Medicaroid Corporation

Kawasaki Jukogyo Kabushiki Kaisha

Kaoru Takahashi

Shota Betsugi

Yu Usuki

Kenji Ago

Yoshiaki Tanaka

Tomoaki Noda

Tetsuya Nakanishi

Ayataka Kobayashi

Hidenori Tani

Kazuhiro Sato

Gen Kurihara

Hiroaki Ihara

A surgical instrument according to one or more embodiments may include: a base to be attached to a robot arm; a shaft including one end connected to the base; and a pair of jaw members provided to the other end of the shaft and provided to be rotatable about a first rotation axis so as to be opened and closed to each other, wherein opposing surfaces of the pair of jaw members include groove-shaped recesses, respectively, to hold a clip, and the recess of each of the jaw members includes a first section provided on a side of a distal end of the jaw member and having a first depth and a second section provided on a side of a first rotation axis of the jaw member with respect to the first section and having a second depth greater than the first depth.

Surgical instrument and surgery assist robot

A robotic surgical system according to an embodiment may include: a surgical instrument including a pair of jaw members; an operation handle; and a surgical robot that includes a robot arm to which the surgical instrument is attached and which includes a drive part to drive a driven member, and a controller configured to drive the drive part based on a command jaw opening angle associated with an input to the input device for controlling an opening angle between the pair of jaw members. The controller is configured, when it is determined that a current value of the drive part excesses a predetermined threshold value during a closing operation of the pair of jaw members, to drive the drive part in a restriction mode in which a magnitude of the command jaw opening angle is restricted.

Robotic surgical system, surgical robot, and robotic surgical method

A surgical system according to an embodiment may include a patient-side apparatus, an operator-side apparatus including an operation part to receive an operation for operating a surgical instrument attached to an arm of the patient-side apparatus, and a controller configured to control an operation of the surgical instrument based on the operation received by the operation part. The controller is configured to: control rotation amounts of first and second drive parts to drive first and second elongate elements for opening and closing first and second jaw members of the surgical instrument such that an opening angle between the first and second jaw members correspond to an operating angle received by the operation part; and correct, according to a rotation angle of a shaft of the surgical instrument about a rotation axis of the shaft, the rotation amounts of the first and second drive parts that correspond to the operating angle.

Surgical system and method of controlling surgical system

A patient-side apparatus according an embodiment may include a robot arm; an adaptor that is attached to the robot arm; and a surgical instrument that is attached to the adaptor by sliding the surgical instrument to the adaptor. The adaptor includes: an adaptor base including an arm attachment surface and a surgical instrument attachment surface; a drive transmission member provided being movable in a direction perpendicular to the surgical instrument attachment surface and configured to transmit a driving force from the robot arm to the surgical instrument. The surgical instrument includes a surgical instrument base including an adaptor attachment surface. The surgical instrument base includes an inclined surface configured, upon slide attachment of the surgical instrument to the adaptor, to come in contact with the drive transmission member to move the drive transmission member toward the robot arm side in a direction perpendicular to the surgical instrument attachment surface.

Robotic surgical apparatus, surgical instrument, and method of attaching surgical instrument to robot arm

An endoscope adaptor according to an embodiment may include a base portion including a transmission mechanism configured to decelerate and transmit rotation of a driven member configured to be driven to rotate by a drive part of a robot arm to an endoscope holder. The transmission mechanism includes a drive transmission shaft that is configured to be rotated by the rotation of the driven member, a first linkage member that is configured to rotate integrally with the drive transmission shaft, and a second linkage member being rotatable with respect to the drive transmission shaft and configured to rotate with first linkage member in a linked manner. The base portion includes a stopper configured to come in contact with the second linkage member to stop rotation of the drive transmission shaft.

Endoscope adaptor, robotic surgical system, method of adjusting rotational position using endoscope adaptor

An endoscope adaptor according to an embodiment may include: an endoscope holder configured to hold an endoscope to be rotatable; and a base portion including an attachment portion, a driven member, and a transmission mechanism. The base portion includes a cable holder configured to hold a cable connected to the endoscope.

Endoscope adaptor

An adaptor for detachably connecting a surgical instrument to a robot arm of a robotic surgical system according to an embodiment may include: a base body including a first surface to be attached to the robot arm and a second surface to which an attachment surface of the surgical instrument is mounted; and drive transmission members rotatably provided on the base body. The second surface of the base body includes first and second guide rails respectively corresponding to first and second guide grooves provided on the attachment surface of the surgical instrument. The first and second guide rails of the second surface are configured to be inserted respectively into the first and second guide grooves of the attachment surface, and guide the surgical instrument to be slid to a position where the drive transmission members respectively correspond to rotation members provided on the attachment surface of the surgical instrument.

Adaptor and method of attaching surgical instrument to robot arm through adaptor

A stopper according to one or more embodiments may include: a stopper body; and a rotation restriction portion provided at the stopper body and configured to restrict rotations of the drive transmission member. The stopper may be configured such that the rotation restriction portion restricts the rotations of the drive transmission member in a state where the stopper body is attached to the adaptor main body and the rotation restriction portion releases the restriction of the rotations of the drive transmission member in a state where the stopper body is detached from the adaptor main body.

Stopper and adaptor

A method of fixing a surgical instrument to a robot arm according to one or more embodiment may include: attaching the surgical instrument to a drive part of the robot arm via an adaptor in a state where a first engagement portion of a drive transmission member of the adaptor is set at a second initial orientation; and rotating the first engagement portion from the second initial orientation so as to engage the first engagement portion of the drive transmission member with an engagement portion of an driven member.

Growing community of inventors

Kobe, Japan

Kaoru Takahashi