range; and if the portion of the total load is not within the acceptable range, causing the surface-engaging end of the adjustable support member to move relative to a plane defined by the surface-engaging ends of three of the other support members and thereby to change the portion of the total load carried by one of the support members. ### Claim 16 (depends on 15) The method of claim 15, wherein the surgical table includes a motor coupled to the adjustable support member and operable to move the surface-engaging end of the adjustable support member, wherein the causing the surface-engaging end of the adjustable member to move includes sending a signal to the motor to move the surface-engaging end. ### Claim 17 (depends on 15) The method of claim 15, wherein the signal from the load sensor is a first load sensor signal and the signal to the motor is a first motor signal, further comprising: receiving a second signal from the load sensor indicative of the portion of the total load carried by the one of the support members; determining whether the portion of the total load is not outside of the acceptable range; and if the portion of the total load is not outside of the acceptable range, sending a second signal to the motor to cause the motor to stop moving the surface-engaging end of the adjustable support. ### Claim 18 A base for a surgical table, comprising: a base body having a lower side and an upper side to which other components of a surgical table can be coupled, the 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; a support assembly coupled to the base body to support the base body on the surface, the support assembly including at least four support members spaced about the base body, each support member having surface-engaging end and configured to 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 defining a plane, one of the support members being adjustable to move the surface-engaging end of the one support member relative to a plane defined by the surface-engaging ends of three of the other support members and thereby to change the portion of the total load carried by one of the support members; at least four load sensors operably coupled to the support assembly, each load sensor disposed to detect the portion of the total load carried by each of the support members; and a controller operable to: receive a signal from each of the load sensors indicative of the portion of the total load carried by each of the support members, determine a center of gravity for the surgical table based on the signal from each of the load sensors, determine whether the center of gravity is located within an acceptable location, and if the center of gravity is not located within the acceptable location, send a signal to at least one of (1) an actuator coupled to the adjustable support member to cause the actuator to move the surface-engaging end of the adjustable support member to change the location of the center of gravity, or (2) an output device configured to alert a user. ### Claim 19 (depends on 18) The base of claim 18, wherein the acceptable location is based on a boundary defined at least in part by at least one of the support members or the base body. ### Claim 20 (depends on 18) The base of claim 18, wherein the acceptable location is based on a distance from a central axis of the surgical table.