Description:FORM 2
THE PATENTS ACT, 1970
(39 of 1970)
&
THE PATENTS RULES, 2003
COMPLETE SPECIFICATION
(Section 10 and Rule 13)

1. TITLE OF THE INVENTION:
CART FOR ROBOTS
2. APPLICANT:
Merai Newage Private Limited, an Indian company of the address ¬ Survey No. 1574, Bilakhia House, Chala Muktanand Marg, Vapi, Valsad-396191 Gujarat, India

3. The following specification particularly describes the invention and the manner in which it is to be performed:
 
The following complete specification is filed as a divisional application of the pending Indian patent application no. 202421046279 filed on 14th June, 2024.
FIELD OF INVENTION
[1] The present disclosure relates to a cart. More specifically, the present disclosure relates to a movable and stable cart.
BACKGROUND OF INVENTION
[2] Robots find applications in a wide variety of applications. One such field is medical devices. Medical robots have been assisting medical practitioners around the world. Especially in surgeries, medical robots have proved to be an invaluable asset for delicate procedures. Other exemplary applications where robots are employed include assembly lines of manufacturing industries, warehouses/supply depots, etc.
[3] Conventionally, a robot is mounted over a cart. The cart is moved around to position the robot at a desired location and stowed away when not in use. For safety concerns, once the cart is positioned, it is recommended that the cart is immobilized. This is due to the fact that in case the robot moves due to even slight movement of the cart while an activity is being performed by the robot, it may adversely impact the activity. Thus, immobilization of the cart is important for the effectiveness of the activity performed.
[4] In case a surgery is performed using a medical robot mounted on a conventional cart, the cart is immobilized during surgery to avoid any trauma caused due to the movement of the cart and thereby the robot. While the cart is stowed away after surgery, immobilization of the cart prevents the cart from rolling away on its own.
[5] Few of the conventional carts are provided with telescopic legs that operate independently of each other. Thus, often times, the legs fail to synchronize with each other causing the cart to wobble when being immobilized and potentially topple over.
[6] Further, the conventional carts, take up a lot of floor space. In other words, the base of the cart is made very big so that the cart does not topple over when the robot moves during performing an activity or when the cart itself along with the robot is moved from one location to the other. Although having cart with big base is good from a stability standpoint, it takes up a lot of real estate which can limit its adoption in a space-constraint setting, for example, an operation theater. Often times than not, the carts become inconvenient to medical personnel that are required to assist the medical procedure on the operating floor.
[7] Thus, there arises a need for a cart that overcomes the problems associated with conventional carts.
SUMMARY OF INVENTION
[8] Particular embodiments of the present disclosure are described herein below with reference to the accompanying drawings, however, it is to be understood that the disclosed embodiments are mere examples of the disclosure, which may be embodied in various forms. Well-known functions or constructions are not described in detail to avoid obscuring the present disclosure in unnecessary detail. Therefore, specific structural and functional details disclosed herein are not to be interpreted as limiting, but merely as a basis for the claims and as a representative basis for teaching one skilled in the art to variously employ the present disclosure in virtually any appropriately detailed structure.
[9] In an embodiment, the present disclosure relates to a cart including a first moving module, a second moving module disposed below the first moving module, and an actuator. The first moving module and the second moving module defines a respective bottom surface and are capable of movement along a vertical axis of the cart. A plurality of legs is coupled to the bottom surface of one of the first moving module or second moving module. A plurality of wheels is coupled to the bottom surface of remaining one of the first moving module or second moving module. The actuator is operationally coupled to the first moving module and the second moving module to actuate at least one of the first moving module and the second moving module along the vertical axis. Each of the plurality of wheels is coupled to the bottom surface of the remaining one of the first moving module or second moving module, at a respective predefined distance. The first moving module or the second moving module is configured to abut one of the plurality of legs or the plurality of wheels to a predefined surface, simultaneously.
[10] In another embodiment, the present disclosure relates to a method for immobilizing the cart as described above. The method commences by moving, by an actuator, a first moving module towards a second moving module and towards a pre-defined surface. Thereafter, planting, by the actuator, a plurality of legs on the predefined surface simultaneously. And, lifting, by the actuator, a plurality of wheels away from the pre-defined surface.
[11] In another embodiment, the present disclosure relates to a method for mobilizing the cart as described above. The method commences by moving, by an actuator, a first moving module away from a second moving module and away a pre-defined surface. Thereafter, planting, by the actuator, a plurality of wheels on the pre-defined surface simultaneously. And, lifting, by the actuator, a plurality of legs away from the pre-defined surface.
[12] In another embodiment, the present disclosure relates to a cart for providing stability to movements of a robot mounted thereon. The cart including a top module, a first moving module, a second moving module, a plurality of legs, and a plurality of wheels. The top module is made of a low-density material. The first moving module is disposed below the top module. The second moving module disposed below the first moving module. The first moving module includes a support plate provided with one or more blocks made of a high-density material. The second moving module includes a base plate provided with one or more blocks made of a high-density material. The legs are coupled to one of the support plate or base plate. The wheels are coupled to remaining one of the support plate or base plate. The cart is configured to stand on the plurality of legs or the plurality of wheels at a time, and defines a small wheelbase of at least 350 mm in a pre-defined direction. The blocks of the first moving module and the second moving module are configured to lower a center of gravity of the cart and increase a center of mass of the cart, thereby providing stability to movements of the robot mounted on the top module.
[13] In another embodiment, the present disclosure relates to a cart for providing stability to an assembly mounted thereon when the cart is moved from one location to another. The cart including a top module made of a low-density material, a first moving module disposed below the top module, a second moving module disposed below the first moving module, a plurality of legs, and a plurality of wheels. The top module is provided with at least one body configured to toggle the top module between an expanded state and a collapsed state. The first moving module includes a support plate provided with one or more blocks made of a high-density material. The second moving module includes a base plate provided with one or more blocks made of a high-density material. The legs coupled to one of the support plate or base plate. The wheels coupled to remaining one of the support plate or base plate. A height of the top module can be configured depending upon the expanded state or the collapsed state of the top module. The height of the top module is relatively more in the expanded state than in the collapsed state.
[14] In yet another embodiment, the present disclosure relates to
BRIEF DESCRIPTION OF DRAWINGS
[15] The summary above, as well as the following detailed description of illustrative embodiments, is better understood when read in conjunction with the apportioned drawings. For the purpose of illustrating the present disclosure, exemplary constructions of the disclosure are shown in the drawings. However, the disclosure is not limited to specific methods and instrumentality disclosed herein. Moreover, those in the art will understand that the drawings are not to scale.
[16] Fig. 1 depicts a cart 100, according to an embodiment of the present disclosure.
[17] Fig. 1a depicts the cart 100 without a housing 10, according to an embodiment of the present disclosure.
[18] Fig. 1b depicts an exploded view of the cart 100, according to an embodiment of the present disclosure.
[19] Fig. 2 depicts a top module 110 of the cart 100, according to an embodiment of the present disclosure.
[20] Fig. 2a depicts an exploded view of top module 110, according to an embodiment of the present disclosure.
[21] Fig. 2b depicts a lifting column 120, according to an embodiment of the present disclosure.
[22] Fig. 3 depicts a first moving module 130 of the cart 100, according to an embodiment of the present disclosure.
[23] Fig. 3a depicts an exploded view of the first moving module 130, according to an embodiment of the present disclosure.
[24] Fig. 3b depicts a perspective view of the first moving module 130, according to an embodiment of the present disclosure.
[25] Fig. 3b1 depicts a bottom view of the first moving module 130, according to an embodiment of the present disclosure.
[26] Fig. 4 depicts a second moving module 150 of the cart 100, according to an embodiment of the present disclosure.
[27] Fig. 4a depicts an exploded view of the second moving module 150 of the cart 100, according to an embodiment of the present disclosure.
[28] Fig. 4b depicts an actuator 170 of the cart 100, according to an embodiment of the present disclosure.
[29] Fig. 5 depicts a portable configuration of the cart 100, according to an embodiment of the present disclosure.
[30] Fig. 6 depicts an immobilized configuration of the cart 100, according to an embodiment of the present disclosure.
[31] Fig. 7 depicts a method 700 to toggle the cart 100 from its portable configuration to its immobilized configuration, according to an embodiment of the present disclosure.
[32] Fig. 8 depicts a method to toggle the cart 100 from its immobilized configuration to its portable configuration, according to an embodiment of the present disclosure.
DETAILED DESCRIPTION OF THE ACCOMPANYING DRAWINGS
[33] Prior to describing the invention in detail, definitions of certain words or phrases used throughout this patent document will be defined: the terms "include" and "comprise", as well as derivatives thereof, mean inclusion without limitation; the term "or" is inclusive, meaning and/or; the phrases "coupled with" and "associated therewith", as well as derivatives thereof, may mean to include, be included within, interconnect with, contain, be contained within, connect to or with, couple to or with, be communicable with, cooperate with, interleave, juxtapose, be proximate to, be bound to or with, have a property of, or the like. Definitions of certain words and phrases are provided throughout this patent document, and those of ordinary skill in the art will understand that such definitions apply in many, if not most, instances to prior as well as future uses of such defined words and phrases.
[34] Reference throughout this specification to “one embodiment,” “an embodiment,” or similar language means that a particular feature, structure, or characteristic described in connection with the embodiment is included in at least one embodiment. Thus, appearances of the phrases “in one embodiment,” “in an embodiment,” and similar language throughout this specification may, but do not necessarily, all refer to the same embodiment, but mean “one or more but not all embodiments” unless expressly specified otherwise. The terms “including,” “comprising,” “having,” and variations thereof mean “including but not limited to” unless expressly specified otherwise. An enumerated listing of items does not imply that any or all of the items are mutually exclusive and/or mutually inclusive, unless expressly specified otherwise. The terms “a,” “an,” and “the” also refer to “one or more” unless expressly specified otherwise.
[35] Although the operations of exemplary embodiments of the disclosed method may be described in a particular, sequential order for convenient presentation, it should be understood that the disclosed embodiments can encompass an order of operations other than the particular, sequential order disclosed. For example, operations described sequentially may in some cases be rearranged or performed concurrently. Further, descriptions and disclosures provided in association with one particular embodiment are not limited to that embodiment, and may be applied to any embodiment disclosed herein. Moreover, for the sake of simplicity, the attached figures may not show the various ways in which the disclosed system, method, and apparatus can be used in combination with other systems, methods, and apparatuses.
[36] Furthermore, the described features, advantages, and characteristics of the embodiments may be combined in any suitable manner. One skilled in the relevant art will recognize that the embodiments may be practiced without one or more of the specific features or advantages of a particular embodiment. In other instances, additional features and advantages may be recognized in certain embodiments that may not be present in all embodiments. These features and advantages of the embodiments will become more fully apparent from the following description and apportioned claims, or may be learned by the practice of embodiments as set forth hereinafter.
[37] The present disclosure relates to a cart. The cart helps to move an assembly mounted on it. The assembly may include without limitation a robot or a limb thereof, a test equipment, a mechanical manipulator (cartesian, cylindrical, spherical, etc.) or the like. In an embodiment, the assembly includes a medical robot.
[38] In an embodiment, the cart of the present disclosure is provided with a passive as well as an active immobilization system. The passive immobilization system helps to immobilize the cart when the cart is disconnected from the power, via a plurality of wheels provided with a respective tab that is pushed to stop rotation of corresponding wheel. The active immobilization system helps to immobilize the cart when the cart is connected to the power, by planting a plurality of legs on the ground or the like and lifting away the plurality of wheels. The immobilization of the cart helps to provide stability to the one or more components or assemblies mounted on the cart. The term ‘stability’ corresponds to shake-free and/or jerk-free movement of the one or more components or assemblies mounted on the cart. The term ‘stability’ also corresponds to the ability of the cart to stand upright without toppling over.
[39] The cart of the present disclosure is provided with a plurality of legs and a plurality of wheels having a threaded shaft. The legs abut the ground to actively immobilize the cart. The threaded shaft helps each wheel to be coupled to an underside of the cart at a respective pre-defined distance. In other words, the threaded shaft coupled to a wheel, helps to configure a pre-defined distance between the underside of the cart and the respective wheel. The said distance between the underside of the cart and each of the wheels is adjusted such that all the legs abut the ground at the same time (i.e., simultaneously) thereby preventing any wobble in the cart while the cart is immobilized using the legs.
[40] In addition, the cart of the present disclosure is compact with a small wheelbase of 350 mm or more. The points where the cart contacts the ground amounts to a polygon having multiple sides. The sides of the polygon between two contact points in a direction is defined as the wheelbase of the cart. Thus, the cart requires very little real estate, allowing deployment of the cart along with one or more components or assemblies in a space constrained setting, such as, an operating floor. Further, even though the cart of the present disclosure has a small wheelbase, the cart has a very low center of gravity and a very high center of mass. The lower center of gravity and the higher center of mass prevents the cart from toppling and also provide stability to the movement of the one or more components or assemblies mounted on the cart. Further, due to the compactness of the cart, a higher degree of freedom to effortlessly position the cart is available.
[41] In addition to the immobilization system of the cart having the small wheelbase, the cart includes an expanded state and a collapsed state. In the expanded state, the height of the cart is relatively more than the height of the cart in the collapsed state. When the cart is immobilized (whether via active or passive immobilization system), the cart is toggled from its collapsed state to the expanded state that enables a robot mounted on the cart to perform its activities. Prior to mobilizing the cart, the cart is toggled from its expanded state to the collapsed state. In the collapsed state, the cart (along with the robot or an assembly mounted on top of the cart) provides stability and is easier to move from one location to other while minimizing the risk of the cart getting toppled over.
[42] Now referring to the figures, Fig. 1 depicts a cart 100. The cart 100 helps to move an assembly mounted on it. The assembly may include without limitation a robot or a limb thereof, a test equipment, a mechanical manipulator (cartesian, cylindrical, spherical, etc.) or the like. In the depicted embodiment, as shown in Fig. 1, the assembly includes a medical robot 1 (or robot 1). The assembly may be removably coupled to a top surface towards a top end 100a of the cart 100 via fasteners or the like. In an embodiment, the medical robot 1 is mounted on the top surface towards the top end 100a of the cart 100 via fasteners. The cart 100 is provided with a plurality of wheels 101 at a bottom surface (i.e., underside of the cart 100) towards a bottom end 100b. The wheels 101 enable a user to move the cart 100 around from one location to the other. In an exemplary embodiment, the cart 100 is provided with four wheels 101. Although the cart 100 is described with the example of four wheels 101, the cart 100 may have more than or less than four wheels 101 and the same is within the scope of the teachings of the present disclosure.
[43] The top end 100a and the bottom end 100b of the cart 100 are used as an exemplary reference to describe the respective top end and bottom end of the components/modules of the cart 100 in the following paragraphs.
[44] The cart 100 is at least partially enclosed within a housing 10. The housing 10 safeguards the components of the cart 100 and provides an aesthetically pleasing look to the cart 100. The housing 10 has a hollow structure configured to enclose and protect internal components of the cart 100. The housing 10 may be made of one or more materials including, but not limited to, aluminum, stainless steel, mild steel, brass, zinc, etc. In an exemplary the housing 10 is made of stainless steel. The housing 10 may be made of two or more sections coupled to each other. Alternatively, the housing 10 is made as a single integral unit. The housing 10 may have a pre-defined shape including, but not limited to, cuboidal, cylindrical, cuboidal with curved edges, etc. In the depicted embodiment, as shown in Fig. 1, the shape of the housing 10 is cuboidal having partially curved surfaces.
[45] Optionally, the housing 10 may be provided with one or more windows 11. In an exemplary embodiment, the window 11 helps the user to access the components of the cart 100, disposed within the housing 10, for inspection, maintenance, or operational purposes. The components may include, but are not limited to a control module, actuator, electronic circuitry, sensors, actuators, communication interfaces, storage compartments, connector panel, or the like. In an exemplary embodiment, as shown in Fig. 1, the housing 10 is provided with one window 11. The window 11 may have a pre-defined shape including, but not limited to, rectangular, circular, square, pentagon, etc. In the depicted embodiment, the shape of the window 11 is rectangular.
[46] At the top end 100a of the cart 100, a console 30 or the like may be provided to issue instructions to the one or more components of the cart 100. The console 30 may include, without limitation, a touchscreen interface, a plurality of buttons, etc. The touchscreen interface may be adapted to display real-time operational data, system status indicators, error alerts, notifications, diagnostic information, general safety guidelines, setup steps, or the like of the cart 100 and/or the assembly mounted thereon thereby enhancing usability and enabling efficient system management by a medical practitioner. The plurality of buttons may include, but are not limited to, a docking button configured to immobilize the cart 100 when required, an undocking button configured to remobilize the cart 100, a height adjustment button configured to manually immobilize/remobilize the cart 100, an emergency button configured to stop or terminate all the functions of the cart 100 or the assembly mounted on the cart 100, or the like.
[47] At the top end 100a of the cart 100, a handle 50 may be provided. The handle 50 may be provided on any of the lateral sides of the cart 100 or all around the cart 100 as shown in Figs. 1 and 1a. Although the handle 50 is described as being disposed towards the top end 100a of the cart 100, the handle 50 may be provided at any height of the cart 100 and the same is within the scope of the teachings of the present disclosure. The handle 50 is used to push/pull the cart 100 around as required, by the user. The handle 50 in ergonomically designed to facilitate the user to easily grip the handle 50. In an embodiment, the handle has a substantially tubular shape. Additionally, or optionally, an outer surface of the handle 50 may be provided with a plurality of grooves and/or a plurality of ridges to facilitate better grip. The handle 50 may be made of one or more materials including, but not limited to, aluminum, stainless steel, titanium, titanium alloy (e.g., Grade 5 / Ti-6Al-4V), cobalt-chromium alloy, tantalums, etc. Additionally, or optionally, the handle 50 may be provided with one or more layers of coating of one or more materials. The materials for the layer of coating may include, without limitation, rubber, silicone, thermoplastic elastomers, polyurethane, santoprene, etc. In an exemplary embodiment, the handle 50 is made of aluminum and is coated with a layer of gray powder coating.
[48] Fig. 1b depicts an exploded view of the cart 100. The cart 100 is provided with two or more modules. In the depicted embodiment, as shown in Fig. 1b, the cart 100 is provided with three modules, namely, a first module 110 (or a top module 110), a second module 130 (or a first moving module 130) and a third module 150 (or a second moving module 150). In the depicted embodiment, the second moving module 150 is disposed below the first moving module 130 and the top module 110 is disposed above the first moving module 130. In other words, the first moving module 130 is disposed below the top module 110. However, the cart 100 may be made with the second moving module 150 disposed above the first moving module 130, the top module 110 disposed above the second moving module 150 and the same is within the scope of the teachings of the present disclosure. Each of the top module 110, the first moving module 130, and the second moving module are capable of movement along a vertical axis of the cart 100.
[49] In an alternate embodiment, not shown, the cart 100 is made with two modules, i.e., the first moving module 130 and the second moving module 150.
[50] Additionally or optionally, the top module 110 may be integrally made with the first moving module 130 as a single unit. Alternatively, the robot 1 may be removably coupled to one of the first moving module 130 or the second moving module 150, whichever is above the other.
[51] The top module 110 is disposed at the top end 100a of the cart 100. Towards the bottom end 100b, the top module 110 is fixedly or removably coupled to the first moving module 130. The top module 110 may be coupled to the first moving module 130 using at least one of fastening, adhesive bonding, clamping, snap-fitting, welding, riveting, etc. In an exemplary embodiment, the top module 110 is coupled to the first moving module 130 via fasteners. The top module 110 is made with a low-density material including, but not limited to, aluminum, nylon, carbon fiber, polyether ether ketone (PEEK), ceramic, titanium, and alloys thereof, etc. In an exemplary embodiment, the top module 110 is made of aluminum. The top module 110 helps to increase a center of mass of the cart 100, thereby reducing the risk of the cart 100 being toppled over. Further details of the top module 110 are disclosed in Figs. 2-2a.
[52] The first moving module 130 is disposed beneath the top module 110. In an embodiment, the first moving module 130 is fixedly or removably coupled to the top module 110. The first moving module 130 may be coupled to the top module 110 using at least one of fastening, adhesive bonding, clamping, snap-fitting, welding, riveting, etc. In an exemplary embodiment, the first moving module 130 is coupled to the top module 110 via fasteners. The first moving module 130 is made of a high-density material including, but not limited to, stainless steel, mild steel, or alloys thereof, etc. In an exemplary embodiment, the first moving module 130 is made of stainless steel. The first moving module 130 helps to lower the center of gravity of the cart 100, thereby providing stability to the movements of the robot 1 or the like. In an embodiment, the first moving module 130 at least partially helps in active immobilization of the cart 100 when the cart 100 is connected to a power source. The power source may be an alternating current (AC) power source of 210 volts to 250 volts. Alternatively, the cart 100 may include a direct current (DC) battery configured to supply electrical power to the internal components of the cart 100, either as a primary source or as a backup power supply in the event of AC power unavailability. The DC battery may be a rechargeable type, such as, without limitation, a lithium-ion or sealed lead-acid battery, etc. In an embodiment, the power source is 230 volts AC. In an alternative embodiment, the power source is 48 volts DC. Further details of the first moving module 130 are described with reference to Figs. 3, 3a, 3b and 3b1.
[53] The second moving module 150 is disposed beneath the first moving module 130. In an embodiment, the second moving module 150 is operationally coupled to the first moving module 130. The second moving module is capable of movement along a vertical axis of the cart 100. The second moving module 150 is made of a high-density material including, but not limited to, stainless steel, mild steel, or alloys thereof, etc. In an exemplary embodiment, the second moving module 150 is made of stainless steel. The second moving module 150 helps to lower the center of gravity and increase the center of mass of the cart 100. In an embodiment, the second moving module 150 helps in passive immobilization of the cart 100 even when the cart 100 is disconnected to a power source. Further details of the second moving module 150 are disclosed in Figs. 4 and 4a.
[54] In the depicted embodiment, as shown in Fig. 1b, the wheels 101 are coupled to the second moving module 150. Alternatively, not shown, the wheels 101 may be coupled to the first moving module 130 instead of the second moving module 150.
[55] In an embodiment, the wheels 101 include castor wheels. The wheels 101 may have a diameter of 2.95 inches, a wheel width of 0.59 inches, a caster width of 2.28 inches.
[56] Fig. 2 depicts the top module 110 of the cart 100. Fig. 2a depicts an exploded view of the top module 110 of the cart 100. A first plate 111 is disposed at the top end 100a of the top module 110. The first plate 111 helps to couple an assembly, like the robot 1 (as shown in Fig. 1) with the top module 110 (and thereby, the cart 100). The robot 1 is coupled to the first plate 111 via fasteners or the like. In an exemplary embodiment, the robot 1 is coupled to the first plate 111 via fasteners. The first plate 111 has a pre-defined shape including, but not limited to, square, rectangle, round, etc. In an exemplary embodiment, the shape of the first plate 111 is square. The first plate 111 has a pre-defined length ranging from 150 mm to 200 mm. The first plate 111 has a pre-defined width ranging from 150 mm to 200 mm. The first plate 111 has a pre-defined thickness ranging from 10 mm to 20 mm. In an exemplary embodiment, the length, the width, and the thickness of the first plate 111 is 170 mm, 170 mm, and 10 mm, respectively.
[57] In an embodiment, a second plate 111a is disposed beneath the first plate 111 and coupled thereto using fasteners. Alternatively, the first plate 111 and the second plate 111a may be formed integrally as a single structure. In an embodiment, the second plate 111a supports a plurality of linear guides (not shown) to prevent any vibration or jerks. The second plate 111a has a pre-defined shape including, but not limited to, square, rectangle, round, etc. In an exemplary embodiment, the shape of the second plate 111a is square. The second plate 111a has a pre-defined length ranging from 200 mm and 300 mm. The second plate 111a has a pre-defined width ranging from 200 mm to 300 mm. The second plate 111a has a pre-defined thickness ranging from 10 mm to 20 mm. In an exemplary embodiment, the length, the width, and the thickness of the second plate 111a is 254 mm, 254 mm, and 12 mm, respectively.
[58] The top module 110 is provided with at least one body 113 disposed beneath the second plate 111a and coupled thereto. The body 113 is coupled to the second plate 111a via fasteners and the like. In an exemplary embodiment, the body 113 is coupled to the second plate 111a via fasteners. In an exemplary embodiment, as shown in Fig. 2, the shape of the body 113 is cuboidal. However, other three-dimensional shapes of the body 113 are within the scope of the teachings of the present disclosure.
[59] The body 113 is configured to increase or decrease the height of the top module 110 with respect to the ground, by toggling the top module 110 (and the cart 100) between a collapsed state and an expanded state. In other words, a height of the top module 110 can be configured with respect to the ground that defines the expanded state or the collapsed state of the top module 110. In the expanded state, the height of the top module 110 (and the cart 100) is relatively more than the height of the top module 110 in its collapsed state. Accordingly, the assembly (for example, the medical robot 1) mounted on the top module 110 is at a relatively higher height when the cart 100 is in the expanded state than when the cart 100 is in its collapsed state.
[60] When the cart is in its expanded state, the medical robot 1 mounted on the cart 100 is allowed to perform its activities with a better degree of freedom and reach. When the cart 100 is in its collapsed state, the cart 100 (along with the medical robot 1 mounted on top of the cart 100) is easier to move from one location to other while minimizing the risk of the cart 100 getting toppled over. To allow the top module 110 to change its height, the body 113 defines a lumen therein to house one or more actuator-like components including at least one of, without limitation, a motor and lead screw assembly, a rack and pinion assembly, a ball-screw assembly, etc.
[61] In an exemplary embodiment, the body 113 may be height adjustable via an electro-mechanical assembly such as a lifting column. An exemplary lifting column 120 is depicted in Fig. 2b. The lifting column 120 is disposed within the lumen of the body 113. The lifting column 120 is configured to adjust the height of the body 113, thereby adjusting the height of the top module 110. The lifting column 120 includes a plurality of telescopic segments for example, a first segment 121, a second segment 123 and a third segment 125 operationally coupled to each other. The second segment 123 is disposed within the first segment 121 and third segment 125 is disposed within the second segment 123. The lifting column 120 may include an actuator (not shown) configured to move the plurality of segments with respect to each other to adjust the height of the top module 110. For example, when the segments are actuated, the third segment 125 moves out of the second segment 123 and the second segment 123 moves out of the first segment 121, thereby increasing the height of the top segment 110. In other words, the telescopic segments help to increase or decrease the height of the top module 110 and respectively toggle the top module 110 to its expanded state or the collapsed state.
[62] In an alternate embodiment, the body 113 is in the form of a block-like structure that is stackable on each other to adjust the height of the top module 110 (and the cart 100). In other words, at least two bodies 113 of the top module 110 are stacked to increase the height of the top module 110 to toggle the top module 110 to its expanded state. The number of bodies 113 may range for 1 to 4. In the depicted embodiment, top module 110 is provided with one body 113. The body 113 has a pre-defined length ranging from 100 mm to 150 mm. The body 113 has a pre-defined width ranging from 150 mm to 200 mm. The body 113 has a pre-defined height ranging from 300 mm to 350 mm. In an exemplary embodiment, the length, the width, and the height of the body 113 is 135 mm, 165 mm, and 326 mm, respectively.
[63] A third plate 115 is disposed beneath the body 113 and coupled thereto. The third plate 115 helps the top module 110 to be coupled to the first moving module 130.
[64] The top module 110 is provided with a plurality of elongate members 113a at least partially surrounding the body 113 and a third plate 115 disposed underneath the body 113. The elongate members 113a help in vertical elongation and movement of the top module 110. The elongate members 113a help to support and mount the linear guides. These advantageous properties of the elongate members 113a increase the capacity/tolerance of static as well as bending loads exerted by the medical robot 1 or the like. The elongate member 113a has a pre-defined shape including, but not limited to, cuboid, cylindrical, etc. In an exemplary embodiment, the shape of the elongate member 113a is cuboid. The elongate member 113a has a pre-defined height ranging from 325 mm to 370 mm. The elongate member 113a has a pre-defined width ranging from 35 mm to 65 mm. The elongate member 113a has a pre-defined thickness ranging from 10 mm to 30 mm. In an exemplary embodiment, the height, the width, and the thickness of the elongate member 113a is 346 mm, 48 mm, and 18 mm, respectively.
[65] The elongate member 113a is coupled to at least one of the third plate 115 and/or the second plate 111a via one or more fasteners or the like. In an exemplary embodiment, towards the bottom end 100b of the top module 110, the elongate member 113a is coupled to the third plate 115 of the top module 110 via fasteners.
[66] The third plate 115 has a pre-defined shape including, but not limited to, square, rectangle, etc. In an exemplary embodiment, the shape of the third plate 115 is square. The third plate 115 has a pre-defined length ranging from 300 mm to 330 mm. The third plate 115 has a pre-defined width ranging from 300 mm to 330 mm. The third plate 115 has a pre-defined thickness ranging from 5 mm to 20 mm. In an exemplary embodiment, the length, the width, and the thickness of the third plate 115 is 300 mm, 300 mm, and 12 mm, respectively.
[67] Additionally, or optionally, a first T-bracket 115a is provided beneath the third plate 115 and coupled thereto via, for example, fasteners. The first T-bracket 115a operationally couples the top module 110 to the second moving module 150 via an actuator or the like. Although the coupling of the actuator with the third plate 115 is described with the example of the first T-bracket 115a, the said coupling may be made directly without the first T-bracket 115a or via other functionally equivalent structures and the same are within the scope of the teachings of the present disclosure. The first T-bracket 115a provides modularity to repair/swap the actuator if required, during maintenance, of the cart 100. The first T-bracket 115a has a pre-defined length ranging from 30 mm to 50 mm. The first T-bracket 115a has a pre-defined width ranging from 100 mm to 130 mm. The first T-bracket 115a has a pre-defined height ranging from 30 mm to 60 mm. In an exemplary embodiment, the length, the width, and the height of the first T-bracket 115a is 43 mm, 125 mm, and 54 mm, respectively.
[68] Additionally, or optionally, a fourth plate 115b may be disposed between the body 113 and the third plate 115. The fourth plate 115b helps to mount the body 113 on the third plate 115. Although the coupling of the body 113 with the third plate 115 is described with the example of the fourth plate 115b, the said coupling may be made directly without the fourth plate 115b or via other functionally equivalent structures and the same are within the scope of the teachings of the present disclosure. The fourth plate 115b provides modularity to repair/swap the body 113 if required, during maintenance, of the cart 100. The body 113 is coupled to the fourth plate 115b (and may be the third plate 115) via fasteners or the like. In an exemplary embodiment, the body 113 is coupled to the fourth plate 115b via fasteners. In an exemplary embodiment, the fourth plate 115b is coupled to the third plate 115 via fasteners. The fourth plate 115b has a pre-defined shape including, but not limited to, square, rectangle, etc. In an exemplary embodiment, the shape of the fourth plate 115b is square. The fourth plate 115b has a pre-defined length ranging from 170 mm and 200 mm. The fourth plate 115b has a pre-defined width ranging from 100 mm to 150 mm. The fourth plate 115b has a pre-defined thickness ranging from 10 mm to 20 mm. In an exemplary embodiment, the length, the width, and the thickness of the fourth plate 115b is 180 mm, 140 mm, and 13 mm, respectively.
[69] Fig. 3 depicts the first moving module 130 of the cart 100. The first moving module 130 includes a support plate 131. The support plate 131 acts as a structural backbone of the first moving module 130. The support plate 131 may have any polygonal shape with at least four corners. However, the support plate 131 may be made with more than or less than four corners or with no corners, i.e., rounded/circular and the same are within the scope of the teachings of the present disclosure. The support plate 131 has a pre-defined shape including, but not limited to, square, rectangle, etc. In an exemplary embodiment, as shown in Fig. 3a, the shape of the support plate 131 is square. The support plate 131 has a pre-defined length ranging from 350 mm and 400 mm. The support plate 131 has a pre-defined width ranging from 350 mm to 400 mm. The support plate 131 has a pre-defined thickness ranging from 10 mm to 20 mm. In an exemplary embodiment, the length, the width, and the thickness of the support plate 131 is 375 mm, 363 mm, and 14 mm, respectively.
[70] The support plate 131 is provided with a hole 131a. The hole 131a is disposed at a center of the support plate 131. The hole 131a is configured to at least partially receive an actuator or the like. The hole 131a has a pre-defined shape including, but not limited to, square, rectangle, circular, etc. In an embodiment, the shape of the hole 131a is circular. The hole 131a has a pre-defined diameter ranging from 5mm to 15mm. In an exemplary embodiment, the diameter of the hole 131a is 8mm. In another exemplary embodiment, as shown in Fig. 3a, the shape of the hole 131a is square.
[71] The support plate 131 is provided with at least two cut-outs 131b disposed at opposite edges of the support plate 131 (as shown in Figs. 3 and 3a). The cut-outs 131b are configured to receive at least a portion of the second moving module 150. In an exemplary embodiment, as shown in Fig. 3a, the support plate 131 is provided with two cut-outs 131b. The cut-out 131b has a pre-defined shape including, but not limited to, square, rectangle, etc. In an exemplary embodiment, as shown in Fig. 3a, the shape of the cut-out 131b is rectangle. The cut-out 131b has a pre-defined length ranging from 50 mm to 80 mm. The cut-out 131b has a pre-defined width ranging from 170 mm to 200 mm. In an exemplary embodiment, the length, and the width of the cut-out 131b is 75 mm, and 183 mm, respectively.
[72] Additionally, or optionally, the support plate 131 may be provided with one or more blocks 133. The blocks 133 are made of a high-density material that helps in increasing the weight of the first moving module 130. The high-density material including, but not limited to, stainless steel, mild steel, or alloys thereof, etc. The block 133 has a pre-defined weight ranging from 15 kg to 30 kg. In an exemplary embodiment, the weight of the block 133 is 20kg. The block 133 may be coupled to at least one of an upper surface and a bottom surface of the support plate 131. The blocks 133 may be coupled to the support plate 131 using a coupling technique including, but not limited to, fastening, welding, adhesive bonding, riveting, etc. In an embodiment, the blocks 133 are coupled to the support plate 131 using fasteners. Alternatively, the blocks 133 and the support plate 131 may be formed integrally as a single component.
[73] In an exemplary embodiment, as shown in Figs. 3 and 3a, the support plate 131 is provided with two blocks 133 disposed on the upper surface of the support plate 131. The blocks 133 helps the first moving module 130 to lower the center of gravity and/or move the center of mass closer to the ground, thereby providing stability to movements of the robot 1 mounted on the top module 110. The block 133 has a pre-defined shape including, but not limited to, square, rectangle, etc. In an exemplary embodiment, as shown in Fig. 3a, the shape of the block 133 is substantially rectangular. The block 133 has a pre-defined length ranging from 300 mm to 350 mm. The block 133 has a pre-defined width ranging from 120 mm to 150 mm. The block 133 has a pre-defined thickness ranging from 10 mm to 20 mm. In an exemplary embodiment, the length, the width, and the thickness of the block 133 is 75 mm, 183 mm, and 16 mm, respectively.
[74] At least two posts 135 are erected on the upper surface of the support plate 131 of the first moving module 130. In an exemplary embodiment, one post 135 is provided close to each of the four corners of the support plate 131, i.e., the support plate 131 is provided with four post 135. Each post 135 is close to the cut-outs 131b of the support plate 131 such that the posts 135 are configured to at least partially engage with one or more portions of the second moving module 150. The posts 135 may have a pre-defined shape including, but not limited to, cuboidal, cubical, etc. In an exemplary embodiment, as shown in Fig. 3a, the shape of the post 135 is substantially cuboidal. The post 135 has a pre-defined length ranging from 30 mm and 50 mm. The post 135 has a pre-defined width ranging from 30 mm to 50 mm. The post 135 has a pre-defined height ranging from 300 mm to 350 mm. In an exemplary embodiment, the length, the width, and the height of the block 133 is 38 mm, 38 mm, and 330 mm, respectively.
[75] The post 135, towards the bottom end 100b, is fixedly coupled to the support plate 131. The posts 135 may be coupled to the support plate 131 using a coupling technique including, but not limited to fastening, welding, adhesive bonding, riveting, etc. In an embodiment, the posts 135 are coupled to the support plate 131 using fasteners. The post 135, towards the top end 100a, is fixedly coupled to the third plate 115 of the top module 110. In other words, the first moving module 130 is coupled to the top module 110 via the posts 135. The posts 135 may be coupled to the third plate 115 using a coupling technique including, but not limited to fastening, welding, adhesive bonding, riveting, etc. In an embodiment, the posts 135 are coupled to the third plate 115 using fasteners. In an exemplary embodiment, each of the posts 135 is coupled to the support plate 131 of the first moving module 130 and the third plate 115 of the top module 110 via a L-shaped bracket 135a. Although the coupling of the post 135 is described with the example of L-shaped bracket 135a, the coupling may be made without the L-shaped bracket 135a or with other functionally equivalent structure and the same is within the scope of the teachings of the present disclosure.
[76] Each post 135 is provided with a corresponding rail 135b extending along a portion of the length of the post 135. In an exemplary embodiment, as shown in Fig. 3a, the rail 135b extends along the entire length of the post 135. In an alternative embodiment, as shown in Fig. 3a, the post 135 is provided with at least one corresponding track 135b1 that extends partially along a length of the post 135. Here, in the context of the present invention, the structure of the rail 135b and the track 135b1 complement each other to facilitate guided relative movement between the two structures. For example, the rail 135b acts as a male component and the track 135b1 acts as a female component. The post 135 is provided with one of the rail 135b or the track 135b1.
[77] The rail 135b may either be coupled to the post 135 via a coupling bracket or the like or may be integrally formed with the post 135 as a single component. In an exemplary embodiment, as shown in Fig. 3a, the track 135b1 is coupled to each post 135 via a coupling bracket with the help of fasteners. The rail 135b is directed towards the cut-outs 131b of the support plate 131. The rail 135b is movably coupled to a portion of the second moving module 150. The rail 135b are configured to allow a portion of the second moving module 150 to smoothly move against an outer surface of the rail 135b. The dimensions of the rail 135b may correspond to the portion of the second moving module 150. The rail 135b has a pre-defined length ranging from 10 mm to 20 mm. The rail 135b has a pre-defined width ranging from 10 mm to 20 mm. The rail 135b has a pre-defined height ranging from 250 mm to 300 mm. In an exemplary embodiment, the length, the width, and the thickness of the rail 135b is 14 mm, 14 mm, and 276 mm, respectively. The rail 135b may be made of one or more materials including, but not limited to, stainless steel, bearing steel, or alloy thereof, etc. In an embodiment, the rail 135b are made of stainless steel. Additionally, or optionally, the rails 135b may be provided with a coating of a material(s) to prevent corrosion. The material may include, but are not limited to black chrome coating, paint, powder coating, anodizing, etc. In an exemplary embodiment, the rails 135b are provided with a coating of black chrome.
[78] At the bottom surface of the support plate 131 (and the first moving module 130), the first moving module 130 is coupled to one of a plurality of legs 137 or a plurality of wheels 101. In an embodiment, the first moving module 130 is provided with the plurality of legs 137. The legs 137 may be coupled to the bottom surface of the support plate 131 using a coupling technique, including, but not limited to fastening, welding, riveting, etc. In an exemplary embodiment, the legs 137 are coupled to the bottom surface of the support plate 131 using fasteners. Alternatively, the legs 137 may be formed integrally with the support plate 131 as a single component. The legs 137 are disposed towards the bottom end 100b of the machine facing the pre-defined surface, for example, the ground. The legs 137 are selectively planted on the ground to immobilize the cart 100. Although the legs 137 are described with the example of U-shaped, the leg 137 may have other shapes such as polygonal, curved, circular, etc. and the same is within the scope of the teachings of the present disclosure. The leg 137 has a pre-defined length ranging from 150 mm and 200 mm. The leg 137 has a pre-defined width ranging from 140 mm to 180 mm. The leg 137 has a pre-defined thickness ranging from 100 mm to 140 mm. In an exemplary embodiment, the length, the width, and the thickness of the leg 137 is 172 mm, 165.4 mm, and 133 mm, respectively.
[79] Additionally, or optionally, a portion of the legs 137 configured to at least partially contact the pre-defined surface are provided with a layer or covering of a resilient material or the like. The resilient material may be at least one of rubber, silicone, etc. In an exemplary embodiment, the portion of the legs 137 configured to contact the ground are each provided with a covering made of rubber. The resilient material conforms to the tiny imperfections of the predefined surface (for example, the ground) when the legs 137 are planted on the ground, thereby providing stability to the cart 100 when the cart 100 is immobilized with the help of the legs 137.
[80] In an exemplary embodiment, at least one strip 139 is provided to couple two adjacently disposed posts 135 as a pair. The first moving module may have at least one pair of coupled posts 135. In the depicted embodiment, as shown in Fig. 3, the first moving module 130 is provided with two opposite pairs of the coupled post 135, such that the corresponding strip 139 is disposed over the respective cut-outs 131b of the support plate 131. In an exemplary embodiment, as shown in Fig. 3, the strip 139 is L-shaped. In other words, a portion of the strip 139 is extending perpendicularly away from the post 135. Other ways of coupling two adjacently disposed posts 135 are within the teachings of the present disclosure. The strip 139 may be made of a predefined material including, but not limited to stainless steel, aluminum, cold rolled close annealed (CRCA) steel sheet, plastic, etc. In an exemplary embodiment, the strip 139 is made of CRCA.
[81] Optionally, at least one limit switch 139a (as shown in Fig. 3b) is provided beneath the strip 139. The limit switch 139a selectively abuts a portion of the second moving module 150 depending upon a distance between the first moving module 130 and the second moving module 150. When the limit switch 139a is provided with the first moving module 130 and abuts the second moving module 150, the limit switch 139a is configured to instruct the actuator or the like to stop a relative motion between the second moving module 150 and the first moving module 130. Alternatively, when the limit switch 139a is provided with the second moving module 150 and abuts the first moving module 130, the limit switch 139a is configured to instruct the actuator or the like to stop a relative motion between the second moving module 150 and the first moving module 130. The limit switch 139a provides confirmation to the user that the cart 100 has been actively immobilized. For example, during a surgery, this prevents a medical practitioner to commence the surgical procedure prematurely without first actively immobilizing the cart 100.
[82] Although the cart 100 of the present disclosure is described with the example of the limit switch 139a being disposed beneath the strip 139, the limit switch 139a may be disposed underneath any surface of the first moving module 130. In an exemplary embodiment, as shown in Fig. 3b1, the limit switch 139a is provided beneath the support plate 131 of the first moving module 130. The disposition of the limit switch 139a ensures that when the first moving module 130 is in close proximity to the second moving module 150, the limit switch 139a is depressed by the second moving module 150. When the limit switch 139a is depressed, the limit switch 139a instructs the actuator or the like to stop the relative motion between the second moving module 150 and the first moving module 130.
[83] Fig. 4 depicts the second moving module 150 of the cart 100. The second moving module 150 is provided with a base plate 151. The base plate 151 acts as a structural backbone of the second moving module 150. The base plate 151 may have any polygonal shape with at least four corners. However, the base plate 151 may be made with more than or less than four corners or with no corners, i.e., rounded/circular and the same are within the scope of the teachings of the present disclosure. In an embodiment, the size of the base plate 151 corresponds to the size of the support plate 131 to ensure proper alignment of the first moving module 130 and the second moving module 150, thereby enhancing the stability of the cart 100 when it is either immobilized or movable. The base plate 151 has a pre-defined shape including, but not limited to, square, rectangle, etc. In an exemplary embodiment, as shown in Fig. 4, the shape of the base plate 151 is substantially square. The base plate 151 has a pre-defined length ranging from 350 mm to 400 mm. The base plate 151 has a pre-defined width ranging from 350 mm to 400 mm. The base plate 151 has a pre-defined thickness ranging from 10 mm to 20 mm. In an exemplary embodiment, the length, the width, and the thickness of the base plate 151 is 376 mm, 376 mm, and 16 mm, respectively.
[84] Additionally, or optionally, the base plate 151 may be provided with one or more blocks 153. The blocks 153 are made of a high-density material that help in increasing the weight of the second moving module 150. The high-density material including, but not limited to, stainless steel, mild steel, or alloys thereof, etc. The block 153 has a pre-defined weight ranging from 15 kg to 30 kg. In an exemplary embodiment, the weight of the block 153 is 20kg. In an embodiment, the combined weight of the first moving module 130 and the second moving module 150 of the cart 100 is 95kg. The block 153 may be coupled to at least one of an upper surface and a bottom surface of the base plate 151. The blocks 153 may be coupled to the base plate 151 using a coupling technique, including but not limited to fastening, welding, riveting, adhesive bonding, etc. In an embodiment, the blocks 153 are coupled to the base plate 151 using fasteners. Alternatively, the blocks 153 and the base plate 151 may be formed integrally as a single component. In an exemplary embodiment, as shown in Fig. 4, the base plate 151 is provided with one block 153 disposed on the upper surface of the base plate 151 and one block 153 disposed on the lower surface of the base plate 151.
[85] The blocks 153 help the second moving module 150 to lower the center of gravity and/or move the center of mass closer to the ground, thereby providing stability to movements of the robot 1 mounted on the top module 110. The block 153 has a pre-defined shape including, but not limited to, square, rectangle, plus-shaped, etc. In an exemplary embodiment, as shown in Fig. 4a, the shape of the block 153 disposed on the upper surface of the base plate 151 is substantially rectangular. The block 153 has a pre-defined length ranging from 350 mm to 400 mm. The block 153 has a pre-defined width ranging from 350 mm to 400 mm. The block 153 has a pre-defined thickness ranging from 20 mm to 35 mm. In an exemplary embodiment, the length, the width, and the thickness of the block 153 is 373 mm, 216 mm, and 33 mm, respectively. In another exemplary embodiment, as shown in Fig. 4a, the shape of the block 153 disposed on the lower surface of the base plate 151, is plus-shaped.
[86] Corresponding to the posts 135 of the first moving module 130, the second moving module 150 is provided with bars 155. The bars 155 are erected on the upper surface of the base plate 151 and coupled thereto. The bars 155 may be coupled to the upper surface of the base plate 151 using a coupling technique including, but not limited to fastening, welding, riveting, adhesive bonding, etc. In an embodiment, the bars 155 are coupled to the upper surface of the base plate 151 using fasteners. In an exemplary embodiment, as shown in Fig. 4, four bars 155 are provided on the base plate 151 disposed corresponding to the cut-outs 131b of the support plate 131 of the first moving module 130 and adjacent to the respective post 135. The bars 155 may have a pre-defined shape including, but not limited to, cuboidal, cubical, etc. In an exemplary embodiment, as shown in Fig. 3a, the shape of the bar 155 is elongated T-like shape. The bar 155 has a pre-defined length ranging from 40 mm to 70 mm. The bar 155 has a pre-defined width ranging from 20 mm to 40 mm. The bar 155 has a pre-defined height ranging from 230 mm to 270 mm. In an exemplary embodiment, the length, the width, and the height of the bar 155 is 49 mm, 39 mm, and 251 mm, respectively.
[87] Each bar 155 is provided with at least one track 155a extending along a length of the bar 155. In the depicted embodiment, as shown in Fig. 4, each bar 155 is provided with two tracks 155a extending along a length of the bar 155. Alternatively, each bar 155 may be provided with either less than or more than two tracks 155a and the same is within the scope of the teachings of the present disclosure. The track 155a may be made of a material including but, not limited to stainless steel, aluminum, plastic, etc. In an embodiment, the track 155a is made of stainless steel. The track 155a defines a groove 155b to movably receive the rail 135b of the first moving module 130. Thus, the shape of the groove 155b corresponds to the shape of the rail 135b of the first moving module 130. The grooves 155b have a pre-defined thickness corresponding to the thickness of the rail 135b. The thickness of the grooves 155b may be more than or equal to 15mm. In an embodiment, the thickness of the groove 155b is 15mm.
[88] The track 155a may either be coupled to the bar 155 via a coupling bracket or the like or may be integrally formed with the bar 155 as a single component. In an exemplary embodiment, the track 155a is coupled to each bar 155 with the help of fasteners. The track 155a has a pre-defined length ranging from 25 mm to 40 mm. The track 155a has a pre-defined width ranging from 20 mm to 40 mm. The track 155a has a pre-defined height ranging from 230 mm to 270 mm. In an exemplary embodiment, the length, the width, and the height of the track 155a is 49 mm, 39 mm, and 251 mm, respectively.
[89] Alternatively, if the post 135 of the first moving module 130 is provided with the tracks 135b1 defining a groove, then the bar 155 of the second moving module 150 is provided with the rail 155a1 (shown in Fig. 4a) corresponding to the posts 135. The rail 155a1 is structurally same as the rail 135b. The groove of the track 135b1 movably receives the respective rails 155a1 of the second moving module 150.
[90] The operational coupling between the first moving module 130 and the second moving module 150 via grooves 155b of the tracks 155a with respective rails 135b, enables the first moving module 130 (and the top module 110) to slide relative to the second moving module 150 while the modules 110, 130, and 150 are aligned with each other. Although the relative movement and coupling of the first moving module 130 and the second moving module 150 is described with the example of tracks 155a with grooves 155b and corresponding rails 135b, the relative movement and coupling between the first moving module 130 and the second moving module 150 may be made by other functionally equivalent structure like bearings provided with balls, sliding motion guides, etc. and the same are within the scope of the teachings of the present disclosure.
[91] Additionally, or optionally, a U-bracket 157 is disposed on the upper surface of the base plate 151 (or the blocks 153 disposed on the upper surface of the base plate 151) and coupled thereto via, for example, fasteners. The bracket may be positioned corresponding to the hole 131a of the support plate 131 of the first moving module 130. The U-bracket 157 operationally couples the top module 110 to the second moving module 150 via an actuator 170 or the like (depicted in Fig. 4a). Although the coupling of the actuator 170 with the base plate 151 is described with the example of the U-bracket 157, the said coupling may be made directly without the U-bracket 157 or via other functionally equivalent structures and the same are within the scope of the teachings of the present disclosure. The U-bracket 157 provides modularity to repair/swap the actuator 170 if required, during maintenance, of the cart 100. The U-bracket 157 has a pre-defined length ranging from 100 mm to 140 mm. The U-bracket 157 has a pre-defined width ranging from 20 mm to 25 mm. The U-bracket 157 has a pre-defined height ranging from 40 mm to 70 mm. In an exemplary embodiment, the length, the width, and the height of the U-bracket 157 is 105 mm, 50 mm, and 63 mm, respectively.
[92] The legs 137 are coupled to the bottom surface of one of the first moving module 130 or second moving module 150. The wheels 101 are coupled to the bottom surface of remaining one of the first moving module 130 or second moving module 150. In an embodiment, the second moving module 150 is provided with the wheels 101, if the first moving module is provided with the legs 137. In other words, the wheels 101 are coupled to the bottom surface of the base plate 151 (and the second moving module 150), and the legs 137 are coupled to the bottom surface of the support plate 131 (and the first moving module 130).
[93] In an alternate embodiment, not shown, the second moving module 150 is provided with the legs 137, if the first moving module 130 is provided with the wheels 101. In other words, the wheels 101 are coupled to the bottom surface of the support plate 131 (and the first moving module 130), and the legs 137 are coupled to the bottom surface of the base plate 151 (and the second moving module 150).
[94] In an exemplary embodiment, the base plate 151 is provided with four wheels 101, one wheel 101 for each of the four corners of the base plate 151. Each of the wheels 101 may have a threaded shaft 101a which helps the wheels 101 to be coupled with a threaded aperture of the base plate 151 at a respective pre-defined distance. The threaded shaft 101a helps to configure a pre-defined distance between the base plate 151 of the second moving module 150 and each of the wheels 101. Alternatively, if the threaded shaft 101a of each of the wheels 101 is coupled to a threaded aperture of the support plate 131, then the threaded shaft 101a helps to configure a pre-defined distance between the support plate 131 of the first moving module 130 and each of the wheels 101. The first moving module 130 or the second moving module 150 is configured to abut one of the plurality of legs 137 or the plurality of wheels 101 to a predefined surface, simultaneously.
[95] In an exemplary embodiment, the threaded shaft 101a may be rotated in a clockwise direction to reduce the distance between the base plate 151 and the ground, and vice versa. In an alternative embodiment, the threaded shaft 101a may be rotated in an anti-clockwise direction to reduce the distance between the base plate 151 and the ground, and vice versa. In an embodiment, the said distance between the base plate 151 and each of the wheels 101 is adjusted such that all the legs 137 of the first moving module 130 (Fig. 3) abut the ground at the same time (i.e., simultaneously) when the cart is immobilized with the help of the legs 137. Accordingly, all the wheels 101 of the second moving module 150 abut the ground at the same time (i.e., simultaneously) when the cart 100 is mobilized by lifting the legs 137 away from the ground. This prevents introduction of any tremors or jitters in the cart 100 when the legs 137 or the wheels 101 are planted on the ground.
[96] In an alternate embodiment, not shown, the said distance between the support plate 131 and each of the wheels 101 is adjusted such that all the legs 137 of the second moving module 150 abut the ground at the same time (i.e., simultaneously) when the cart is immobilized with the help of the legs 137. Accordingly, all the wheels 101 of the first moving module 130 abut the ground at the same time (i.e., simultaneously) when the cart 100 is mobilized by lifting the legs 137 away from the ground. This prevents introduction of any tremors or jitters in the cart 100 when the legs 137 or the wheels 101 are planted on the ground.
[97] In an embodiment, during manufacturing or performing maintenance of the cart 100, the respective distance between each of the wheels 101 and the bottom surface of the base plate 151 is adjusted by first planting the legs 137 on the ground. Thereafter, the wheels 101 are moved towards the ground by moving the base plate 151 towards the ground. The movement of the base plate 151 is stopped as soon as at least one of the wheels 101 comes in contact with the ground while the legs 137 are still planted on the ground. At this stage, the respective distance of all the wheels 101 are adjusted with the help of the threaded shaft 101a such that all the wheels 101 are planted on the ground along with the legs 137. This ensures that when the cart 100 is immobilized by lifting the wheels 101 and planting the legs 137 on the ground, all the legs 137 abut the ground simultaneously. This also ensures that when the cart 100 is mobilized by lifting the legs 137 and planting the wheels 101 on the ground, all the wheels 101 abut the ground simultaneously.
[98] Although the coupling of the wheels 101 to the base plate 151 and subsequently adjusting the distance between the two is described with the example of threaded shaft 101a of the wheel 101 and threaded aperture of the base plate 151, other functionally equivalent structure may be used to couple the wheels 101 to the base plate 151 and adjust the distance therebetween and the same is within the scope of the teachings of the present disclosure.
[99] Additionally, or optionally, the distance between the base plate 151 and each of the wheels 101 may be fixed by securing a nut or the like on the threaded shaft 101a of the wheels 101. The nut prevents self-rotation of the threaded shaft 101a with respect to the base plate 151, thereby maintaining the distance between the respective wheel 101 and the base plate 151.
[100] In an exemplary embodiment, the diameter of the wheel 101 is 77mm. And, the distance between the base plate 151 and the ground is 82.8 mm.
[101] In an exemplary embodiment, not shown, the portions of the base plate 151 of the second moving module 150 where the wheels 101 are coupled to the base plate 151, are elevated compared to the remaining base plate 151. This further helps to lower the center of the gravity and and/or move the center of mass closer to the ground.
[102] In an exemplary embodiment, each of the wheels 101 are provided with a tab 101b operationally coupled thereto. The tab 101b is moved to selectively engage or dis-engage the wheels 101 to restrict or allow the rotation of the wheel 101, respectively. When the tab 101b is engaged with the wheel 101, the rotation of the wheel 101 is restricted. Conversely, when the tab 101b is dis-engaged with the wheel 101, the wheel 101 is free to rotate. The tabs 101b may be made of a pre-defined material including but, not limited to medical grade plastics such as polypropylene (PP), polyurethane (PU), polyamide (PA), etc. In an embodiment, the tab 101b is made of PP.
[103] When all the tabs 101b of respective wheels 101 are engaged, the cart 100 is passively immobilized without any power. Similarly, to mobilize the cart 100, a user has to disengage all the tabs 101b of respective wheels 101 manually.
[104] Although the cart 100 of the present disclosure is described with the example of the legs 137 being provided with the first moving module 130 and the wheels 101 being provided with the second moving module 150, the cart 100 may have the legs 137 coupled to bottom surface of the base plate 151 and the wheels 101 coupled to the bottom surface of the support plate 131. And, the same is within the scope of the teachings of the present disclosure. In other words, in an alternate embodiment, the first moving module 130 is provided with the wheels 101 and the second moving module 150 is provided with the legs 137.
[105] The actuator 170 is depicted in Fig. 4b. The actuator 170 is operationally coupled to the first moving module 130 and the second moving module 150 to actuate at least one of the first moving module 130 and the second moving module 150 along the vertical axis of the cart 100. Towards the top end 100a, the actuator 170 is coupled to the first T-bracket 115a of the top module 110. Towards the bottom end 100b, the actuator 170 is coupled to the U-bracket 157 of the second moving module 150. Since, the top module 110 is fixedly coupled to the first moving module 130, the actuator 170 is coupled to the first moving module via the top module 110. Alternatively, the actuator 170 may be coupled to the first moving module 130, instead of the top module 110 and the same is within the scope of the teachings of the present disclosure.
[106] The actuator 170 is provided with a first portion 171, a second portion 173, a motor 175 configured to rotate, etc. The first portion 171 is coupled to the base plate 151 of the second moving module 150. The second portion 173 is coupled to the third plate 115 of the top module. The motor 175 is coupled to the second portion 173. The actuator 170 passes across the hole 131a of the support plate 131 of the first moving module 130. Alternatively, the second portion 173 of the actuator 170 may be coupled to the support plate 131 of the first moving module 130. In an exemplary embodiment, the actuator 170 is coupled to the first T-bracket 115a and the U-bracket 157 via fasteners.
[107] Although the couplings of the actuator 170 of the present disclosure is described with the examples of first T-bracket 115a and U-bracket 157, other functionally equivalent coupling techniques are within the scope of the teachings of the present disclosure. For example, the actuator 170 may be directly coupled to the first moving module 130 and the second moving module 150, more specifically, the first portion 171 of the actuator 170 may be directly coupled to the base plate 151 of the second moving module 150 and the second portion 173 of the actuator 170 may be directly coupled to the third plate 115 of the first moving module 130 using a coupling technique including but not limited to, fastening, welding, riveting, etc.
[108] The second portion 173 is movably coupled to the first portion 171 such that on rotation of the motor 175, the second portion 173 is configured to slide relative to the first portion 171, thereby either increase or decrease a length of the actuator 170 depending upon the direction of rotation of the motor 175. Due to the action of the actuator 170, the top module 110 and the first moving module 130 either move away from or towards the base plate 151 of the second moving module 150.
[109] In an exemplary embodiment, the actuator 170 is provided with a motor, a gearbox with a leadscrew mechanism, etc. The leadscrew mechanism of the actuator 170 maintains the distance between the first moving module 130 and the second moving module 150 without requiring any power. In other words, the leadscrew mechanism prevents the top module 110 and the first moving module 130 to self-collapse on the second moving module 150 when the cart 100 is not provided with any electricity. The term self-collapse in the context of the present disclosure refers to a phenomenon where the first moving module 130 is pulled close to the second moving module 150 via, for example, the action of gravity.
[110] The cart 100 is configured to stand on the plurality of legs 137 or the plurality of wheels 101 at a time. Fig. 5 depicts the cart 100 in a portable configuration. In the portable configuration, the wheels 101 are planted on the predefined surface, such as the ground ‘G’. The support plate 131 of the first moving module 130 (and the top module 110) is disposed away from the base plate 151 of the second moving module 150. The legs 137 are also disposed away from the ground ‘G’.
[111] The points where the wheels 101 of the cart 100 contacts the ground, the point amounts to a polygon having three or more sides depending upon the number of points. The sides of the polygon between two contact points in a pre-defined direction is defined as a wheelbase of the cart 100. The wheelbase of the cart 100 is very small, i.e., 350 mm or more in the pre-defined direction. In an exemplary embodiment, the contact points defined by the four wheels 101 of the cart 100 forms a square of 450 mm x 450 mm. Thus, the cart 100 requires very little real estate, allowing deployment of the cart 100 along with one or more components or assemblies in a space constrained setting, such as, an operating floor. Since, the cart 100 has a low center of gravity and a high center of mass, even after having a small wheelbase of 350 mm or more, the cart 100 does not topple over while the cart 100 is move from one location to the other or when the medical robot 1 mounted on the cart 100 is carrying out its activities.
[112] In the portable configuration of the cart 100, the wheels 101 abut the pre-defined surface and the legs 137 are disposed away from the pre-defined surface, and the cart 100 may be moved around by pushing/pulling the handle 50. The movement of the cart 100 is facilitated by the wheels 101, i.e., the wheels 101 rotate corresponding to the pushing/pulling force on the cart 100 thereby mobilizing the cart 100.
[113] In a stationary configuration of the cart 100, a user may, as required, press on the tabs 101b towards the wheels 101 to engage them with the respective wheels 101. The engagement of the tabs 101b with the respective wheels 101 passively immobilizes the cart 100 (i.e., prevents the wheels 101 from rotating) without the need of power. Thus, the tabs 101b along with the wheels 101 at least partially constitute the passive immobilization system of the cart 100.
[114] After passively immobilizing the cart 100, the medial practitioner may, as required, pull on the tabs 101b away from the wheels 101 to disengage them with the respective wheels 101. The disengagement of the tabs 101b with the respective wheels 101 passively mobilizes the cart 100 (i.e., allows the wheels 101 to rotate) without the need of power.
[115] Fig. 6 depicts the cart 100 in an immobilized configuration. In the immobilized configuration, abut the pre-defined surface and the wheels 101 are disposed away from the pre-defied surface. In other words, the legs 137 are planted on the ground ‘G’. The support plate 131 of the first moving module 130 (and the top module 110) is disposed close to the base plate 151 of the second moving module 150. When the legs 137 are planted on the ground, the wheels 101 are lifted and disposed away from the ground ‘G’.
[116] The legs 137 are planted on the ground ‘G’ by the action of the actuator 170. The actuator 170 brings the support plate 131 of the first moving module 130 close to the base plate 151 of the second moving module 150 (and close to the ground ‘G’), thereby planting the legs 137 on the ground ‘G’ and lifting the wheels 101 away from the ground ‘G’. To plant the legs 137 on the ground ‘G’, the actuator 170 is connected to power and selectively instructed to plant the legs 137 on the ground ‘G’. In an embodiment, the instruction to plant the legs 137 (or lift the legs 137) on the ground ‘G’ is provided to the actuator 170 via the console 30 of the cart 100. Thus, the legs 137 and the actuator 170 at least partially constitute an active immobilization system of the cart 100.
[117] In the immobilized configuration of the cart 100, the cart 100 is immobilized in a position as selected by a user. After the cart 100 is immobilized, the movements of the robot 1 are executed with stability and precision.
[118] To again mobilize the cart 100, the user instructs the actuator 170 (via the console 30) to lift the legs 137 away from the ground ‘G’ and plant the wheels 101 on the ground ‘G’. Upon receiving such instruction, the actuator 170 separates the support plate 131 of the first moving module 130 from the base plate 151 of the second moving module 150 thereby, planting the wheels 101 on the ground ‘G’ and lifting the legs 137 away from the ground ‘G’. The cart 100 then may be moved around by pushing/pulling the handle 50 by the action of rotating wheels 101.
[119] In an exemplary embodiment, the user mobilizes the cart 100 by lifting the legs 137 away from the ground ‘G’ after completion of a task.
[120] Fig. 7 depicts a method 700 to actively immobilize the cart 100 of the present disclosure. In other words, the method 700 describes the steps to toggle the cart 100 from its portable configuration to its immobilized configuration. The method 700 commences at step 701 by instructing the actuator 170 to plant the legs 137 on the ground ‘G’. In an exemplary embodiment, the instruction is provided by a user via the console 30 of the cart 100.
[121] At step 703, the motor 175 of the actuator 170 rotates transferring power to the second portion 173 to slide over the first portion 171 towards the base plate 151 of the second moving module 150. This movement positions the support plate 131 of the first moving module 130 closer to the base plate 151 of the second moving module 150. In other words, the actuator 170 moves the first moving module 130 towards the second moving module 150 and towards the pre-defined surface.
[122] At step 705, all the legs 137 are simultaneously planted by the actuator 170 on the pre-defined surface (i.e., the ground ‘G’) due to close proximity of the support plate 131 of the first moving module 130 to the base plate 151 of the second moving module 150. All the legs 137 of the cart 100 engage with the ground ‘G’ at the same time.
[123] At step 707, all the wheels 101 are lifted away by the actuator 170 from the pre-defined surface (i.e., the ground ‘G’) due to close proximity of the support plate 131 of the first moving module 130 to the base plate 151 of the second moving module 150.
[124] At an optional step 709, the limit switch provided on the strip 139 of the first moving module 130 abuts at least a portion of the second moving module 150. The said interaction between the limit switch and the second moving module 150 sends a signal to the actuator 170.
[125] At step 711, the motor 175 of the actuator 170 is stopped upon receiving the signal from the limit switch 139a.
[126] At step 713, the actuator 170 sends a signal to the console 30 of the cart 100. Upon receiving the signal from the actuator 170, the console 30 provides confirmation to the user that the legs 137 have been planted on the ground ’G’, i.e., the cart 100 has been toggled to the immobilized configuration. In an exemplary embodiment, upon receiving such confirmation, the user may initiate the task at hand.
[127] Fig. 8 depicts a method 800 to actively mobilize the cart 100 of the present disclosure. In other words, the method 800 describes the steps to toggle the cart 100 from its immobilized configuration to its portable configuration. The method 800 commences at step 801 by instructing the actuator 170 to plant the wheels 101 on the ground ‘G’. In an exemplary embodiment, the instruction is provided by a user via the console 30 of the cart 100.
[128] At step 803, the motor 175 of the actuator 170 rotates transferring power to the second portion 173 to slide over the first portion 171 away from the base plate 151 of the second moving module 150. This movement positions the support plate 131 of the first moving module 130 away from the base plate 151 of the second moving module 150. In other words, the actuator 170 moves the first moving module 130 away from the second moving module 150 and away from the pre-defined surface.
[129] At step 805, all the wheels 101 are simultaneously planted by the actuator 170 on the pre-defined surface (i.e., the ground ‘G’) due to the position of the support plate 131 of the first moving module 130 away from the base plate 151 of the second moving module 150. All the wheels 101 of the cart 100 engage with the ground ‘G’ at the same time.
[130] At step 807, all the legs 137 are lifted away by the actuator 170 from the pre-defined surface (i.e., the ground ‘G’) due to the position of the support plate 131 of the first moving module 130 away from the base plate 151 of the second moving module 150. After the legs 137 are lifted away from the ground ‘G’, the cart 100 is toggled to its portable configuration. In the portable configuration of the cart 100, the cart 100 may be moved around by pushing/pulling the handle 50. The force applied on the handle 50 to push/pull the cart 100 translates to the rotation of the wheels 101 on the ground ‘G’.
[131] At an optional step 809, the limit switch provided on the strip 139 of the first moving module 130, dis-engages from the second moving module 150. The said dis-engagement of the limit switch from the second moving module 150 provides confirmation on the console 30 that the cart 100 has been toggled to the portable configuration. Simultaneously, or consecutively, the motor 175 of the actuator 170 is stopped by at least one of the limit switch 139a or the console 30.
[132] In an exemplary embodiment, the actuator 170 is provided with an in-built limit switch that helps to stop the actuator 170 once the wheels 101 are planted on the ground ‘G’.
[133] The center of mass of the cart 100 of the present disclosure is lowered while accommodating all the electronic components, actuators, and the like by using low-density materials at the top (i.e. the top module 110) and high-density materials at the bottom (i.e., the first moving module 130 and the second moving module 150) to provide decrease the from-factor of the cart 100, retain its functionality (like aiding surgical task), and prevent it from toppling over.
[134] The scope of the invention is only limited by the appended patent claims. More generally, those skilled in the art will readily appreciate that all parameters, dimensions, materials, and configurations described herein are meant to be exemplary and that the actual parameters, dimensions, materials, and/or configurations will depend upon the specific application or applications for which the teachings of the present invention is/are used.
, C , C , C , Claims:WE CLAIM:
1. A cart (100) for providing stability to movements of a robot (1) mounted thereon, the cart (100) comprising:
a. a top module (110) made of a low-density material;
b. a first moving module (130) disposed below the top module (110), the first moving module (130) includes a support plate (131) provided with one or more blocks (133) made of a high-density material;
c. a second moving module (150) disposed below the first moving module (130), the second moving module (150) includes a base plate (151) provided with one or more blocks (153) made of a high-density material;
d. a plurality of legs (137) coupled to one of the support plate (131) or base plate (151); and
e. a plurality of wheels (101) coupled to remaining one of the support plate (131) or base plate (151);
wherein the cart (100) is configured to stand on the plurality of legs (137) or the plurality of wheels (101) at a time, and defines a small wheelbase of at least 350 mm in a pre-defined direction; and
wherein the blocks (133, 153) of the first moving module (130) and the second moving module (150) are configured to lower a center of gravity of the cart (100) and increase a center of mass of the cart (100), thereby providing stability to movements of the robot (1) mounted on the top module (110).
2. The cart (100) as claimed in claim 24, wherein each of the blocks (133, 153) of the first moving module (130) and the second moving module (150) have a pre-defined weight ranging from 15 kg to 30 kg.
3. The cart (100) as claimed in claim 24, wherein an actuator (170) is operationally coupled to the first moving module (130) and the second moving module (150) to actuate at least one of the first moving module (130) and the second moving module (150) along a vertical axis of the cart (100).
4. The cart (100) as claimed in claim 24, wherein each of the blocks (133) of the first moving module (130) are coupled to at least one of an upper surface and a bottom surface of the support plate (131).
5. The cart (100) as claimed in claim 24, wherein each of the blocks (153) of the second moving module (150) are coupled to at least one of an upper surface and a bottom surface of the base plate (151).
6. The cart (100) as claimed in claim 24, wherein the high-density material includes at least one of stainless steel, mild steel, and alloys thereof.
7. The cart (100) as claimed in claim 24, wherein the low-density material includes at least one of aluminum, nylon, carbon fiber, polyether ether ketone (PEEK), ceramic, titanium and alloys thereof.
8. The cart (100) as claimed in claim 24, wherein a portion of each the legs (137) configured to at least partially contact a pre-defined surface is provided with a layer or covering of a resilient material.