# US 2021/0341007 A1 · Coupler to attach robotic arm to surgical table > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 2021/0341007 A1 - Document ID: US20210341007A1 - Status: Published application - Kind: A1 - Application number: 17/365,766 - Filed: 2021-07-01 - Published: 2021-11-04 - Earliest claimed: 2017-03-26 - Assignees: Verb Surgical Inc. - Applicants: Verb Surgical Inc. - Inventors: Wayne GROUT; David James CAGLE; Richard William TIMM; Brendan C. REESE; Michael P. SCHALLER; Robert J. CAMPBELL - Web page: https://patentgrep.com/patent/US20210341007A1 ## CPC - F16B 21/125: {radially resilient or with a snap-action member, e.g. elastic tooth, pawl with spring, resilient coil or wire} - A61B 34/30: Surgical robots - A61B 90/57: Accessory clamps - B25J 9/0009: {Constructional details, e.g. manipulator supports, bases} - B25J 9/0096: {co-operating with a working support, e.g. work-table} - F16B 21/165: {with balls or rollers (for connections of rods or tubes engaged telescopically F16B7/1409)} - A61B 2017/00477: {Coupling (A61B2017/0046 takes precedence)} - A61B 2090/571: {for clamping a support arm to a bed or other supports} - F16B 2/16: using rollers or balls {(clamps for rods or tubes telescopically engaged F16B7/1409; used in anti-theft monitors, e.g. as used for articles of clothing in shops E05B73/0017)} - F16B: DEVICES FOR FASTENING OR SECURING CONSTRUCTIONAL ELEMENTS OR MACHINE PARTS TOGETHER, e.g. NAILS, BOLTS, CIRCLIPS, CLAMPS, CLIPS OR WEDGES; JOINTS OR JOINTING (couplings for transmitting rotation F16D) - 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 An apparatus can include a coupler for coupling a robotic arm to a surgical table having a table top on which a patient can be disposed. The coupler can include a first portion configured to couple to a surgical table and a second portion configured to couple to a robotic arm. The second portion may include a post that may translate into the first portion. The first portion may comprise a locking mechanism having one or more stages to constrain movement of the second portion relative to the first portion in six degrees of freedom. The coupler can thus provide secure coupling of the robotic arm to the surgical table. ## Claims ### Claim 1 A coupler for coupling a robotic arm to a surgical table, the coupler comprising: a first portion configured to couple to a surgical table; a second portion configured to couple to a robotic arm, the second portion having a post configured to translate along a first axis of the first portion to couple the second portion to the first portion; and a locking mechanism configured to transition a coupling between the first portion and the second portion between a locked position and an unlocked position, wherein in the locked position, movement of the first portion relative to the second portion in six degrees of freedom is constrained. ### Claim 2 (depends on 1) The coupler of claim 1, wherein the first portion comprises an axially oriented groove along an outer surface, and the second portion comprises a kinematic mount configured to mate with the groove when the second portion is coupled to the first portion, and where the kinematic mount and the groove are dimensioned to constrain translation or rotation of the first portion with respect to the second portion. ### Claim 3 (depends on 1) The coupler of claim 1, wherein the first portion further comprises an alignment opening, and the second portion comprises an alignment protrusion, the alignment protrusion having an asymmetrical shape configured to mate with the alignment opening in a single orientation and prevent misalignment of the first portion with respect to the second portion. ### Claim 4 (depends on 1) The coupler of claim 1, wherein the post of the second portion is dimensioned to surround the first portion to constrain translation of the first portion with respect to the second portion along the first axis. ### Claim 5 (depends on 1) The coupler of claim 1, wherein the locking mechanism comprises a set of ball bearings, a cam coupled to a bushing and a shaft positioned within an interior cavity of the first portion, wherein the cam and the bushing are configured to translate along the shaft to vary a contact force of the set of ball bearings against the post between the locked position and the unlocked position. ### Claim 6 (depends on 1) The coupler of claim 1, wherein the post is a cone configured to mate with a conical receiving cavity of the first portion to couple the second portion to the first portion, wherein the cone has a taper angle configured to achieve low release forces while maintaining high rigidity of coupling between the first portion and the second portion. ### Claim 7 (depends on 6) The coupler of claim 6, further comprising a pin disposed at a nose of the cone, wherein the pin is configured to protrude from the nose of the cone in a first configuration, and receded into the nose in a second configuration, wherein the first or second configuration corresponds to an orientation of a handle of the locking mechanism. ### Claim 8 (depends on 6) The coupler of claim 6, further comprising: a catch disposed along a side of the cone, wherein the catch is biased to protrude from the side of the cone in a first configuration, and receded into the side of the cone in a second configuration; and a catch groove formed along an interior surface of the conical receiving cavity of the second portion for receiving the catch of the first portion in the first configuration to couple the second portion to the first portion, or a switch to transition the catch between the first configuration and the second configuration. ### Claim 9 (depends on 1) The coupler of claim 1, further comprising an electrical interface between the first portion and the second portion, wherein the electrical interface is operable to provide power to a motor for driving the locking mechanism. ### Claim 10 A coupler for coupling a robotic arm to a surgical table, the coupler comprising: a first portion having a first end configured to couple to a surgical table and a second end, the second end defining an opening to an interior cavity within the first portion; a second portion configured to couple to a robotic arm, the second portion having a post configured to be received within the interior cavity and translate along the first axis of the first portion to couple the second portion to the first portion; a locking mechanism configured to constrain movement of the first portion relative to the second portion in six degrees of freedom; and a drive mechanism configured to drive an operation of the locking mechanism. ### Claim 11 (depends on 10) The coupler of claim 10, wherein the locking mechanism comprises a collet rotatably positioned within the interior cavity of the first portion, and the post of the second portion comprises a lead screw configured to be received within the collet, wherein a rotation of the collet around the first axis in a first direction translates the lead screw along the first axis in a direction toward the collet to lock the first portion to the second portion, and wherein a rotation of the collet around the first axis in a second direction translates the lead screw along the first axis in a direction away from the collet to unlock the first portion from the second portion. ### Claim 12 (depends on 10) The coupler of claim 10, further comprising a connection sensor configured to detect a coupling and a decoupling between the first portion and the second portion. ### Claim 13 (depends on 10) The coupler of claim 10, wherein the locking mechanism comprises a collet and a ball bearing holder positioned within the interior cavity of the second portion, the collet is operable to rotate around the first axis of the first portion and drive a translation of the ball bearing holder along the first axis in a direction toward the collet to lock the first portion to the second portion. ### Claim 14 (depends on 10) The coupler of claim 10, wherein the locking mechanism comprises a radial compression member disposed around the second portion, the radial compression member operable to apply a radial force to the second portion to lock the second portion to the first portion, and wherein the drive mechanism comprises a handle and a screw coupled to the radial compression member in a first configuration or a cam coupled to the radial compression member in a second configuration, the handle operable to turn the screw in the first configuration and the cam operable in the second configuration to vary a radial compression force of the radial compression member about the second portion. ### Claim 15 (depends on 10) The coupler of claim 10, wherein the locking mechanism comprises a compressible collet positioned around an outer surface of the second portion, the compressible collet is operable to be compressed between the first portion and the second portion to form a coupling between the first portion and the second portion, and wherein the compressible collet is configured to provide an electrical connection between the first portion and the second portion. ### Claim 16 (depends on 15) The coupler of claim 15, further comprising a toggle coupled to the compressible collet, the toggle operable to translate the compressible collet between a locked position and an unlocked position.