Medicaroid Corporation

Medicardoid Corporation

Shota Betsugi

Kenji Ago

Yu Usuki

Kaoru Takahashi

Yoshiaki Tanaka

Tetsuya Nakanishi

Tomoaki Noda

Kazuhiro Sato

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

A sterile drape according to an embodiment may include: a flexible film member including a first opening and a second opening and configured to cover the robot arm received through the second opening; and a resin molded member configured to close the first opening of the flexible film member. The resin molded member includes: an upper surface portion having a shape and a size fitted to an attachment surface of an attachment portion of the robot arm; a side surface portion extending downward from the upper surface portion; and a projection which projects outward from a lower edge of the side surface portion and to which the flexible film member is welded.

Sterile drape, instrument attachment set for attaching surgical instrument, and method for attaching surgical instrument to robot arm

A surgical instrument according to an embodiment may include: a shaft; an end effector provided on a side of one end of the shaft; a housing provided on a side of the other end of the shaft and including a base including an attachment surface to be attached to a robot arm, a lid portion covering the base, and cleaning liquid supply holes to supply a cleaning liquid; and a cleaning tube to supply the cleaning liquid into the shaft. The cleaning liquid supply holes include: a first cleaning liquid supply hole to which the cleaning tube is attached; a second cleaning liquid supply hole communicating with an inside of the housing; and a third cleaning liquid supply hole opening in a direction substantially orthogonal to an opening direction of the second cleaning liquid supply hole and communicating with the inside of the housing.

Surgical instrument

An adapter for detachably connecting a surgical instrument to a robot arm of a robotic surgical system according to an embodiment may include: a base including a first surface to be attached to an attachment portion of the robot arm, a second surface, and a plurality of recesses formed in the first surface; an engagement member disposed in the base and movable between an advanced position where the engagement member is advanced into the plurality of recesses and a retracted position where the engagement member is retracted from inside the plurality of recesses; a biasing member which biases the engagement member in a direction from the retracted position to the advanced position; and an operating member to be operated to move the engagement member to the retracted position against a biasing force of the biasing member.

Adapter, surgical instrument set, and method for connecting surgical instrument

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 surgical instrument according to an embodiment may include: a shaft; an end effector provided on a side of one end of the shaft; a housing including a base to which the other end of the shaft is connected, and a lid portion to cover the base; and a circuit board disposed on the base. The housing includes a press portion that presses the circuit board to the base to hold the circuit board.

A surgical instrument according to an embodiment may include: a base body including an attachment surface to be attached to the adaptor; an elongated shaft including one end connected to the base body; a treatment tool provided on a side of the other end of the shaft, elongate elements for operating the surgical tool, driven members rotatably provided on the base body and connected with end portions of the elongate elements; a holding member provided such that one end of each driven member is rotatably held by the base body and the other end of each driven member is rotatably held by the holding member; and a movable member provided movable with respect to the holding member and the base body and engageable with an adaptor. The movable member is configured, when moved with respect to the holding member and the base body, to be disengaged from the adaptor.

Surgical instrument, assembly including adaptor and surgical instrument, and robotic surgical system

An endoscope adaptor to be connected to a robot arm of a robotic surgical system through a drape adaptor according to an embodiment may include a base section, a holding section, a driven member, and a transmission mechanism. The base is to be detachably connected to the drape adaptor. The driven member is rotatably provided on the base section and configured to be rotated by a rotation drive section of the robot arm through the drape adaptor. The holding section holds an endoscope rotatably about a rotation axis, the endoscope including an insertion section including an image capturing section provided at a distal end of the insertion section and a body section connected to the insertion section, wherein the rotation axis extends in a direction in which the insertion section extends. The transmission mechanism is configured to transmit rotation of the driven member to the holding section holding the endoscope.

Endoscope adaptor, surgical system including the same, and method of attaching endoscope to robot arm through the same

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 driver interface according to an embodiment may include an engagement member, an actuator, a detection member, and a sensor. The engagement member includes an engagement protrusion protruding from a surface of the engagement member and provided corresponding to an engagement recess provided at a drive transmission member rotatably provided in an adaptor. The actuator is configured to rotate the engagement member. The detection member is movable in a direction parallel to the rotation axis of the engagement member. The sensor detects the detection member that has moved as a result of contact with a part of the drive transmission member.

Driver interface, robotic surgical apparatus, and method of detecting attachment of surgical instrument to driver interface

A driver interface provided to a robot arm of a robotic surgical system according to an embodiment may include: a drive member provided corresponding to a drive transmission member provided on an adaptor; an actuator to drive the drive member to rotate; and a housing accommodating the actuator therein and including a drive member opening at a location corresponding to the drive member and a drape detection opening. The driver interface may further include a detection member movable between a protrusion position at which a part of the detection member is protruded from the drape detection opening of the housing, and a withdrawal position at which the detection member is withdrawn into the drape detection opening of the housing. The driver interface may further include a sensor configured to detect the detection member is moved to the withdrawal position as a drape is brought into contact with the detection member.

Driver interface, robotic surgical system, and method of detecting attachment of drape to driver interface

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.

Method of fixing surgical instrument to robot arm

A surgical instrument according to an embodiment may include: a base body including an attachment surface for the adaptor; a surgical tool; driven members rotatably provided on the base body; a housing covering the driven members; and first and second movable members movable with respect to the housing and the base body. The attachment surface of the base body includes a first guide groove and a second guide groove that slidably receive a first guide rail and a second guide rail provided on the adaptor respectively. The first and second guide grooves are defined by the base body and the first and second movable members such that groove widths of the first and second guide grooves are variable by moving the first and second movable members with respect to the base body.

Surgical instrument, robotic surgical system, and method of detaching surgical instrument attached to robot arm of robotic surgical system through adaptor

The adapter includes: a base body that includes a first surface attached to a robot arm, and a second surface to which a surgical instrument is attached; an engaging portion that engages with the robot arm at an advanced position corresponding to an opening of the first surface; an urging member that urges the engaging portion in a direction from a retracted position to the advanced position; an operation portion connected to the engaging portion to shift the engaging portion to the retracted position while resisting an urging force of the urging member; and a stopper that stops the operation portion to prevent a shift of the engaging portion from the retracted position to the advanced position.

Growing community of inventors

Kobe, Japan

Shota Betsugi