# US 2018/0147105 A1 · Robotic surgical table with relatively high resonant frequency structure 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 2018/0147105 A1 - Document ID: US20180147105A1 - Status: Published application - Kind: A1 - Application number: 15/823,006 - 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/US20180147105A1 ## 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 surgical table, comprising: a base; a support column extending upwardly from the base and having an upper end; a table top; a pivot assembly coupling the table top to the upper end of the support column, the pivot assembly including: a support flange attached to upper end of support column and having portions distributed about the support column; a primary load support having a lower end coupled to the support flange and an upper end having a pivotable coupling to the table top; a first actuator having a lower end coupled to the support flange at a first portion of the flange disposed on a first side of the support column and an upper end having a pivotable coupling to the table top, the first actuator being variable in length to pivot the table top about the pivotable coupling of the primary load support about a first pivot axis; a second actuator having a lower end coupled to the support flange at a second portion of the flange disposed on a second side of the support column opposite to the first side and an upper end having a pivotable coupling to the table top, the second actuator being variable in length to pivot the table top about the pivotable coupling of the primary load support about a second pivot axis different from the first pivot axis. ### Claim 2 (depends on 1) The surgical table of claim 1, further comprising a third actuator having a lower end coupled to the support flange at a third portion of the flange disposed between the first portion of the flange and the second portion of the flange, and an upper end having a pivotable coupling to the table top, the second actuator being variable in length to pivot the table top about the pivotable coupling of the primary load support about a second pivot axis different than the first pivot axis. ### Claim 3 (depends on 1) The surgical table of claim 1, wherein the upper end of the support column has a periphery in a plane transverse to a vertical axis of the support column, the lower end of the primary load support being coupled to the support flange at a location within the periphery of the upper end of the support column. ### Claim 4 A surgical table, comprising: a base; a support column extending upwardly from the base and having an upper end; a table top; a pivot assembly coupling the table top to the upper end of the support column, the pivot assembly including: a support flange attached to upper end of support column and having portions distributed about support column; a primary load support having a lower end coupled to the support flange and an upper end having a pivotable coupling to the table top; a first actuator having a lower end coupled to the support flange at a first portion of the flange disposed on a first side of the support column and an upper end having a pivotable coupling to the table top, the first actuator being variable in length to pivot the table top about the pivotable coupling of the primary load support about a first pivot axis; and a second actuator having a lower end coupled to the support flange at a second portion of the flange disposed on a second side of the support column opposite to the first side and an upper end having a pivotable coupling to the table top, the second actuator being variable in length to pivot the table top about the pivotable coupling of the primary load support about a second pivot axis different from the first pivot axis; and a first robotic arm and a second robotic arm coupled to the support flange of the pivot assembly. ### Claim 5 A surgical table, comprising: a base; a support column extending upwardly from the base and having an upper end; a table top; a pivot assembly coupling the table top to the upper end of the support column for pivotal movement of the table top relative to the support column about at least one axis; a support strut having an upper end coupled to the table top and a lower end coupled to the base, the support strut having a first section and a second section movable relative to the first section along a longitudinal axis of the support strut from a retracted position in which the support strut has a first length and an extended position in which the support strut has a second length that is greater than the first length, the support strut including a locking mechanism configured to selectively lock the support strut in at least one of the retracted position or the extended position such that the first section is not movable relative to the second section along the vertical axis, the support strut providing increased resistance to movement of the table top relative to the base when the locking mechanism locks the support strut. ### Claim 6 The surgical table of 5, wherein the support strut is disposed at least partially within a lumen defined by the support column. ### Claim 7 The surgical table of 5, wherein the locking mechanism includes at least one of a brake or a bearing lock. ### Claim 8 The surgical table of 5, wherein the lower end of the support strut is coupled to the base via the upper end of the support column.