# US 9,872,734 B2 · Robotic surgical system with patient support

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- Number: US 9,872,734 B2
- Document ID: US9872734B2
- Status: Granted
- Kind: B2
- Application number: 14/721,966
- Filed: 2015-05-26
- Published: 2015-09-24
- Granted: 2018-01-23
- Earliest claimed: 2007-12-21
- Assignees: Intuitive Surgical Operations, Inc.
- Applicants: Bruce Schena
- Inventors: Bruce Schena
- Web page: https://patentgrep.com/patent/US9872734B2

## CPC

- A61B 34/30: Surgical robots
- A61B 17/00234: {for minimally invasive surgery (A61B17/0218, A61B17/0469, A61B17/12013, A61B17/1285, A61B17/29, A61B17/320016 take precedence)}
- A61B 50/10: Furniture specially adapted for surgical or diagnostic appliances or instruments
- A61B 50/15: Mayo stands; Tables
- A61B 90/50: Supports for surgical instruments, e.g. articulated arms
- A61G 13/04: tiltable around transverse or longitudinal axis
- A61B 2017/00991: {Telescopic means}
- A61B: DIAGNOSIS; SURGERY; IDENTIFICATION (usefulness limited to only animals A61D)
- 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)

## Abstract

A robotic surgery system for supporting a patient and a robotic surgical manipulator. The robotic surgery system includes a base, a pillar coupled to the base at a first end and extending vertically upwardly to an opposing second end, and an attachment structure coupled to the second end of the pillar. A patient table is coupled to the attachment structure. A robot support arm has a first end coupled to the attachment structure. The robot support arm extends vertically upwardly from the first end to a second end. The robot support arm may further extend horizontally over the patient table to support a robotic surgical manipulator that will extend generally downward from the robot support arm toward a patient supported by the patient table to place an end effector of the robotic surgical manipulator adjacent a desired surgical site on the patient.

## Claims

### Claim 1

A surgery system comprising:
a base;
a pillar having a first end and a second end, the pillar extending upward from the first end to the second end, the first end of the pillar being coupled to the base;
an attachment structure coupled to the second end of the pillar;
a patient table coupled to the attachment structure;
a support arm having a horizontally extending portion and an upwardly extending portion, the upwardly extending portion of the support arm being coupled to the attachment structure; and
a surgical manipulator supported by the horizontally extending portion of the support arm;
wherein the patient table and the upwardly extending portion of the support arm are coupled to the attachment structure such that the relationship between the patient table and the support arm does not change when the height of the attachment structure with respect to the base is changed.

### Claim 2 (depends on 1)

The surgery system of claim 1:
the surgical manipulator extending generally downward from the horizontally extending portion of the support arm toward the patient table.

### Claim 3 (depends on 1)

The surgery system of claim 1:
the attachment structure having an upper surface;
the upwardly extending portion of the support arm being non-perpendicular to the upper surface of the attachment structure.

### Claim 4 (depends on 1)

The surgery system of claim 1 further comprising:
a pivotal connection between the second end of the pillar and the attachment structure.

### Claim 5 (depends on 1)

The surgery system of claim 1 further comprising:
a sliding connection between the patient table and the attachment structure.

### Claim 6 (depends on 1)

The surgery system of claim 1 further comprising:
a sliding connection between the attachment structure and the support arm.

### Claim 7 (depends on 1)

The surgery system of claim 1:
the upwardly extending portion of the support arm including a sliding connection length adjustment.

### Claim 8 (depends on 1)

The surgery system of claim 1 further comprising:
a first sliding connection between the attachment structure and the support arm;
the upwardly extending portion of the support arm including a second sliding connection length adjustment.

### Claim 9 (depends on 1)

The surgery system of claim 1, wherein the patient table is directly coupled to the attachment structure.

### Claim 10 (depends on 1)

The surgery system of claim 1, wherein the upwardly extending portion of the support arm is directly coupled to the attachment structure.

### Claim 11 (depends on 1)

The surgery system of claim 1, wherein the patient table and the upwardly extending portion of the support arm are directly coupled to the attachment structure.

### Claim 12

A surgery system comprising:
a base;
a pillar having a first end and a second end, the pillar extending upward from the first end to the second end;
an attachment structure coupled to the second end of the pillar;
a patient table coupled to the attachment structure;
a support arm having a horizontally extending portion and an upwardly extending portion, the upwardly extending portion of the support arm being coupled to the attachment structure;
a support bar coupled to the support arm; and
the one or more surgical manipulators supported by the support bar;
wherein the patient table and the upwardly extending portion of the support arm are coupled to the attachment structure such that the relationship between the patient table and the support arm does not change when the height of the attachment structure with respect to the base is changed.

### Claim 13 (depends on 12)

The surgery system of claim 12 further comprising:
a pivotal connection between the support arm and the support bar.

### Claim 14 (depends on 13)

The surgery system of claim 13:
the one or more surgical manipulators being a plurality of surgical manipulators;
each individual one of the plurality of surgical manipulators having an end effector;
the plurality of surgical manipulators being supported so that the end effectors converge on a surgical site.

### Claim 15 (depends on 13)

The surgery system of claim 13:
the pivotal connection defining a pivot axis of the support bar;
rotation of the support bar around the pivot axis rotating the one or more surgical manipulators away from the patient table during patient loading onto the patient table.

### Claim 16 (depends on 12)

The surgery system of claim 12:
the support bar having a curved form.

### Claim 17 (depends on 16)

The surgery system of claim 16:
the one or more surgical manipulators being a plurality of surgical manipulators;
each individual one of the plurality of surgical manipulators having an end effector;
the plurality of surgical manipulators being supported so that the end effectors converge on a surgical site.

### Claim 18 (depends on 12)

The surgery system of claim 12:
at least one of the one or more surgical manipulators extending generally downward from the support bar toward the patient table.

### Claim 19 (depends on 12)

The surgery system of claim 12 further comprising:
a pivotal connection between the second end of the pillar and the attachment structure.

### Claim 20 (depends on 12)

The surgery system of claim 12 further comprising:
a sliding connection between the attachment structure and the support arm.

### Claim 21 (depends on 12)

The surgery system of claim 12:
the upwardly extending portion of the support arm including a sliding connection length adjustment.

### Claim 22 (depends on 12)

The surgery system of claim 12 further comprising:
a first sliding connection between the attachment structure and the support arm;
the upwardly extending portion of the support arm including a second sliding connection length adjustment.

### Claim 23 (depends on 12)

The surgery system of claim 12 further comprising:
a sliding connection between the patient table and the attachment structure.

### Claim 24 (depends on 12)

The surgery system of claim 12, wherein the patient table is directly coupled to the attachment structure.

### Claim 25 (depends on 12)

The surgery system of claim 12, wherein the upwardly extending portion of the support arm is directly coupled to the attachment structure.

### Claim 26 (depends on 12)

The surgery system of claim 12, wherein the patient table and the upwardly extending portion of the support arm are directly coupled to the attachment structure.