JP6821735B2 - adapter - Google Patents

Description

The present invention relates to adapters, in particular to adapters for detachably connecting surgical instruments to the robot arm of a robotic surgery system.

Conventionally, an adapter for detachably connecting a surgical instrument to a robot arm of a robotic surgery system has been known (see, for example, Patent Document 1).

Patent Document 1 discloses an adapter including a holding member that engages with a claw portion provided on a side portion of a surgical instrument and an input portion that transmits a driving force of a robot arm to the surgical instrument. In the adapter of Patent Document 1, the holding member is formed so as to cover the claw portion from the outside.

U.S. Pat. No. 899,930

However, in the adapter of Patent Document 1, since the holding member is formed so as to cover the claw portion provided on the side portion of the surgical instrument from the outside, the adapter is formed wider than the portion attached to the adapter of the surgical instrument. There is a need to. Therefore, there is a problem that it is difficult to miniaturize the adapter.

The present invention is aimed at downsizing an adapter for detachably connecting a surgical instrument to a robot arm of a robotic surgery system.

The adapter according to the first aspect of the present invention is an adapter for detachably connecting a surgical instrument to a robot arm of a robotic surgery system, and has a first surface for attaching to the robot arm and a mounting surface for the surgical instrument. A substrate including a second surface to be mounted, and a plurality of drive transmission members rotatably provided on the substrate are provided, and the second surface of the substrate is a first and second surface provided on the mounting surface. It has first and second guide rails corresponding to the guide grooves, and the first and second guide rails on the second surface are inserted into the first and second guide grooves on the mounting surface to hold the surgical instrument. The first and second guide rails are configured to slide to guide the surgical instrument so that each of the plurality of drive transmission members and each of the plurality of rotating members provided on the mounting surface correspond to each other. Each has a claw portion that engages with an engaging hole provided in the first and second guide grooves .

In the adapter according to the first aspect of the present invention, by configuring as described above, the first and the second surface on which the mounting surface of the surgical instrument is mounted so as to correspond to the guide groove of the mounting surface of the surgical instrument. Since the second guide rail can be formed, the first and second guide rails can be formed inside the mounting surface of the surgical instrument in a plan view. As a result, the adapter can be formed to have a size smaller than the mounting surface of the surgical instrument, so that the adapter for detachably connecting the surgical instrument to the robot arm of the robotic surgery system can be miniaturized.
Further, the adapter according to the second aspect of the present invention is an adapter for detachably connecting a surgical instrument to the robot arm of a robotic surgery system, and has a first surface for attaching to the robot arm and attachment of the surgical instrument. A substrate including a second surface on which the surface is mounted and a plurality of drive transmission members rotatably provided on the substrate are provided, and the second surface of the substrate is a first and first surface provided on the mounting surface. It has first and second guide rails corresponding to the two guide grooves, respectively, and the first and second guide rails on the second surface are inserted into the first and second guide grooves on the mounting surface for surgery. It is configured to slide the instrument to guide the surgical instrument so that each of the plurality of drive transmission members and each of the plurality of rotating members provided on the mounting surface correspond to each other. Each includes an engaging portion that engages with a corresponding rotating member provided on the mounting surface, the engaging portion being provided on a first drive transmitting member located upstream of the plurality of drive transmitting members in the slide insertion direction. The first engaging portion is provided with a first engaging portion and a second engaging portion provided on the second drive transmitting member located on the downstream side in the slide insertion direction among the plurality of drive transmitting members, and the first engaging portion is provided. , The rotating member that engages with the second engaging portion does not engage when the surgical instrument is slid and attached to the adapter.
Further, the adapter according to the third aspect of the present invention is an adapter for detachably connecting a surgical instrument to the robot arm of a robotic surgery system, and has a first surface for attaching to the robot arm and attachment of the surgical instrument. A substrate including a second surface on which the surface is mounted and a plurality of drive transmission members rotatably provided on the substrate are provided, and the second surface of the substrate is a first and first surface provided on the mounting surface. It has first and second guide rails corresponding to the two guide grooves, respectively, and the first and second guide rails on the second surface are inserted into the first and second guide grooves on the mounting surface for surgery. It is configured to slide the instrument to guide the surgical instrument so that each of the plurality of drive transmission members and each of the plurality of rotating members provided on the mounting surface correspond to each other. It is further provided with a leading guide portion that is formed so as to project from the substrate along a direction parallel to the extending direction of the guide rail and guides the surgical instrument ahead of the first and second guide rails.

According to the present invention, an adapter for detachably connecting a surgical instrument to a robot arm of a robotic surgery system can be miniaturized.

It is a figure which showed the outline of the robot operation system by 1st Embodiment. It is a block diagram which showed the control structure of the robot operation system by 1st Embodiment. It is a perspective view which showed the state which the surgical instrument was attached to the robot arm by 1st Embodiment via an adapter. It is a perspective view which showed the state which the adapter and the surgical instrument were removed from the robot arm by 1st Embodiment. It is a perspective view which looked at the adapter and the surgical instrument by 1st Embodiment from below. It is a perspective view which looked at the adapter by 1st Embodiment from above. It is an exploded perspective view of the drive transmission member of the adapter according to 1st Embodiment. It is a top view of the adapter according to 1st Embodiment. It is a front view of the adapter by 1st Embodiment. It is a bottom view of the base of the surgical instrument according to 1st Embodiment. It is a front view of the base of the surgical instrument according to 1st Embodiment. It is a figure for demonstrating attachment | attachment of an adapter to a robot arm by 1st Embodiment. FIG. 1 is a diagram for explaining attachment of a surgical instrument to an adapter according to the first embodiment. FIG. 2 is a diagram for explaining attachment of a surgical instrument to an adapter according to the first embodiment. It is a perspective view which looked at the adapter and the surgical instrument by 2nd Embodiment from below. It is a perspective view which looked at the adapter by 2nd Embodiment from above. It is a perspective view for demonstrating attachment of an adapter to a robot arm by 2nd Embodiment. It is a 1st perspective view for demonstrating attachment | attachment of a surgical instrument to an adapter by 2nd Embodiment. It is the 2nd perspective view for demonstrating the attachment of the surgical instrument to the adapter by 2nd Embodiment. It is a perspective view which showed the state which the surgical instrument was attached to the robot arm by 2nd Embodiment via an adapter. It is a 1st plan view for demonstrating attachment of a surgical instrument to an adapter by 2nd Embodiment. It is a 2nd plan view for demonstrating attachment of a surgical instrument to an adapter by 2nd Embodiment. It is a 3rd plan view for demonstrating attachment of a surgical instrument to an adapter according to 2nd Embodiment. It is a 1st side view for demonstrating attachment of a surgical instrument to an adapter by 2nd Embodiment. It is the 2nd side view for demonstrating the attachment of the surgical instrument to the adapter by 2nd Embodiment. It is a 3rd side view for demonstrating the attachment of the surgical instrument to the adapter by 2nd Embodiment.

Hereinafter, embodiments will be described with reference to the drawings.

[First Embodiment]
(Structure of robotic surgery system)
The configuration of the robotic surgery system 100 according to the first embodiment will be described with reference to FIGS. 1 and 2.

As shown in FIG. 1, the robotic surgery system 100 includes a remote control device 10 and a patient side device 20. The remote control device 10 is provided for remotely controlling a medical appliance provided in the patient side device 20. When the operation mode command to be executed by the patient-side device 20 is input to the remote control device 10 by the operator O who is a surgeon, the remote control device 10 issues the operation mode command to the patient via the controller 26. It is transmitted to the side device 20. Then, the patient-side device 20 operates a medical instrument such as a surgical instrument 40 and an endoscope 50 attached to the robot arm 21 in response to an operation mode command transmitted from the remote control device 10. .. As a result, minimally invasive surgery is performed.

The patient-side device 20 constitutes an interface for performing surgery on patient P. The patient-side device 20 is placed beside the operating table 30 on which the patient P lies. The patient-side device 20 has a plurality of robot arms 21, of which an endoscope 50 is attached to one robot arm 21 (21b) and a surgical instrument 40 is attached to the other robot arm 21 (21a). Each robot arm 21 is commonly supported by the platform 23. The plurality of robot arms 21 have a plurality of joints, and each joint is provided with a drive unit including a servomotor and a position detector such as an encoder. The robot arm 21 is configured so that a medical device attached to the robot arm 21 is controlled to perform a desired operation by a drive signal given via the controller 26.

The platform 23 is supported by a positioner 22 placed on the floor of the operating room. In the positioner 22, a pillar portion 24 having an elevating shaft that can be adjusted in the vertical direction is connected to a base 25 that has wheels and is movable on the floor surface.

A surgical instrument 40 as a medical instrument is detachably attached to the tip of the robot arm 21a. The surgical instrument 40 includes a housing 43 (see FIG. 4) attached to the robot arm 21a, an elongated shaft 42 (see FIG. 4), and an end effector 41 (see FIG. 4) provided at the tip of the shaft 42. It has. Examples of the end effector 41 include, but are not limited to, grasping forceps, scissors, hooks, high-frequency knives, snare wires, clamps, and staplers, and various treatment tools can be applied. In the operation using the patient-side device 20, the robot arm 21a introduces the surgical instrument 40 into the body of the patient P via a cannula (trocca) placed on the body surface of the patient P. Then, the end effector 41 of the surgical instrument 40 is arranged in the vicinity of the surgical site.

An endoscope 50 as a medical instrument is detachably attached to the tip of the robot arm 21b. The endoscope 50 photographs the inside of the body cavity of the patient P, and the captured image is output to the remote control device 10. As the endoscope 50, a 3D endoscope or a 2D endoscope capable of taking a three-dimensional image is used. In the operation using the patient-side device 20, the robot arm 21b introduces the endoscope 50 into the patient P's body via the trocca placed on the body surface of the patient P. Then, the endoscope 50 is arranged in the vicinity of the surgical site.

The remote control device 10 constitutes an interface with the operator O. The remote control device 10 is a device for the operator O to operate the medical device attached to the robot arm 21. That is, the remote control device 10 is configured to be able to transmit an operation mode command to be executed by the surgical instrument 40 and the endoscope 50 input by the operator O to the patient side device 20 via the controller 26. The remote control device 10 is installed near the operating table 30 so that the state of the patient P can be clearly seen while operating the master, for example. It should be noted that the remote control device 10 can be installed in a room separate from the operating room in which the operating table 30 is installed, for example, by wirelessly transmitting an operation mode command.

The motion mode to be performed by the surgical instrument 40 is a motion mode (a series of positions and postures) of the surgical instrument 40 and a motion mode realized by the individual functions of the surgical instrument 40. For example, when the surgical instrument 40 is a grasping forceps, the operation modes to be executed by the surgical instrument 40 are the roll rotation position and the pitch rotation position of the wrist of the end effector 41, and the operation of opening and closing the jaw. .. When the surgical instrument 40 is a high-frequency knife, the operation mode to be performed by the surgical instrument 40 may be the vibration operation of the high-frequency knife, specifically, the supply of an electric current to the high-frequency knife. Further, when the surgical instrument 40 is a snare wire, the operation modes to be performed by the surgical instrument 40 may be a binding operation and a binding state releasing operation. In addition, it may be an operation of burning off the surgical target site by supplying an electric current to a bipolar or monopolar.

The operation mode to be executed by the endoscope 50 is, for example, the position and orientation of the tip of the endoscope 50, or the setting of the zoom magnification.

As shown in FIGS. 1 and 2, the remote control device 10 includes an operation handle 11, an operation pedal unit 12, a display unit 13, and a control device 14.

The operation handle 11 is provided for remotely operating the medical device attached to the robot arm 21. Specifically, the operation handle 11 accepts an operation by the operator O for operating the medical instrument (surgical instrument 40, endoscope 50). Two operation handles 11 are provided along the horizontal direction. That is, one of the two operation handles 11 is operated by the right hand of the operator O, and the other operation handle 11 of the two operation handles 11 is operated by the left hand of the operator O.

Further, the operation handle 11 is arranged so as to extend from the rear side of the remote control device 10 toward the front side. The operation handle 11 is configured to be movable within a predetermined three-dimensional operation area. That is, the operation handle 11 is configured to be movable in the vertical direction, the horizontal direction, and the front-rear direction.

The remote control device 10 and the patient side device 20 form a master-slave type system in controlling the operation of the robot arm 21a and the robot arm 21b. That is, the operation handle 11 constitutes an operation unit on the master side in the master-slave type system, and the robot arm 21a and the robot arm 21b to which the medical device is attached constitute an operation unit on the slave side. Then, when the operator O operates the operation handle 11, the tip of the robot arm 21a (end effector 41 of the surgical instrument 40) or the tip of the robot arm 21b (endoscope 50) traces the movement of the operation handle 11. The operation of the robot arm 21a or the robot arm 21b is controlled so as to move.

Further, the patient-side device 20 is configured to control the operation of the robot arm 21a according to the set operation magnification. For example, when the operating magnification is set to 1/2, the end effector 41 of the surgical instrument 40 is controlled to move a moving distance of 1/2 of the moving distance of the operating handle 11. As a result, detailed surgery can be performed accurately.

The operating pedal unit 12 includes a plurality of pedals for performing functions related to medical devices. The plurality of pedals include a coagulation pedal, a disconnect pedal, a camera pedal, and a clutch pedal. Further, the plurality of pedals are operated by the feet of the operator O.

The coagulation pedal can perform an operation of coagulating the surgical site using the surgical instrument 40. Specifically, when the coagulation pedal is operated, a voltage for coagulation is applied to the surgical instrument 40 to coagulate the surgical site. The cutting pedal can be operated to cut the surgical site by using the surgical instrument 40. Specifically, when the cutting pedal is operated, a cutting voltage is applied to the surgical instrument 40 to cut the surgical site.

The camera pedal is used to control the position and posture of the endoscope 50 that images the inside of the body cavity. Specifically, the camera pedal enables the operation by the operation handle 11 of the endoscope 50. That is, while the camera pedal is being pressed, the position and orientation of the endoscope 50 can be operated by the operation handle 11. For example, the endoscope 50 is operated by using both the left and right operation handles 11. Specifically, the endoscope 50 is rotated by rotating the left and right operation handles 11 around an intermediate point between the left and right operation handles 11. Further, by pushing the left and right operation handles 11 together, the endoscope 50 advances to the back. Further, by pulling both the left and right operation handles 11, the endoscope 50 returns to the front. Further, by moving the left and right operation handles 11 up, down, left and right, the endoscope 50 moves up, down, left and right.

The clutch pedal is used when the operation connection between the robot arm 21 and the operation handle 11 is temporarily disconnected to stop the operation of the surgical instrument 40. Specifically, while the clutch pedal is being operated, the robot arm 21 of the patient-side device 20 does not operate even if the operation handle 11 is operated. For example, when the operation handle 11 comes near the end of the movable range by the operation, the operation connection may be temporarily disconnected and the operation handle 11 may be returned to the vicinity of the center position by operating the clutch pedal. it can. Then, when the operation of the clutch pedal is stopped, the robot arm 21 and the operation handle 11 are reconnected, and the operation of the operation handle 11 can be resumed near the center.

The display unit 13 can display an image captured by the endoscope 50. The display unit 13 includes a scope type display unit or a non-scope type display unit. The scope type display unit is, for example, a viewing type display unit. Further, the non-scope type display unit is a concept including an open type display unit having a flat screen which is not a type of looking into the display of a normal personal computer.

When the scope type display unit is attached, the 3D image captured by the endoscope 50 attached to the robot arm 21b of the patient side device 20 is displayed. Even when the non-scope type display unit is attached, the 3D image captured by the endoscope 50 provided in the patient side device 20 is displayed. When the non-scope type display unit is attached, the 2D image captured by the endoscope 50 provided in the patient side device 20 may be displayed.

As shown in FIG. 2, the control device 14 includes, for example, a control unit 141 having a computing unit such as a CPU, a storage unit 142 having a memory such as a ROM and a RAM, and an image control unit 143. The control device 14 may be composed of a single control device for centralized control, or may be composed of a plurality of control devices for distributed control in cooperation with each other. The control unit 141 is an operation mode command to be executed by the robot arm 21a according to the switching state of the operation pedal unit 12, or the operation mode command input by the operation handle 11 or by the endoscope 50. Determine if it is an operation mode command to be executed. Then, when the control unit 141 determines that the operation mode command input to the operation handle 11 is an operation mode command to be executed by the surgical instrument 40, the control unit 141 transmits the operation mode command to the robot arm 21a. As a result, the robot arm 21a is driven, and the operation of the surgical instrument 40 attached to the robot arm 21a is controlled by this drive.

Further, when the control unit 141 determines that the operation mode command input to the operation handle 11 is an operation mode command to be executed by the endoscope 50, the control unit 141 transmits the operation mode command to the robot arm 21b. As a result, the robot arm 21b is driven, and the operation of the endoscope 50 attached to the robot arm 21b is controlled by this drive.

For example, the storage unit 142 stores control programs according to the type of the surgical instrument 40, and the control unit 141 reads out these control programs according to the type of the attached surgical instrument 40, so that the remote control device 10 The operation command of the operation handle 11 and / or the operation pedal unit 12 of the above can cause an operation suitable for the individual surgical instrument 40.

The image control unit 143 transmits the image acquired by the endoscope 50 to the display unit 13. The image control unit 143 performs image processing correction processing as necessary.

(Structure of adapter and surgical instruments)
The configuration of the adapter 60 and the surgical instrument 40 according to the first embodiment will be described with reference to FIGS. 3 to 11.

As shown in FIG. 3, the robot arm 21 is covered by the drape 70 because it is used in a clean area. Here, in the operating room, a clean operation is performed in order to prevent the incised portion and the medical device from being contaminated by pathogens, foreign substances, and the like. In this cleanup operation, a clean area and a contaminated area other than the clean area are set. The surgical site is located in a clean area. Members of the surgery team, including Operator O, should take care to ensure that only sterilized objects are located in the clean area during surgery, and when moving objects located in the contaminated area to the clean area. Sterilize the object. Similarly, when a member of the surgical team, including Operator O, places his hand in a contaminated area, the hand is sterilized before it comes into direct contact with an object located in a clean area. Instruments used in clean areas are sterilized or covered with a sterilized drape 70.

The drape 70 is arranged between the robot arm 21 and the surgical instrument 40. Specifically, the drape 70 is arranged between the adapter 60 and the robot arm 21. The adapter 60 is attached to the robot arm 21 so as to sandwich the drape 70. That is, the adapter 60 is a drape adapter for sandwiching the drape 70 with the robot arm 21a. A surgical instrument 40 is attached to the adapter 60. The robot arm 21 transmits power to the surgical instrument 40 via the adapter 60 in order to drive the end effector 41 of the surgical instrument 40.

As shown in FIG. 4, the adapter 60 includes a base 61, a plurality of drive transmission members 62, a guide rail 63, a leading guide rail 64, a first electrode array 65, and an arm engaging portion 66. ing. Further, as shown in FIG. 5, the adapter 60 includes a plurality of arm engaging holes 67 and a plurality of positioning holes 68. As shown in FIG. 4, the drive transmission member 62 includes a plurality of first drive transmission members 62a arranged on the Y2 direction side and a plurality of second drive transmission members 62b arranged on the Y1 direction side. .. Further, in the adapter 60, a first surface 60a arranged on the Z2 direction side is attached to the robot arm 21a. Further, in the adapter 60, the surgical instrument 40 is attached to the second surface 60b arranged on the Z1 direction side.

As shown in FIG. 5, a mounting surface 40a arranged on the Z2 direction side of the housing 43 of the surgical instrument 40 is mounted on the adapter 60. Further, the surgical instrument 40 includes a plurality of rotating members 44, two guide grooves 45 (first guide groove 45a and second guide groove 45b), two movable members 46, a leading guide groove 47, and a first. It includes a two-electrode array 48. The rotating member 44 includes a plurality of first rotating members 44a arranged on the Y2 direction side and a plurality of second rotating members 44b arranged on the Y1 direction side. The movable member 46 is connected to the button 461.

As shown in FIG. 4, the drape 70 includes a main body portion 71 and a mounting portion 72. The main body 71 is formed in a film shape. The mounting portion 72 is formed by resin molding. The mounting portion 72 is provided with a through hole at a portion where the robot arm 21a and the adapter 60 are engaged. The through-hole may be provided so as to correspond to each engaging portion. Further, the through hole may be provided so as to correspond to a plurality of engaging portions.

The adapter 60 is attached to the adapter attachment surface 211 of the robot arm 21. Further, the robot arm 21 includes a rotation driving unit 212, an engaging unit 213, and a boss 214.

As shown in FIG. 5, the plurality of rotating members 44 of the surgical instrument 40 are rotationally driven to drive the end effector 41. Specifically, the rotating member 44 and the end effector 41 are connected by a wire passed through the shaft 42. Then, when the rotating member 44 is rotated, the wire is pulled and the end effector 41 is driven. Further, the rotating member 44 is connected to the shaft 42 by a gear in the housing 43. Then, the shaft 42 is rotated by rotating the rotating member 44.

For example, four rotating members 44 are provided. The rotation of one rotating member 44 causes the shaft 42 to rotate. Further, the end effector 41 is driven by the rotation of the other three rotating members 44. Two of the four rotating members 44 are arranged in the X direction, and two are arranged in the Y direction.

The guide groove 45 is provided so as to extend along the Y direction. Further, two guide grooves 45 are provided so as to face each other in the X direction. The two guide grooves 45 are provided substantially in parallel. Two guide rails 63 of the adapter 60 are inserted into the two guide grooves 45 to guide the attachment to the adapter 60. The width of the guide groove 45 changes as the movable member 46 moves in the X direction. That is, the width of the guide groove 45 is expanded by moving the movable member 46 inward. Further, the width of the guide groove 45 is reduced by moving the movable member 46 to the outside. The movable member 46 is urged in a direction (outward direction) in which the width of the guide groove 45 is narrowed. Specifically, the movable member 46 is urged by a spring. When the operator pushes the button 461, the movable member 46 moves in the direction of widening the width of the guide groove 45 (inward direction).

The leading guide groove 47 is provided so as to extend along the Y direction. Further, the leading guide groove 47 is provided between the two guide grooves 45 (the first guide groove 45a and the second guide groove 45b). Further, the leading guide groove 47 is formed so as to extend substantially parallel to the guide groove 45. Further, the leading guide groove 47 is provided substantially in the center of the mounting surface 40a in the X direction.

The second electrode array 48 is connected to the robot arm 21 via the first electrode array 65 of the adapter 60. Further, the second electrode array 48 is connected to a substrate provided in the housing 43. That is, by attaching the surgical instrument 40 to the robot arm 21 via the adapter 60, the substrate of the surgical instrument 40 and the robot arm 21 are connected. The substrate in the housing 43 is used for controlling the type of surgical instrument 40 and the number of times the surgical instrument 40 is used.

As shown in FIGS. 4 to 6, the adapter 60 is provided to removably connect the surgical instrument 40 to the robot arm 21a of the robotic surgery system 100. The base 61 includes a first surface 60a for mounting on the robot arm 21a and a second surface 60b on which the mounting surface 40a of the surgical instrument 40 is mounted. The adapter 60 has substantially the same size as the housing 43 of the surgical instrument 40 when viewed in the Z direction. Specifically, the adapter 60 is formed in a substantially circular shape having substantially the same diameter as the housing 43 when viewed in the Z direction.

The drive transmission member 62 is rotatably provided on the base 61. Specifically, the drive transmission member 62 is rotatably provided about a rotation axis extending in the Z direction. The drive transmission member 62 transmits the driving force of the rotation drive unit 212 of the robot arm 21a to the rotation member 44 of the surgical instrument 40. A plurality of drive transmission members 62 are provided so as to correspond to the rotating members 44 of the surgical instrument 40. Further, the plurality of drive transmission members 62 are respectively arranged at positions corresponding to the rotating members 44 of the surgical instrument 40.

The guide rail 63 is provided on the second surface 60b. Further, the guide rail 63 is provided so as to extend along the Y direction. Further, two guide rails 63 are provided so as to face each other in the X direction. The two guide rails 63 (the first guide rail 63a and the second guide rail 63b) are provided substantially in parallel. Further, the first guide rail 63a and the second guide rail 63b correspond to the first guide groove 45a and the second guide groove 45b provided substantially parallel to the mounting surface 40a of the surgical instrument 40, respectively. It is provided. The first guide rail 63a and the second guide rail 63b of the second surface 60b have one end 634 (end on the Y2 direction side) of each of the first guide rail 63a and the second guide rail 63b, and a mounting surface. By sliding one end 452 (the end on the Y1 direction side) of each of the first guide groove 45a and the second guide groove 45b of 40a in correspondence with each other, each of the plurality of drive transmission members 62 and the mounting surface The surgical instrument 40 is configured to guide the surgical instrument 40 so as to correspond to each of the plurality of rotating members 44 provided on the 40a.

As a result, the first guide rail 63a and the second guide rail 63b are attached to the second surface 60b on which the mounting surface 40a of the surgical instrument 40 is mounted so as to correspond to the guide groove 45 of the mounting surface 40a of the surgical instrument 40. Since it can be formed, the first guide rail 63a and the second guide rail 63b can be formed inside the mounting surface 40a of the surgical instrument 40 in a plan view (when viewed in the Z direction). As a result, the adapter 60 can be formed to have a size equal to or smaller than the mounting surface 40a of the surgical instrument 40. can do.

Further, the first guide rail 63a and the second guide rail 63b on the second surface 60b are surgical instruments in a direction (Y direction) intersecting the moving direction (Z direction) of the second member 622 with respect to the first member 621. It is configured to guide the first guide groove 45a and the second guide groove 45b of the 40. That is, the slide insertion direction of the surgical instrument 40 with respect to the adapter 60 is substantially parallel to the direction in which the shaft 42 of the surgical instrument 40 extends. As a result, unlike the case where the slide insertion direction intersects the extending direction of the shaft 42, the space required for moving the shaft 42 when the surgical instrument 40 is slid and attached to the adapter 60 is provided to the shaft 42. It suffices to be provided only in the extending direction of. That is, it is not necessary to take a large space for moving the shaft 42 in the direction intersecting the extending direction of the shaft 42.

The leading guide rail 64 is provided on the second surface 60b. Further, the leading guide rail 64 is provided so as to extend along the Y direction. Further, the leading guide rail 64 is provided between the first guide rail 63a and the second guide rail 63b. Further, the leading guide rail 64 is formed so as to extend substantially parallel to the first guide rail 63a and the second guide rail 63b. Further, the leading guide rail 64 is provided substantially in the center of the second surface 60b in the X direction. Further, the leading guide rail 64 is provided corresponding to the leading guide groove 47 provided on the mounting surface 40a. That is, the leading guide rail 64 guides the surgical instrument 40 ahead of the first guide rail 63a and the second guide rail 63b. As a result, the first guide rail 63a and the second guide rail 63b are moved into the first guide groove 45a by the guidance of the leading guide rail 64 provided between the first guide rail 63a and the second guide rail 63b. And because it can be easily guided to the second guide groove 45b, the surgical instrument 40 can be easily attached to the adapter 60.

Further, the leading guide rail 64 is formed in a tapered shape on the upstream side (Y2 direction side) of the surgical instrument 40 with respect to the adapter 60 in the slide insertion direction. Specifically, the leading guide rail 64 is formed so that the end portion on the Y2 direction side has a tapered width in the X direction. Further, the leading guide rail 64 is formed so that the end portion on the Y2 direction side is tapered in height in the Z direction. As a result, the leading guide rail 64 can be easily guided to the leading guide groove 47 by the tapered portion.

The first electrode array 65 is connected to the second electrode array 48 of the surgical instrument 40 and the robot arm 21. As shown in FIG. 8, the first electrode array 65 includes a plurality of electrodes 651 and a groove 652. The electrode 651 is arranged so as to extend in the Z direction so as to penetrate the substrate 61. The groove 652 is provided on the second surface 60b. Further, the groove 652 receives a protrusion 482 (see FIG. 11) provided in the second electrode array 48 on the mounting surface 40a of the surgical instrument 40. That is, when the surgical instrument 40 is attached to the adapter 60, the protrusion 482 fits into the groove 652. Thereby, even when the surgical instrument 40 is removed from the adapter 60, the protrusion 482 and the groove 652 can prevent the operator from touching the first electrode array 65 and the second electrode array 48. Further, when the surgical instrument 40 is attached to the adapter 60, the protruding portion 482 can be received by the groove 652 to connect the first electrode array 65 and the second electrode array 48.

The arm engaging portion 66 engages with the engaging portion 213 of the robot arm 21. Specifically, the arm engaging portion 66 engages with the engaging portion 213 inserted into the arm engaging hole portion 67 provided on the first surface 60a. Further, the arm engaging portion 66 can be moved in the Y direction. The arm engaging portion 66 is urged in the Y1 direction by the urging member. The arm engaging portion 66 engages with the engaging portion 213 by being moved in the Y1 direction. On the other hand, the arm engaging portion 66 is disengaged from the engaging portion 213 by being moved in the Y2 direction.

A plurality of arm engaging holes 67 are provided. That is, the adapter 60 is fixed to the robot arm 21 by engaging at a plurality of places. For example, five arm engaging holes 67 are provided. Further, the plurality of arm engaging holes 67 are evenly provided along the circumferential direction of the first surface 60a.

The positioning hole 68 is provided on the first surface 60a. The boss 214 of the robot arm 21 fits into the positioning hole 68. A plurality of positioning holes 68 are provided. The positioning hole 68 is provided near the end of the first surface 60a on the Y1 direction side.

As shown in FIG. 7, the drive transmission member 62 includes a first member 621 and a second member 622 movably provided with respect to the first member 621 via an urging member 623. The first member 621 has a recess 621a into which the second member 622 fits, and an engaging portion 621b that engages with the second member 622. The second member 622 has a recess 622a in which the urging member 623 is housed, and an engaging portion 622b that engages with the first member 621. The first member 621 and the second member 622 are aligned in the Z direction with the urging member 623 sandwiched between them. The first member 621 is arranged on the second surface 60b side (Z1 direction side). The second member 622 is arranged on the first surface 60a side (Z2 direction side). The urging member 623 urges the first member 621 toward the Z1 direction with respect to the second member 622. The urging member 623 is composed of, for example, a spring.

The second member 622 is arranged flush with the first surface 60a in the Z direction. Further, the second member 622 is arranged so as not to be moved with respect to the substrate 61 in the Z direction. The first member 621 is movably arranged with respect to the substrate 61 in the Z direction. As a result, when the surgical instrument 40 is guided along the first guide rail 63a and the second guide rail 63b and attached to the adapter 60, the drive transmission member 62 is set so as not to interfere with the movement of the surgical instrument 40. One member 621 can be moved so as to be recessed in the Z direction.

Further, the first member 621 is configured to be rotated as the second member 622 rotates about the rotation axis in the Z direction. Specifically, the engaging portion 621b provided on the inner peripheral portion of the first member 621 and the engaging portion 622b provided on the outer peripheral portion of the second member 622 are configured to engage with each other. .. The engaging portion 621b of the first member 621 is formed so as to project inward from the recess 621a. The engaging portion 622b of the second member 622 is formed so as to be recessed inward from the outer peripheral portion of the second member 622. The engaging portion 621b of the first member 621 and the engaging portion 622b of the second member 622 are configured to engage with each other even if the first member 621 moves in the Z direction with respect to the second member 622. Has been done. That is, the first member 621 is configured to rotate together with the second member 622 regardless of the position of the first member 621 with respect to the second member 622 in the Z direction. As a result, when the second member 622 is rotated by the rotation of the rotation drive unit 212 of the robot arm 21, the first member 621 is also rotated. As a result, the rotation of the rotation drive unit 212 of the robot arm 21 is transmitted to the rotation member 44 of the surgical instrument 40 that engages with the first member 621.

As shown in FIGS. 8 and 9, the guide rail 63 includes a rail portion 631, an overhanging portion 632, and a claw portion 633. The rail portion 631 is formed so as to extend in the Y direction. The rail portion 631 enters the guide groove 45 of the surgical instrument 40 and guides the movement of the surgical instrument 40 with respect to the adapter 60.

The overhanging portion 632 is formed so as to overhang from the rail portion 631 in the X direction. Specifically, of the first guide rail 63a and the second guide rail 63b, the overhanging portion 632 of the guide rail 63 on the X1 direction side is arranged on the X1 direction side with respect to the rail portion 631. Further, of the first guide rail 63a and the second guide rail 63b, the overhanging portion 632 of the guide rail 63 on the X2 direction side is arranged on the X2 direction side with respect to the rail portion 631.

The claw portion 633 is formed so as to project from the rail portion 631 in the X direction. Specifically, of the first guide rail 63a and the second guide rail 63b, the claw portion 633 of the guide rail 63 on the X1 direction side is arranged on the X2 direction side with respect to the rail portion 631. Further, of the first guide rail 63a and the second guide rail 63b, the claw portion 633 of the guide rail 63 on the X2 direction side is arranged on the X1 direction side with respect to the rail portion 631. That is, the overhanging portion 632 is provided on the opposite side of the claw portion 633 with respect to the rail portion 631. The overhanging portion 632 is arranged outside the rail portion 631 in the X direction. The claw portion 633 is arranged inside the rail portion 631 in the X direction.

The overhanging portion 632 engages with an engaging groove 451 (see FIGS. 10 and 11) provided in the guide groove 45 of the surgical instrument 40. As a result, the overhanging portion 632 is engaged with the engaging groove 451 so that the surgical instrument 40 can be more stably fixed to the adapter 60. That is, by engaging the overhanging portion 632 with the engaging groove 451 so that the surgical instrument 40 is connected to the adapter 60 so as not to come off in the Z direction.

The claw portion 633 engages with an engaging hole 462 (see FIGS. 10 and 11) provided in the guide groove 45 of the surgical instrument 40. Specifically, the claw portion 633 engages with the engaging hole 462 provided in the side wall of the movable member 46 forming the guide groove 45. As a result, the claw portion 633 is engaged with the engaging hole 462, so that the surgical instrument 40 guided by the guide rail 63 can be positioned and fixed with respect to the adapter 60. That is, by engaging the claw portion 633 with the engaging hole 462, the surgical instrument 40 is positioned in the Y direction with respect to the adapter 60, and the surgical instrument 40 does not come off with respect to the adapter 60 in the Y direction. It is fixed (locked). Further, as shown in FIG. 9, the claw portion 633 is formed so as to be inclined along the X direction.

As shown in FIG. 8, each of the plurality of drive transmission members 62 includes an engaging portion 624 that engages with a corresponding rotating member 44 provided on the mounting surface 40a of the surgical instrument 40. The engaging portion 624 includes a first engaging portion 624a provided on the first drive transmission member 62a located on the upstream side (Y2 direction side) of the plurality of drive transmission members 62 in the slide insertion direction, and the plurality of drive transmission members. Of 62, the second engaging portion 624b provided on the second drive transmission member 62b located on the downstream side (Y1 direction side) in the slide insertion direction is included. The first engaging portion 624a and the second engaging portion 624b have different shapes from each other. As a result, it is possible to prevent the first drive transmission member 62a and the rotating member 44 corresponding to the second drive transmission member 62b from engaging with each other and being caught in the middle of sliding the surgical instrument 40 with respect to the adapter 60. , The surgical instrument 40 can be smoothly attached to the adapter 60.

That is, the first engaging portion 624a has a shape in which the rotating member 44 that engages with the second engaging portion 624b does not engage. As a result, it is possible to more reliably prevent the first drive transmission member 62a and the rotating member 44 corresponding to the second drive transmission member 62b from being engaged with each other and being caught in the middle of sliding the surgical instrument 40 with respect to the adapter 60. Can be done.

Specifically, a first recess 625 and a second recess 626 are independently formed as the first engaging portion 624a on the second surface 60b side of the first drive transmission member 62a. Further, on the second surface 60b side of the second drive transmission member 62b, one recess having a shape in which the first recess 625 and the second recess 626 are connected by the third recess 627 is formed as the second engaging portion 624b. ing. As shown in FIG. 10, among the plurality of rotating members 44 provided on the mounting surface 40a of the surgical instrument 40, the first rotating member 44a that engages with the first drive transmission member 62a has a first recess 625 and a second. It has a first protrusion 441 and a second protrusion 442 that are inserted into the recess 626. That is, the first protrusion 441 engages with the first recess 625. Further, the second protrusion 442 engages with the second recess 626.

Of the plurality of rotating members 44 provided on the mounting surface 40a of the surgical instrument 40, the second rotating member 44b that engages with the second drive transmission member 62b has a first protrusion 441 inserted into one recess and a first It has two protrusions 442 and a third protrusion 443 arranged between the first protrusion 441 and the second protrusion 442. That is, the first protrusion 441 engages with the first recess 625. Further, the second protrusion 442 engages with the second recess 626. Further, the third protrusion 443 engages with the third recess 627. As a result, depending on whether the first recess 625 and the second recess 626 are provided independently, or the first recess 625 and the second recess 626 are connected to form one recess, the first engaging portion 624a and the second engaging portion 624a and the second engaging portion are engaged. The shapes of the portions 624b can be easily formed so as to be different from each other. Further, the parts constituting the first protrusion 441 and the second protrusion 442 are shared, and the engaging portions of the first rotating member 44a and the second rotating member 44b have different shapes depending on the presence or absence of the third protrusion 443. Since it can be formed in, it is possible to suppress an increase in the types of parts.

As shown in FIGS. 10 and 11, the guide groove 45 on the mounting surface 40a of the surgical instrument 40 is provided with an engagement groove 451. The engagement groove 451 is formed so as to extend in the Y direction along the guide groove 45. The overhanging portion 632 of the guide rail 63 provided on the second surface 60b of the adapter 60 engages with the engaging groove 451.

An engaging hole 462 is provided on the side wall of the movable member 46 forming the guide groove 45. The claw portion 633 of the guide rail 63 provided on the second surface 60b of the adapter 60 engages with the engagement hole 462. Further, by moving the movable member 46 inward in the X direction, the engagement of the claw portion 633 with the engagement hole 462 is released. Further, by moving the movable member 46 inward in the X direction, the drive transmission member 62 is pushed in the Z2 direction, and the engagement between the drive transmission member 62 and the rotating member 44 is released. In this state, the surgical instrument 40 can be removed from the adapter 60 by sliding the surgical instrument 40 with respect to the adapter 60 in the Y2 direction.

The second electrode array 48 on the mounting surface 40a of the surgical instrument 40 includes a plurality of electrodes 481 and a protrusion 482. Each of the plurality of electrodes 481 is connected to a plurality of electrodes 651 of the first electrode array 65 of the adapter 60. The protrusions 482 are arranged on both sides in the X direction with respect to each electrode 481. The protrusion 482 is provided to prevent the electrode 481 from being touched by a hand or the like. Specifically, the distance between the protrusions 482 that sandwich the electrode 481 is sufficiently smaller than the size of a finger. Further, the protruding portion 482 protrudes more than the electrode 481 in the Z direction.

(Attachment of surgical instruments to the robot arm)
The attachment of the surgical instrument 40 to the robot arm 21a according to the first embodiment will be described with reference to FIGS. 12 to 14.

As shown in FIG. 12, the adapter 60 is attached to the robot arm 21a with the robot arm 21a covered with the drape 70. The adapter 60 is moved in the Z direction with respect to the robot arm 21a and attached to the robot arm 21a. As shown in FIGS. 13 and 14, the surgical instrument 40 is attached to the adapter 60 attached to the robot arm 21a. The surgical instrument 40 is attached to the adapter 60 by being moved in the Y direction along the leading guide rail 64 and the first guide rail 63a and the second guide rail 63b of the adapter 60. As a result, the surgical instrument 40 is attached to the robot arm 21a via the adapter 60.

When the surgical instrument 40 is removed from the robot arm 21a, the surgical instrument 40 is removed from the adapter 60 by sliding the surgical instrument 40 in the Y2 direction while pressing the button 461 of the movable member 46 of the surgical instrument 40.

[Second Embodiment]
Next, a second embodiment of the present invention will be described with reference to FIGS. 15 to 26. In this second embodiment, an example of a configuration in which the adapter of the first embodiment is further provided with a leading guide portion will be described.

Here, the adapter 60 of the second embodiment is provided with a leading guide portion 69 as shown in FIGS. 15 and 16. The leading guide portion 69 is formed so as to project from the substrate 61 along a direction (Y direction) parallel to the extending direction of the first guide rail 63a and the second guide rail 63b. Further, the leading guide unit 69 guides the surgical instrument 40 ahead of the first guide rail 63a and the second guide rail 63b. As a result, the first guide rail 63a and the second guide rail 63b can be easily moved to the first guide groove 45a and the second guide groove 45b by the guidance of the leading guide portion 69 provided so as to project from the base 61. The surgical instrument 40 can be easily attached to the adapter 60 because it can be guided to. Further, by providing the leading guide portion 69 so as to protrude from the base 31, the attachment direction and attachment position of the surgical instrument 40 with respect to the adapter 60 can be easily recognized.

Further, the leading guide portion 69 guides the protruding portion 49 projecting from the mounting surface 40a of the surgical instrument 40 toward the second surface 60b in the extending direction (Y direction) of the first guide rail 63a and the second guide rail 63b. It is configured to do. As a result, the surgical instrument 40 can be easily guided to the attachment position of the adapter 60 by sliding the protruding portion 49 provided on the attachment surface 40a of the surgical instrument 40 along the leading guide portion 69.

As shown in FIG. 15, a pair of protruding portions 49 of the surgical instrument 40 are provided near the ends of the mounting surface 40a in the Y2 direction. Further, the pair of protruding portions 49 are arranged at predetermined intervals in the X direction. Further, the pair of projecting portions 49 are arranged so as to sandwich the second electrode array 48.

Further, the second surface 60b of the base 61 has a mounting engaging portion 611 to which the protruding portion 49 of the mounting surface 40a engages. As a result, the protruding portion 49 that engages with the mounting engaging portion 611 can be guided by the leading guide portion 69, so that it is not necessary to separately provide a member for guiding the surgical instrument. Specifically, as shown in FIG. 16, a pair of mounting engagement portions 611 are provided near the ends of the second surface 60b of the base 61 in the Y2 direction. Further, the pair of mounting engagement portions 611 are arranged at predetermined intervals in the X direction. Further, the pair of mounting engagement portions 611 are arranged so as to sandwich the first electrode array 65.

As shown in FIGS. 24 to 26, in the side view, the mounting engagement portion 611 has a recess recessed in the Y direction. Further, in the side view, the protruding portion 49 has a convex portion protruding in the Y direction. The convex portion of the protruding portion 49 fits into the concave portion of the mounting engaging portion 611, so that the protruding portion 49 and the mounting engaging portion 611 are engaged with each other.

Further, in the second embodiment, as shown in FIG. 16, the base 61 is provided with a contact portion 612 to which the surgical instrument 40 comes into contact. A pair of contact portions 612 are provided near the ends of the second surface 60b of the substrate 61 in the Y1 direction. Further, the pair of abutting portions 612 are arranged at predetermined intervals in the X direction. Further, the pair of contact portions 612 are formed so as to project toward the surgical instrument 40 side (Z1 direction side). The contact portion 612 is configured to abut the end of the housing 43 of the surgical instrument 40 on the Y1 direction when the surgical instrument 40 is attached to the adapter 60.

A pair of leading guide portions 69 are provided substantially parallel to the first surface 60a and the second surface 60b and substantially parallel to each other at a predetermined interval in a direction (X direction) orthogonal to the direction for guiding the surgical instrument 40. ing. As a result, the surgical instrument 40 can be stably guided to the attachment position of the adapter 60 as compared with the case where the surgical instrument 40 is guided by one leading guide portion 69.

As shown in FIGS. 21 to 23, each of the pair of leading guide portions 69 is configured to guide the protruding portion 49 of the surgical instrument 40 by the outer surface in the X direction. That is, the leading guide portion 69 on the X1 direction side guides the protruding portion 49 of the surgical instrument 40 in the Y direction by the side surface on the X1 direction side. Further, the leading guide portion 69 on the X2 direction side guides the protruding portion 49 of the surgical instrument 40 in the Y direction by the side surface on the X2 direction side.

Further, as shown in FIG. 16, the ends of the pair of leading guide portions 69 on the upstream side (Y2 direction side) in the slide insertion direction are connected to each other by the connecting portion 691. As a result, the mechanical strength of the pair of leading guide portions 69 can be improved by connecting the ends of the pair of leading guide portions 69 to each other, so that the pair of leading guide portions 69 are bent or deformed. Can be suppressed. As a result, the guide function of the pair of leading guide portions 69 can be reliably exerted.

The connecting portion 691 is formed so as to extend in the direction (X direction) in which the pair of leading guide portions 69 are arranged. Further, the connecting portion 691 is formed so that the surgical instrument 40 side (Z1 direction side) is recessed. As a result, when the surgical instrument 40 is slid in the Y1 direction while being guided by the leading guide portion 69, the second electrode array 48 protruding from the mounting surface 40a of the surgical instrument 40 toward the Z2 direction interferes with the connecting portion 691. It can be suppressed. The pair of leading guide portions 69 and the connecting portion 691 are integrally formed. As a result, the number of parts can be reduced as compared with the case where the pair of leading guide portions 69 and the connecting portion 691 are formed separately.

Further, in the second embodiment, the first guide rail 63a and the second guide rail 63b of the second surface 60b are 634 (Y2 direction side) of each end of the first guide rail 63a and the second guide rail 63b. By sliding one end 452 (the end on the Y1 direction side) of each of the first guide groove 45a and the second guide groove 45b of the mounting surface 40a in association with each other, a plurality of drive transmissions are transmitted. Each of the members 62 and each of the plurality of rotating members 44 provided on the mounting surface 40a are configured to guide the surgical instrument 40 so as to correspond to each other.

(Attachment of surgical instruments to the robot arm)
The attachment of the surgical instrument 40 to the robot arm 21a according to the second embodiment will be described with reference to FIGS. 17 to 20.

As shown in FIG. 17, the adapter 60 is attached to the robot arm 21a with the robot arm 21a covered with the drape 70. The adapter 60 is moved in the Z direction with respect to the robot arm 21a and attached to the robot arm 21a. As shown in FIGS. 18 and 19, the surgical instrument 40 is attached to the adapter 60 attached to the robot arm 21a. The surgical instrument 40 is attached to the adapter 60 by being moved in the Y direction along the leading guide portion 69, the leading guide rail 64 and the first guide rail 63a and the second guide rail 63b of the adapter 60. As a result, as shown in FIG. 20, the surgical instrument 40 is attached to the robot arm 21a via the adapter 60.

When the surgical instrument 40 is removed from the robot arm 21a, the surgical instrument 40 is removed from the adapter 60 by sliding the surgical instrument 40 in the Y2 direction while pressing the button 461 of the movable member 46 of the surgical instrument 40.

(Attachment of surgical instruments to the adapter)
The attachment of the surgical instrument 40 to the adapter 60 by the guidance of the leading guide portion 69 will be described with reference to FIGS. 21 to 26.

As shown in FIGS. 21 and 24, the surgical instrument 40 is positioned on the Z1 direction side of the adapter 60 so that the protruding portion 49 of the surgical instrument 40 comes into contact with the leading guide portion 69 of the adapter 60.

As shown in FIGS. 22 and 25, the surgical instrument 40 is moved in the Y1 direction while the leading guide portion 69 guides the protruding portion 49. At this time, the surgical instrument 40 is guided by the leading guide rail 64, and then the surgical instrument 40 is guided by the first guide rail 63a and the second guide rail 63b.

As shown in FIGS. 23 and 26, when the surgical instrument 40 is attached to the adapter 60, the protruding portion 49 of the surgical instrument 40 is engaged with the attachment engaging portion 611 of the adapter 60.

The other configurations of the second embodiment are the same as those of the first embodiment.

(Modification example)
It should be noted that the embodiments disclosed this time are exemplary in all respects and are not considered to be restrictive. The scope of the present invention is shown by the scope of claims rather than the description of the above-described embodiment, and further includes all modifications (modifications) within the meaning and scope equivalent to the scope of claims.

For example, in the first and second embodiments described above, an example of a configuration in which a surgical instrument is slid and moved in a direction in which a shaft extends along a second surface of an adapter is shown, but the present invention is limited to this. I can't. In the present invention, the surgical instrument may be attached and detached by sliding the surgical instrument along the second surface of the adapter in a direction intersecting the extending direction of the shaft.

Further, in the first embodiment, an example of a configuration in which the adapter has a substantially circular shape in a plan view is shown, but the present invention is not limited to this. In the present invention, the shape of the adapter in a plan view does not have to be substantially circular. For example, the adapter may have a rectangular shape in plan view.

Further, in the first and second embodiments, an example of a configuration in which the adapter is provided with four drive transmission members has been shown, but the present invention is not limited to this. In the present invention, the adapter may be provided with a plurality of drive transmission members other than the four.

Further, in the first and second embodiments, the example of the configuration in which the adapter and the drape are separately provided is shown, but the present invention is not limited to this. In the present invention, the adapter and the drape may be integrally provided.

21a: Robot arm, 40: Surgical instrument, 40a: Mounting surface, 42: Shaft, 44: Rotating member, 45: Guide groove, 45a: First guide groove, 45b: Second guide groove, 47: Advance guide groove , 48: Second electrode array, 49: Projection, 60: Adapter, 60a: First surface, 60b: Second surface, 61: Base, 62: Drive transmission member, 62a: First drive transmission member, 62b: First 2 drive transmission member, 63: guide rail, 63a: first guide rail, 63b: second guide rail, 64: leading guide rail, 65: first electrode array, 69: leading guide section, 70: drape, 100 : Robotic surgery system, 441: 1st protrusion, 442: 2nd protrusion, 443: 3rd protrusion, 451: engagement groove, 462: engagement hole, 482: protrusion, 611: mounting engagement part, 621: 1st member, 622: 2nd member, 623: urging member, 624: engaging part, 624a: 1st engaging part, 624b: 2nd engaging part, 625: 1st recess, 626: second Recess, 631: Rail part, 632: Overhang part, 633: Claw part, 652: Groove, 691: Connection part

Claims (19)

An adapter for detachably connecting surgical instruments to the robot arm of a robotic surgery system.
A substrate including a first surface for mounting on the robot arm and a second surface on which the mounting surface of the surgical instrument is mounted.
A plurality of drive transmission members rotatably provided on the substrate are provided.
The second surface of the substrate has first and second guide rails corresponding to the first and second guide grooves provided on the mounting surface, respectively.
The first and second guide rails on the second surface are inserted into the first and second guide grooves on the mounting surface, and the surgical instrument is slid with each of the plurality of drive transmission members. It is configured to guide the surgical instrument so as to correspond to each of the plurality of rotating members provided on the mounting surface .
An adapter in which the first and second guide rails have claws that engage with engagement holes provided in the first and second guide grooves, respectively . An adapter for detachably connecting surgical instruments to the robot arm of a robotic surgery system.
A substrate including a first surface for mounting on the robot arm and a second surface on which the mounting surface of the surgical instrument is mounted.
A plurality of drive transmission members rotatably provided on the substrate are provided.
The second surface of the substrate has first and second guide rails corresponding to the first and second guide grooves provided on the mounting surface, respectively.
The first and second guide rails on the second surface are inserted into the first and second guide grooves on the mounting surface, and the surgical instrument is slid with each of the plurality of drive transmission members. It is configured to guide the surgical instrument so as to correspond to each of the plurality of rotating members provided on the mounting surface.
Each of the plurality of drive transmission members includes an engaging portion that engages with a corresponding rotating member provided on the mounting surface.
The engaging portion includes a first engaging portion provided on the first drive transmission member located on the upstream side of the plurality of drive transmission members in the slide insertion direction, and downstream of the plurality of drive transmission members in the slide insertion direction. It has a second engaging portion provided on the second drive transmission member located on the side, and has.
The first engaging portion is an adapter having a shape in which the rotating member that engages with the second engaging portion does not engage when the surgical instrument is slid and attached to the adapter. An adapter for detachably connecting surgical instruments to the robot arm of a robotic surgery system.
A substrate including a first surface for mounting on the robot arm and a second surface on which the mounting surface of the surgical instrument is mounted.
A plurality of drive transmission members rotatably provided on the substrate are provided.
The second surface of the substrate has first and second guide rails corresponding to the first and second guide grooves provided on the mounting surface, respectively.
The first and second guide rails on the second surface are inserted into the first and second guide grooves on the mounting surface, and the surgical instrument is slid with each of the plurality of drive transmission members. It is configured to guide the surgical instrument so as to correspond to each of the plurality of rotating members provided on the mounting surface.
It is formed so as to project from the substrate along a direction parallel to the extending direction of the first and second guide rails, and guides the surgical instrument ahead of the first and second guide rails. An adapter with an additional guide section. The drive transmission member includes a first member and a second member movably provided with respect to the first member via an urging member.
The first and second guide rails on the second surface guide the first and second guide grooves of the surgical instrument in a direction intersecting the moving direction of the second member with respect to the first member. The adapter according to any one of claims 1 to 3 , which is configured as described above. The second surface of the substrate is provided between the first and second guide rails and corresponds to the leading guide groove provided on the mounting surface, rather than the first and second guide rails. The adapter according to any one of claims 1 to 4 , further comprising a leading guide rail for guiding the surgical instrument in advance. The adapter according to claim 5 , wherein the leading guide rail is formed in a tapered shape on the upstream side in the slide insertion direction. The adapter according to claim 2 or 3 , wherein the first and second guide rails have claws that engage with engagement holes provided in the first and second guide grooves, respectively. .. The first and second guide rails are provided on the opposite side of the claw portion with respect to the rail portion entering each of the first and second guide grooves, respectively, and the first and second guide grooves are provided. The adapter according to claim 1 or 7 , which has an overhang that engages with an engagement groove provided in each of the above. The second surface of the substrate has a first electrode array and a groove provided on the mounting surface to receive a protrusion provided on the second electrode array connected to the first electrode array. The adapter according to any one of claims 1 to 8 . Each of the plurality of drive transmission members includes an engaging portion that engages with a corresponding rotating member provided on the mounting surface.
The engaging portion includes a first engaging portion provided on the first drive transmission member located on the upstream side of the plurality of drive transmission members in the slide insertion direction, and downstream of the plurality of drive transmission members in the slide insertion direction. The adapter according to claim 1 or 3 , which is provided on a second drive transmission member located on the side and has a second engaging portion having a shape different from that of the first engaging portion. The adapter according to claim 10 , wherein the first engaging portion has a shape in which the rotating member that engages with the second engaging portion does not engage. A first recess and a second recess are independently formed as the first engaging portion on the second surface side of the first drive transmission member.
On the second surface side of the second drive transmission member, one recess having a shape in which the first recess and the second recess are connected is formed as the second engaging portion.
Of the plurality of rotating members provided on the mounting surface, the first rotating member that engages with the first drive transmission member is a first protrusion and a second that are inserted into the first recess and the second recess. It has a protrusion and
Of the plurality of rotating members provided on the mounting surface, the second rotating member that engages with the second drive transmission member includes the first protrusion inserted into the one recess and the second protrusion. The adapter according to claim 2, 10 or 11 , further comprising a first protrusion and a third protrusion arranged between the first protrusions. The adapter according to any one of claims 1 to 12 , wherein the slide insertion direction is substantially parallel to the direction in which the shaft of the surgical instrument extends. The adapter according to any one of claims 1 to 13 , which is a drape adapter for sandwiching a drape with the robot arm. It is formed so as to project from the substrate along a direction parallel to the extending direction of the first and second guide rails, and guides the surgical instrument ahead of the first and second guide rails. The adapter according to claim 1 or 2 , further comprising a guide portion. The preceding guide portion is configured to guide a protruding portion protruding from the mounting surface of the surgical instrument toward the second surface side in the extending direction of the first and second guide rails. The adapter according to 3 or 15 . The adapter according to claim 16 , wherein the second surface of the substrate has a mounting engaging portion with which the protruding portion of the mounting surface engages. A pair of leading guide portions are provided substantially parallel to the first surface and the second surface, and substantially parallel to each other at a predetermined interval in a direction orthogonal to the direction for guiding the surgical instrument. Item 5. The adapter according to any one of Items 3, 15 to 17 . The adapter according to claim 18 , wherein the adapter includes a connection portion for connecting the ends of the pair of leading guide portions on the upstream side in the slide insertion direction to each other.

Images