Linkage mechanisms for mounting robotic arms to a surgical table

Abstract

In some embodiments, an apparatus can include a surgical table and an adapter coupled thereto. The adapter includes an interface structure, a first link member coupled to a second link member, and a third link member coupled to a fourth link member. The first link member and the third link member are each pivotally coupled to the interface mechanism at a shared first pivot joint. The second link member and the fourth link member are each coupleable to a robotic arm. The first link member and the second link member collectively provide for movement of the first robotic arm in at least one of a lateral, longitudinal or vertical direction relative to the table top. The third link member and the fourth link member collectively provide for movement of the second robotic arm in at least one of a lateral, longitudinal or vertical direction relative to the table top.

1 - 25 . (canceled) 
     
     
         26 . An apparatus, comprising:
 an adapter that is coupled to a surgical table below a table top of the surgical table, the surgical table having a support coupled between the table top and a base of the surgical table, the adapter is coupled to the surgical table via an interface structure,   wherein the interface structure comprises a first plurality of link members that are pivotally coupled to a first side of the adapter and a second plurality of link members that are pivotally coupled to a second side of the adapter opposite the first side of the adapter.   
     
     
         27 . The apparatus of  claim 26 , wherein the adapter comprises a plurality of tracks that extend in a lateral direction relative to the table top, wherein each of the link members of the first and second pluralities of link members is slidably coupled to a respective track of the plurality of tracks. 
     
     
         28 . The apparatus of  claim 27 , wherein the first and second pluralities of link members are movable along the plurality of tracks between stowed positions in which the link members are at least partially within the interface structure and extended positions in which the first plurality of link members extend outward from the first side of the adapter and the second plurality of link members extend outward from the second side of the adapter. 
     
     
         29 . The apparatus of  claim 28 , wherein, when a link member of at least one the first and second pluralities of link members is in the extended position, the link member is locked into position at a joint of the interface structure about which the link member is configured to pivot. 
     
     
         30 . The apparatus of  claim 26 , wherein each link member comprises a coupling portion that is configured to releasably couple to a coupling portion of a respective robotic arm. 
     
     
         31 . The apparatus of  claim 30 , wherein each link member of the first and second pluralities of link members is pivotally coupled at a first joint of the interface structure that provides rotation of the respective robotic arm about a first pivot axis, wherein the coupling portion of the link member comprises a second joint that provides rotation of the respective robotic arm about a second pivot axis that is different than the first pivot axis. 
     
     
         32 . The apparatus of  claim 26 , wherein the interface structure is a first interface structure, wherein the adapter further comprises a second interface structure that is adjacent to the first interface structure and comprises a third plurality of link members that are pivotally coupled to the first side of the adapter and a fourth plurality of link members that are pivotally coupled to the second side of the adapter. 
     
     
         33 . The apparatus of  claim 32 , wherein each of the link members of the first, second, third, and fourth pluralities of link members is configured to rotate about a respective pivot axis such that the link member is configured to independently rotate with respect to other link members about the first and second interface structures. 
     
     
         34 . An adapter for coupling at least four robotic arms to a surgical table that has a table top supported by a vertical support that rises from a base that is resting on a floor, the adapter comprising:
 an interface structure configured to couple to the surgical table; and   a first plurality of link members that are pivotally coupled to a first side of the adapter and a second plurality of link members that are pivotally coupled to a second side of the adapter that is opposite to the first side of the adapter, wherein each of the link members is configured to removably couple to a respective robotic arm.   
     
     
         35 . The adapter of  claim 34  further comprises a plurality of tracks that extend in a lateral direction relative to the adapter, wherein each of the link members of the first and second pluralities of link members is slidably coupled to a respective track of the plurality of tracks. 
     
     
         36 . The adapter of  claim 35 , wherein the first and second pluralities of link members are movable along the plurality of tracks between stowed positions in which the link members are at least partially within the interface structure and extended positions in which the first plurality of link members extend outward from the first side of the adapter and the second plurality of link members extend outward from the second side of the adapter. 
     
     
         37 . The adapter of  claim 36 , wherein, when a link member of the first a second pluralities of link members is in the extended position, the link member is locked into position at a joint of the interface structure about which the link member is configured to pivot. 
     
     
         38 . The adapter of  claim 34 , wherein each link member comprises a coupling portion that is configured to releasably couple to a coupling portion of a respective robotic arm. 
     
     
         39 . The adapter of  claim 38 , wherein each link member of the first and second pluralities of link members is pivotally coupled at a first joint of the interface structure that provides rotation of the respective robotic arm about a first pivot axis, wherein the coupling portion of the link member comprises a second joint that provides rotation of the respective robotic arm about a second pivot axis that is different than the first pivot axis. 
     
     
         40 . The adapter of  claim 34 , wherein the interface structure is a first interface structure, wherein the adapter further comprises a second interface structure that is adjacent to the first interface structure and comprises a third plurality of link members that are pivotally coupled to the first side of the adapter and a fourth plurality of link members that are pivotally coupled to the second side of the adapter. 
     
     
         41 . The adapter of  claim 40 , wherein each of the link members of the first, second, third, and fourth pluralities of link members is configured to rotate about a respective pivot axis such that the link member is configured to independently rotate with respect to other link members about the first and second interface structures. 
     
     
         42 . An apparatus, comprising:
 a surgical table having a table top, a support coupled to the table top, and a base coupled to the support, wherein the table top has a first side and a second side opposite to the first side, both sides run along a longitudinal axis of the table top; and   an adapter including an interface structure, the adapter is coupled to the surgical table via the interface structure that is coupled between the table top and the support,   the interface structure comprises
 a first joint that is disposed at the first side of the table top and a second joint that is disposed at the second side of the table top, wherein each of the joints is configured to 1) rotate about a respective vertical axis and 2) removably couple to a respective robotic arm. 
   
     
     
         43 . The apparatus of  claim 42 , wherein the adapter comprises a plurality of link members that are each pivotally coupled to the interface structure via one of the first and second joints, wherein each joint is removably coupled to the robotic arm via a respective link member. 
     
     
         44 . The apparatus of  claim 43 , wherein each link member comprises a first coupling portion that is configured to releasably couple to a second coupling portion of a respective robotic arm, wherein the first coupling portion of each link member comprises another joint that provides rotation of the respective robotic arm. 
     
     
         45 . The apparatus of  claim 42 , wherein the interface structure is a first interface structure, wherein the adapter further comprises a second interface structure that is adjacent to the first interface structure and comprises a third joint that is disposed at the first side of the table top and a fourth joint that is disposed at the second side of the table top, wherein each of the third and fourth joints is configured to 1) rotate about a respective vertical axis and 2) removably couple to a respective robotic arm.