Sterile drape, surgical support robot, and method for attaching surgical instrument

Abstract

To provide a sterilization drape capable of facilitating work when covering a robot arm of a surgery support robot by a sterilization drape.SOLUTION: A drape 70 is a sterilization drape for covering a robot arm 21 of a surgery support robot 20, and the drape comprises: a bag-shaped drape main body 71 on which an opening 73 is provided on one side end; a pair of grip parts 74 which is provided to extend from the one side end of the drape main body 71; and an annular stretchable string 75 which is provided in the vicinity of the opening 73 of the drape main body 71, and fixes the drape main body 71 to the robot arm 21.SELECTED DRAWING: Figure 6

Description

[Technical Field]

[0001] This invention relates to a sterile drape, a surgical support robot, and Attaching surgical instruments Regarding the method. [Background technology]

[0002] BACKGROUND ART Sterile drapes that cover the robot arms of surgical support robots are known (see, for example, Patent Documents 1 and 2).

[0003] The above-mentioned Patent Document 1 discloses a sterile drape that includes a bag-shaped drape body with an opening at one end and cuffs that are integrally attached to the opening of the drape body. In the sterile drape of Patent Document 1, an assistant inserts their hand into the cuffs that are integrally attached to the drape body and pulls them along the robot arm, thereby attaching the drape body to the robot arm.

[0004] Patent Document 2 discloses a surgical drape (sterilized drape) that includes a bag-shaped drape body with an opening at one end. In the surgical drape of Patent Document 2, a magnet is provided on one side of the robot arm or the drape body, and an iron-based metal member is provided on the other side, and the magnet and the iron-based metal member are attracted to each other by magnetic force, thereby fixing the drape body to the robot arm. [Prior art documents] [Patent documents]

[0005] [Patent Document 1] Special Publication No. 2009-509653 [Patent Document 2] Special Publication No. 2017-512547 Summary of the Invention [Problem to be solved by the invention]

[0006] The sterile drape of Patent Document 1 requires an assistant to insert their hand into the cuffs integrally attached to the drape body and pull it along the robot arm. Furthermore, the surgical drape (sterile drape) of Patent Document 2 requires aligning a relatively small magnet with an iron-based metal member to secure the drape body to the robot arm. Therefore, Patent Documents 1 and 2 have the problem that the work of covering the robot arm with the sterile drape is cumbersome.

[0007] The present invention relates to a sterile drape, a surgical support robot, and a method for easily covering the robot arm of a surgical support robot with a sterile drape. Attaching surgical instruments The purpose is to provide a method. [Means for solving the problem]

[0008] A sterile drape according to a first aspect of the present invention is a sterile drape for covering a robot arm of a surgical support robot, and comprises: a bag-shaped drape body having an opening at one end; a pair of gripping portions extending from one end of the drape body; Separate from the grip a looped elastic cord provided near the opening of the drape body for fixing the drape body to the robot arm; a mount cover disposed on the other side of the drape body, configured to cover an attachment portion of the robot arm to which an adapter for attaching a surgical instrument to the robot arm is attached, the mount cover having a plurality of through holes; and a protective film removably attached to the mount cover and covering the entire surface of the mount cover. Equipped with.

[0009] A sterile drape according to a first aspect of the present invention has a pair of gripping portions extending from one end of the drape body. This allows a surgical assistant or other worker to easily cover a robot arm with the sterile drape by grasping the pair of gripping portions with both hands and moving one end of the drape body along the robot arm. The drape body also has a circular stretchable cord near its opening for securing the drape body to the robot arm. This allows the drape body to be gradually covered with the circular stretchable cords at the start of the process of covering the robot arm. When the drape body reaches the fixed position, the drape body can be easily secured to the robot arm by utilizing the tightening force generated by the contraction of the circular stretchable cords. These features facilitate the process of covering the robot arm of a surgical support robot with the sterile drape.

[0010] A surgical support robot according to a second aspect of the present invention is a surgical instrument Through an adapter Can be attached Mounting part included The apparatus includes a robot arm and a sterile drape covering the robot arm, the sterile drape including a bag-shaped drape body having an opening at one end thereof, a pair of gripping portions extending from one end of the drape body, and Separate from the grip a looped elastic cord provided near the opening of the drape body for fixing the drape body to the robot arm; a mount cover having a plurality of through holes, the mount cover being disposed on the other side of the drape body and configured to cover an attachment portion of the robot arm to which an adapter for attaching a surgical instrument to the robot arm is attached; and a protective film removably attached to the mount cover and covering the entire surface of the mount cover. Includes:

[0011] A surgical support robot according to a second aspect of the present invention includes a pair of grippers extending from one end of the drape body. This allows a surgical assistant or other operator to easily cover the robot arm with a sterile drape by grasping the pair of grippers with both hands and moving one end of the drape body along the robot arm. The drape body also includes a ring-shaped elastic cord near the opening for securing the drape body to the robot arm. This allows the drape body to be gradually covered with the ring-shaped elastic cords at the start of the drape body covering the robot arm. When the drape body reaches the fixed position, the drape body can be easily secured to the robot arm by utilizing the tightening force generated by the contraction of the ring-shaped elastic cords. As a result, a surgical support robot can be provided that allows the drape body to be easily secured to the robot arm by the drape body covering the robot arm of the surgical support robot with a sterile drape.

[0012] According to the third aspect of the present invention Attaching surgical instruments The method involves the robotic arm of a surgical assistant robot. Attaching surgical instruments to A method for making a drape body having a bag shape and an opening at one end. a pair of gripping portions provided so as to extend from one end of the drape body; an annular stretchable string provided in the vicinity of the opening of the drape body separately from the gripping portions for fixing the drape body to the robot arm; a mount cover disposed on the other side of the drape body and having a plurality of through holes configured to cover an attachment portion of the robot arm to which an adapter for attaching a surgical instrument to the robot arm is attached; and a protective film removably attached to the mount cover and covering the entire surface of the mount cover, the sterile drape being placed over the tip of the robot arm through the opening, with the mount cover facing the attachment portion. While grasping the pair of gripping parts, the robot arm is covered with the drape body, and the drape body is fixed to the robot arm by a circular elastic string provided near the opening of the drape body. Then, peel off the protective film covering the mount cover, attach the adapter to the mounting part via the mount cover, and attach the surgical instrument to the adapter. .

[0013] According to the third aspect of the present invention Attaching surgical instrumentsIn this method, a robot arm is covered with a bag-shaped drape body having an opening at one end while grasping a pair of gripping parts extending from one end of the drape body. Thus, a surgical assistant or other worker can easily cover the robot arm with a sterile drape by grasping the pair of gripping parts with both hands and moving one end of the drape body along the robot arm. Furthermore, the drape body is secured to the robot arm by a circular elastic cord provided near the opening of the drape body. Thus, when the work of covering the robot arm with the drape body begins, the circular elastic cord is spread out as the work of covering the robot arm progresses, and then, when the drape body reaches the secured position, the tightening force produced by the contraction of the circular elastic cord can be used to easily secure the drape body to the robot arm. As a result, the work of covering the robot arm of a surgical support robot with a sterile drape can be easily performed. Attaching surgical instruments A method can be provided. [Effects of the Invention]

[0014] According to the present invention, the work of covering the robot arm of a surgical support robot with a sterile drape can be easily performed. [Brief explanation of the drawings]

[0015] [Figure 1] FIG. 1 is a diagram illustrating a schematic of a robotic surgical system according to one embodiment. [Figure 2] FIG. 1 is a block diagram showing the control configuration of a robotic surgery system according to one embodiment. [Figure 3] FIG. 1 is a perspective view showing a state in which a surgical instrument is attached to a robot arm via an adapter according to one embodiment. [Figure 4] FIG. 1 is a perspective view illustrating a state in which a drape is attached to a robot arm according to one embodiment. [Figure 5] FIG. 10 is a side view illustrating a drape being attached to a robotic arm according to one embodiment. [Figure 6]FIG. 10 is a plan view illustrating a drape attached to a robotic arm according to one embodiment. [Figure 7] FIG. 10 is a plan view illustrating a mount cover of a drape according to one embodiment. [Figure 8] FIG. 10 is an enlarged cross-sectional view showing an elastic cord of a drape according to one embodiment. [Figure 9] FIG. 10 is a schematic diagram illustrating a folded state of a drape attached to a robotic arm according to one embodiment. [Figure 10] FIG. 10 illustrates a robotic arm during application of a drape according to one embodiment. [Figure 11] FIG. 10 is a schematic diagram illustrating a state in which a robot arm is inserted from the insertion position of a drape according to one embodiment. [Figure 12] FIG. 2 is a schematic diagram illustrating a first state in which a gripper of a drape is moved along a robot arm according to one embodiment. [Figure 13] FIG. 10 is a schematic diagram illustrating a second state in which the gripping portion of the drape is moved along the robot arm according to the embodiment. [Figure 14] FIG. 1 illustrates a drape attached to a robotic arm according to one embodiment. DETAILED DESCRIPTION OF THE INVENTION

[0016] Hereinafter, an embodiment of the present invention will be described with reference to the drawings.

[0017] (Configuration of robotic surgery system) The configuration of a robotic surgery system 100 according to one embodiment will be described with reference to FIGS.

[0018] As shown in FIG. 1, a robotic surgery system 100 includes a remote control device 10 and a patient-side device 20. The remote control device 10 is provided to remotely control medical equipment provided in the patient-side device 20. When an operator O, a surgeon, inputs an operation mode command to be executed by the patient-side device 20 to the remote control device 10, the remote control device 10 transmits the operation mode command to the patient-side device 20 via a controller 24. In response to the operation mode command transmitted from the remote control device 10, the patient-side device 20 operates medical instruments such as a surgical instrument 40 attached to a robot arm 21a and an endoscope 50 attached to a robot arm 21b. This allows minimally invasive surgery to be performed. The patient-side device 20 is an example of a "surgery support robot" as defined in the claims.

[0019] The patient-side device 20 constitutes an interface for performing surgery on a patient P. The patient-side device 20 is placed beside an operating table 30 on which the patient P lies. The patient-side device 20 has multiple robot arms 21a, 21b, of which an endoscope 50 is attached to one robot arm 21b, and a surgical instrument 40 is attached to the other robot arm 21a. Each robot arm 21a, 21b is supported in common by an arm base 23. The multiple robot arms 21a, 21b have multiple joints, and each joint is provided with a drive unit including a servo motor and a position detector such as an encoder. The robot arms 21a, 21b are configured so that drive signals given via a controller 24 control the medical instruments attached to the robot arms 21a, 21b to perform desired operations.

[0020] The arm base 23 is supported by a positioner 22. The positioner 22 includes a vertical articulated robot. The positioner 22 is configured to move the position of the arm base 23 three-dimensionally.

[0021] A surgical instrument 40 serving as a medical instrument is detachably attached to the distal end of the robot arm 21a. As shown in FIG. 3, the surgical instrument 40 includes a housing 43 attached to the robot arm 21a, an elongated shaft 42, and an end effector 41 provided at the distal end of the shaft 42. 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 used. In surgery 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 (trocar) placed on the body surface of the patient P. The end effector 41 of the surgical instrument 40 is positioned near the surgical site.

[0022] As shown in FIG. 1, an endoscope 50 serving 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 photographed images are output to the remote control device 10. The endoscope 50 is a 3D endoscope or a 2D endoscope capable of photographing three-dimensional images. In surgery using the patient-side device 20, the robot arm 21b introduces the endoscope 50 into the body of the patient P via a trocar placed on the body surface of the patient P. Then, the endoscope 50 is positioned near the surgical site.

[0023] The remote control device 10 constitutes an interface with the operator O. The remote control device 10 is a device that allows the operator O to operate the medical instruments attached to the robot arm 21a. That is, the remote control device 10 is configured to be able to transmit operation mode commands to be executed by the surgical instruments 40 and the endoscope 50 input by the operator O to the patient-side device 20 via the controller 24. The remote control device 10 is installed, for example, beside the operating table 30 so that the state of the patient P can be clearly seen while operating the master. Note that the remote control device 10 can transmit operation mode commands, for example, via wired or wireless communication, and can also be installed in a room separate from the operating room in which the operating table 30 is installed.

[0024] The operational mode to be performed by the surgical instrument 40 refers to the operation (series of positions and postures) of the surgical instrument 40 and the operational mode realized by the individual functions of the surgical instrument 40. For example, if the surgical instrument 40 is a grasping forceps, the operational mode to be performed by the surgical instrument 40 is the roll rotation position and pitch rotation position of the wrist of the end effector 41 and the operation of opening and closing the jaws. If the surgical instrument 40 is a high-frequency knife, the operational mode to be performed by the surgical instrument 40 may be the vibration operation of the high-frequency knife, specifically, the supply of current to the high-frequency knife. If the surgical instrument 40 is a snare wire, the operational mode to be performed by the surgical instrument 40 may be a binding operation and a release operation from the binding state. Alternatively, the operational mode may be an operation of burning off the surgical site by supplying current to a bipolar or monopolar wire.

[0025] The operation mode to be performed by the endoscope 50 is, for example, the position and attitude of the tip of the endoscope 50, or the setting of the zoom magnification.

[0026] As shown in FIGS. 1 and 2, the remote control device 10 includes an operating handle 11, an operating pedal unit 12, a display unit 13, and a control device 14.

[0027] The operating handle 11 is provided to remotely operate the medical instruments attached to the robot arm 21a. Specifically, the operating handle 11 receives operation by the operator O to operate the medical instruments (surgical instrument 40, endoscope 50). Two operating handles 11 are provided along the horizontal direction. That is, one of the two operating handles 11 is operated by the right hand of the operator O, and the other of the two operating handles 11 is operated by the left hand of the operator O.

[0028] The operating handle 11 is disposed so as to extend from the rear side to the front side of the remote control device 10. The operating handle 11 is configured so as to be movable within a predetermined three-dimensional operating area. That is, the operating handle 11 is configured so as to be movable in the up-down direction, the left-right direction, and the front-back direction.

[0029] The remote control device 10 and the patient-side device 20 constitute a master-slave system in controlling the movements of the robot arms 21a and 21b. That is, the operation handle 11 constitutes the master-side operation unit in the master-slave system, and the robot arms 21a and 21b to which medical instruments are attached constitute the slave-side operation unit. When the operator O operates the operation handle 11, the movement of the robot arm 21a or the robot arm 21b is controlled so that the tip of the robot arm 21a (the end effector 41 of the surgical instrument 40) or the tip of the robot arm 21b (the endoscope 50) moves in accordance with the movement of the operation handle 11.

[0030] Furthermore, the patient-side device 20 is configured to control the operation of the robot arm 21a according to a set operation magnification. For example, when the operation magnification is set to 1 / 2, the end effector 41 of the surgical instrument 40 is controlled to move a distance that is 1 / 2 of the movement distance of the operating handle 11. This allows for precise surgery to be performed with precision.

[0031] The operation pedal unit 12 includes a plurality of pedals for performing functions related to the medical instrument, including a coagulation pedal, a cutting pedal, a camera pedal, and a clutch pedal, and is operated by the feet of the operator O.

[0032] The coagulation pedal can be used to perform an operation to coagulate the surgical site using the surgical instrument 40. Specifically, when the coagulation pedal is operated, a coagulation voltage is applied to the surgical instrument 40, causing coagulation of the surgical site. The cut pedal can be used to perform an incision of the surgical site using the surgical instrument 40. Specifically, when the cut pedal is operated, a cutting voltage is applied to the surgical instrument 40, causing incision of the surgical site.

[0033] The camera pedal is used to control the position and posture of the endoscope 50 that captures images inside a body cavity. Specifically, the camera pedal enables operation by the operating handle 11 of the endoscope 50. In other words, while the camera pedal is pressed, the position and posture of the endoscope 50 can be controlled by the operating handle 11. For example, the endoscope 50 is operated by using both the left and right operating handles 11. Specifically, the endoscope 50 is rotated by rotating the left and right operating handles 11 around the midpoint between the left and right operating handles 11. Furthermore, by pushing both the left and right operating handles 11 in together, the endoscope 50 moves further in. Furthermore, by pulling both the left and right operating handles 11 in together, the endoscope 50 moves forward. Furthermore, by moving both the left and right operating handles 11 up, down, left, and right, the endoscope 50 moves up, down, left, and right.

[0034] The clutch pedal is used to temporarily disconnect the operational connection between the robot arm 21a and the operating handle 11 and stop the operation of the surgical instrument 40. Specifically, while the clutch pedal is operated, the robot arm 21a of the patient-side device 20 will not move even if the operating handle 11 is operated. For example, when the operating handle 11 is brought near the end of its movable range due to operation, the clutch pedal can be operated to temporarily disconnect the operational connection and return the operating handle 11 to near the center position. Then, when the operation of the clutch pedal is stopped, the robot arm 21a and the operating handle 11 are reconnected, and operation of the operating handle 11 can be resumed near the center.

[0035] The display unit 13 can display images captured by the endoscope 50. The display unit 13 includes a scope-type display unit or a non-scope-type display unit. A scope-type display unit is, for example, a display unit that you peer into. A non-scope-type display unit is a concept that includes an open-type display unit with a flat screen that is not a type that you peer into like a typical personal computer display.

[0036] When a scope-type display unit is attached, a 3D image captured by the endoscope 50 attached to the robot arm 21b of the patient-side device 20 is displayed. When a non-scope-type display unit is attached, a 3D image captured by the endoscope 50 provided in the patient-side device 20 is also displayed. Note that when a non-scope-type display unit is attached, a 2D image captured by the endoscope 50 provided in the patient-side device 20 may also be displayed.

[0037] 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 memories such as ROM and RAM, and an image control unit 143. The control device 14 may be configured as a single control device for centralized control, or as a plurality of control devices for distributed control in cooperation with each other. The control unit 141 determines whether the operation mode command input via the operation handle 11 is an operation mode command to be executed by the robot arm 21a or an operation mode command to be executed by the endoscope 50, depending on the switching state of the operation pedal unit 12. If the control unit 141 determines that the operation mode command input via the operation handle 11 is an operation mode command to be executed by the surgical instrument 40, it transmits the operation mode command to the robot arm 21a. This drives the robot arm 21a, which controls the operation of the surgical instrument 40 attached to the robot arm 21a.

[0038] Furthermore, when the control unit 141 determines that the operation mode command input to the operating handle 11 is an operation mode command to be executed by the endoscope 50, it transmits the operation mode command to the robot arm 21b. This drives the robot arm 21b, and this drive controls the operation of the endoscope 50 attached to the robot arm 21b.

[0039] The memory unit 142 stores control programs corresponding to the type of surgical instrument 40, for example, and the control unit 141 reads out these control programs according to the type of attached surgical instrument 40, thereby allowing the operating commands of the operating handle 11 and / or operating pedal unit 12 of the remote control device 10 to perform operations that are suited to the individual surgical instrument 40.

[0040] The image control unit 143 transmits the image acquired by the endoscope 50 to the display unit 13. The image control unit 143 processes and corrects the image as necessary.

[0041] As shown in FIG. 3 , the surgical instrument 40 is attached to the robot arm 21a. The robot arm 21 is covered with a drape 70 because it is used in a clean area. The arm base 23 is also covered with a drape because it is used in a clean area. Here, in the operating room, clean procedures are performed to prevent the surgical incision and medical equipment from being contaminated with pathogens or foreign objects. In these clean procedures, a clean area and a contaminated area other than the clean area are defined. The surgical site is placed in the clean area. During surgery, members of the surgical team, including the operator O, ensure that only sterilized objects are placed in the clean area. When an object located in the contaminated area is moved to the clean area, the object is sterilized. Similarly, when members of the surgical team, including the operator O, place their hands in the contaminated area, they sterilize their hands before directly touching an object located in the clean area. Instruments used in the clean area are sterilized or covered with a sterilized drape 70. The drape 70 is an example of the "sterile drape" in the claims.

[0042] The drape 70 is placed between the robot arm 21 and the surgical instrument 40 or the endoscope 50. Specifically, the drape 70 is placed 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. In other words, the adapter 60 is a drape adapter for sandwiching the drape 70 between the robot arm 21 and the adapter 60. The surgical instrument 40 is attached to the adapter 60, which is attached to the robot arm 21a via the drape 70. The robot arm 21a transmits power to the surgical instrument 40 via the adapter 60 to drive the end effector 41 of the surgical instrument 40. Although not shown, the drape 70 is also placed between the robot arm 21b and an endoscope adapter to which the endoscope 50 is attached.

[0043] (drape) 3 and 4, the drape 70 is configured to cover the robot arms 21a and 21b. As shown in FIGS. 5 and 6, the drape 70 includes a drape body 71, a mount cover 72, an opening 73, a pair of gripping portions 74, and an elastic string 75.

[0044] The drape main body 71 covers the robot arm 21. The drape main body 71 is a flexible film. The drape main body 71 is made of a resin material such as low-density polyethylene. The drape main body 71 is formed in the shape of a thin film. The drape main body 71 is colorless and transparent.

[0045] The drape main body 71 has an opening 73 at one end. The other end of the drape main body 71 opposite the opening 73 is closed. In this way, the drape main body 71 is formed in the shape of a long, narrow bag with one end in the longitudinal direction open and the other end in the longitudinal direction closed.

[0046] As shown in FIG. 9 , before the drape body 71 covers the robot arm 21, the drape body 71 is folded inward so that the surface that will be on the outside when the robot arm 21 is covered is not exposed. That is, before use, the surface of the drape body 71 that will be on the outside when the drape body 71 covers the robot arm 21 is folded inward. This prevents contamination of the outer surface that will be placed in the clean area before the drape body 71 is attached to the robot arm 21. Before use, the drape 70 is stored in a folded state in a sterilization bag. For example, the drape 70 is stored in a sterilization bag made of high-density polyethylene nonwoven fabric (such as Tyvek). When used, the drape 70 is removed from the sterilization bag and attached to the robot arm 21. The drape 70 is sterilized with ethylene oxide gas.

[0047] The mount cover 72 is disposed on the other side of the drape body 71. The mount cover 72 is configured to cover the attachment portion 211 of the robot arm 21 to which the adapter 60 for attaching the surgical instrument 40 to the robot arm 21 is attached. The mount cover 72 has a shape that matches the outer shape of the attachment portion 211 of the robot arm 21. The mount cover 72 is formed from a resin material such as polycarbonate or polyethylene terephthalate. The mount cover 72 is formed in a flat plate shape. As shown in FIG. 7 , the mount cover 72 is provided with a plurality of through holes 72b for passing a member for transmitting drive from the attachment portion 211 to the surgical instrument 40 via the adapter 60 and an engagement portion for engaging the attachment portion 211 with the adapter 60.

[0048] As shown in FIG. 6 , a protective film 72a is removably attached to the mount cover 72. The protective film 72a is peeled off after the drape main body 71 is attached to the robot arm 21 and before the adapter 60 is attached to the attachment portion 211 of the robot arm 21 via the mount cover 72. This prevents the clean area outside the drape main body 71 from communicating with the contaminated area inside the drape main body 71. The protective film 72a is made of a resin material such as low-density polyethylene. The protective film 72a has a different color from the drape main body 71 so that they can be distinguished from each other. For example, the protective film 72a has a transparent color. Alternatively, the protective film 72a has a transparent light blue color. This makes it easy to recognize the position of the mount cover 72 to which the protective film 72a is attached relative to the drape main body 71. Therefore, when attaching the drape main body 71 to the robot arm 21, the mount cover 72 can be easily positioned at the attachment portion 211 of the robot arm 21.

[0049] 5 and 6, in this embodiment, the pair of gripping parts 74 are provided so as to extend from one end of the drape main body 71. That is, the pair of gripping parts 74 are arranged at the end on the side where the opening 73 is provided. This allows an operator such as a surgical assistant to easily cover the robot arm 21 with the drape 70 by moving one end of the drape main body 71 along the robot arm 21 while gripping the pair of gripping parts 74.

[0050] 6, the pair of gripping parts 74 are arranged to face each other in a direction perpendicular to the longitudinal direction of the drape main body 71 and sandwich the mount cover 72 therebetween. As a result, with the mount cover 72 placed at the attachment part 211 of the robot arm 21, one end of the drape main body 71 can be moved along the robot arm 21 while holding the pair of gripping parts 74 with both hands so as to sandwich the mount cover 72. As a result, one end of the drape main body 71 can be moved in a balanced manner, which makes it possible to prevent twisting or the like from occurring in the drape main body 71 and to easily attach the drape main body 71 to the robot arm 21.

[0051] Furthermore, the pair of gripping portions 74 are formed integrally with the drape main body 71 using the same material as the drape main body 71. This makes it possible to prevent an increase in the number of parts compared to when the pair of gripping portions 74 are provided separately from the drape main body 71, and also makes it easier to form the gripping portions 74 on the drape 70.

[0052] In this embodiment, the annular stretchable cord 75 is provided near the opening 73 of the drape main body 71. The annular stretchable cord 75 is configured to secure the drape main body 71 to the robot arm 21. Specifically, the stretchable cord 75 is formed in an annular shape. The stretchable cord 75 is configured to be stretchable. For example, the annular stretchable cord 75 includes a rubber cord. That is, the diameter of the annular stretchable cord 75 can be increased by pulling it, and the diameter decreases (returns to its natural length) when it is no longer pulled. The diameter of the annular stretchable cord 75 at its natural length is smaller than the diameter of the robot arm 21. This allows the drape main body 71 to be easily secured to the robot arm 21 by utilizing the tightening force generated by the contraction of the annular stretchable cord 75.

[0053] Furthermore, the annular stretchable cord 75 is disposed at the connection portion of the pair of gripping portions 74 to the drape main body 71. In other words, the annular stretchable cord 75 is disposed in the vicinity of the pair of gripping portions 74. This allows the annular stretchable cord 75 to be expanded by the pair of gripping portions 74, and therefore, when attaching the drape main body 71 to the robot arm 21, the annular stretchable cord 75 can be prevented from getting caught on the robot arm 21.

[0054] Furthermore, the annular stretchable cords 75 have a different color from the drape main body 71 so that they can be distinguished from each other. For example, the annular stretchable cords 75 have an opaque color. Furthermore, the annular stretchable cords 75 are blue. This makes it easy to identify the positions of the stretchable cords 75 provided near the openings 73 of the drape main body 71, and therefore makes it easy to identify the position of the openings 73 when attaching the drape main body 71 to the robot arm 21.

[0055] 8, the annular stretchable cord 75 is disposed in a housing portion 75a. The housing portion 75a is formed by folding the drape main body 71 and heat-welding the welding portion 75b. In other words, the housing portion 75a is formed integrally with the drape main body 71 using the same material as the drape main body 71.

[0056] The other end of the drape main body 71 is closed in a linear fashion. The drape main body 71 also has a shape with chamfered corners. Specifically, as shown in FIG. 5, the other end (the closed end) of the drape main body 71 is provided with a chamfered portion 76 that tapers toward the side where the mount cover 72 is provided. This allows the end of the drape main body 71 on the side where the surgical instrument 40 is attached to be narrowed, thereby preventing the drape main body 71 from loosening and interfering with the surgical instrument 40 or the operator.

[0057] As shown in FIGS. 6 and 9 , the drape body 71 is folded along multiple fold lines A1, A2, A3, A4, A5, and A6 before use. The drape body 71 is folded inward at the fold lines A1, A3, and A5 by valley folds. The drape body 71 is also folded inward at the fold lines A2 and A4 by mountain folds. At the fold line A6, the other end of the drape body 71 is folded back toward the fold line A5. The folded drape body 71 has an insertion position between the fold line A5 where the robot arm 21 is inserted. That is, the folded drape body 71 is placed over the robot arm 21 with the insertion position between the fold line A5 unfolded, as shown in FIG. 11 .

[0058] (How to wear the drape) 10 to 14, a method for applying a sterile drape to cover the robot arm 21 of the patient-side device 20 with a drape 70 will be described. The drape 70 is applied (attached) to the robot arm 21 by an operator (such as a nurse assisting the surgeon).

[0059] In the method of applying a sterile drape, a bag-shaped drape body 71 having an opening 73 at one end is gripped by a pair of gripping parts 74 extending from one end of the drape body 71, and the drape body 71 is fixed to the robot arm 21 by a circular elastic cord 75 provided near the opening 73 of the drape body 71.

[0060] In addition, in the method of applying a sterile drape, the drape body 71 is folded inward so that the outer surface is not exposed when covering the robot arm 21, and the opening 73 is moved along the robot arm 21 to turn the drape body 71 inside out (unfold) and cover the robot arm 21 with the drape body 71.

[0061] Specifically, the tip of the robot arm 21 is set in an upright position as shown in Fig. 10. In other words, when the surgical instrument 40 is attached to the attachment portion 211, the robot arm 21 is in a position where the surgical instrument 40 is positioned to extend downward.

[0062] 11, the drape 70 with the drape main body 71 folded is placed over the tip of the robot arm 21. In this case, the insertion position of the drape main body 71 is widened, and the robot arm 21 is inserted into the drape main body 71 from the insertion position, as shown in FIG. 9. At this time, the drape main body 71 is placed over the robot arm 21 so that the mount cover 72 of the drape 70 faces the attachment portion 211 of the robot arm 21.

[0063] 12 and 13, the pair of gripping portions 74 of the drape 70 are gripped, and the gripping portions 74 (openings 73) are moved along the robot arm 21. As a result, the drape main body 71 folded inward is turned inside out. Furthermore, by moving the gripping portions 74, the folded drape main body 71 is unfolded, and the drape main body 71 covers the robot arm 21. In this case, the pair of gripping portions 74 may be gripped so that the distance between them is increased, and the expandable cords 75 are stretched to increase the diameter, and then the gripping portions 74 may be moved along the robot arm 21.

[0064] Next, as shown in FIG. 14 , when the pair of gripping portions 74 (openings 73) of the drape 70 reach the base of the robot arm 21, the gripping portions 74 are released. One end of the drape main body 71 is fixed to the base of the robot arm 21 by an annular elastic cord 75. An annular groove is provided at the base of the robot arm 21, and the annular elastic cord 75 fits into this annular groove, thereby fixing one end of the drape main body 71 to the base of the robot arm 21. In this way, the robot arm 21 is covered with the drape main body 71. The outside of the drape main body 71 becomes a sterilized surface, and the robot arm 21 covered with the drape 70 can be placed in a clean area.

[0065] Drapes 70 are sequentially attached to the multiple robot arms 21. Then, the protective film 72a covering the mount cover 72 is peeled off from the drape 70 attached to the robot arm 21, and the adapter 60 is attached to the attachment portion 211 of the robot arm 21 via the mount cover 72. Thereafter, the surgical instrument 40 is attached to the adapter 60.

[0066] (Variation) The embodiments disclosed herein should be considered to be illustrative and not restrictive in all respects. The scope of the present invention is defined by the claims rather than the above description of the embodiments, and further includes all modifications (variations) within the meaning and scope of the claims.

[0067] For example, in the above embodiment, an example was shown in which the drape body was colorless and transparent, but the present invention is not limited to this. In the present invention, the drape body may be colored and transparent, translucent, or opaque.

[0068] In the above embodiment, an example of a configuration in which the patient-side device (surgery support robot) is provided with four robot arms is shown, but the present invention is not limited to this. In the present invention, the surgery support robot may be provided with three or less or five or more robot arms.

[0069] In the above embodiment, an example of a configuration in which a pair of gripping portions are integrally provided on the drape main body is shown, but the present invention is not limited to this. In the present invention, a pair of gripping portions formed of separate members may be attached to one end of the drape main body.

[0070] In the above embodiment, an example of a configuration in which the stretchable cord is disposed in a storage section formed by folding back the drape main body is shown, but the present invention is not limited to this. In the present invention, the storage section may be formed as a separate member from the drape main body. Also, the stretchable cord may be bonded to the drape main body without providing a storage section in the drape.

[0071] In the above embodiment, the stretchable cord includes a rubber cord, but the present invention is not limited to this. In the present invention, the stretchable cord may be made of a material other than rubber, such as a stretchable resin. Furthermore, the stretchable cord may include a coil spring formed in a string shape.

[0072] In addition, in the above embodiment, an example was shown in which the adapter was provided separately from the drape, but the present invention is not limited to this. In the present invention, the adapter and the drape may be provided integrally. [Explanation of symbols]

[0073] 20: Patient-side device (surgery support robot), 21, 21a, 21b: Robot arm, 40: Surgical instrument, 60: Adapter, 70: Drape (sterile drape), 71: Drape body, 72: Mount cover, 72a: Protective film, 73: Opening, 74: Grip, 75: Elastic string, 211: Mounting part

Claims

1. A sterile drape for covering a robotic arm of a surgical assist robot, a bag-shaped drape body having an opening at one end; a pair of gripping portions provided so as to extend from the one end of the drape body; a circular elastic cord provided in the vicinity of the opening of the drape main body separately from the gripping portion, for fixing the drape main body to the robot arm; a mount cover disposed on the other side of the drape body, configured to cover an attachment portion of the robot arm to which an adapter for attaching a surgical instrument to the robot arm is attached, the mount cover having a plurality of through holes; a protective film that is peelably attached and covers the entire surface of the mount cover.

2. The sterile drape according to claim 1 , wherein the annular elastic cord is disposed at a connection portion of the pair of gripping portions to the drape body.

3. 3. The sterile drape according to claim 1, wherein the drape body is folded inward before covering the robot arm so that the surface that will be on the outside when covering the robot arm is not exposed.

4. A sterile drape as described in any one of claims 1 to 3, wherein the robot arm is configured to drive the surgical instrument attached to the adapter by driving the drive transmission member of the adapter through the multiple through holes in the mount cover from which the protective film has been peeled off.

5. A sterilized drape described in any one of claims 1 to 4, wherein the length of the protective film is longer than the mounting cover in the longitudinal direction of the drape body.

6. The sterilizing drape according to any one of claims 1 to 5, wherein the drape body and the protective film have different colors so that they can be distinguished from each other.

7. The drape body is colorless and transparent, The sterile drape of claim 6 , wherein the protective film is colored.

8. The sterile drape according to any one of claims 1 to 7, wherein the mount cover is formed in a flat plate shape.

9. 9. The sterile drape according to claim 1, wherein the pair of gripping portions are formed integrally with the drape body from the same material as the drape body.

10. 10. The sterile drape according to claim 1, wherein the drape body and the annular elastic cord have different colors so as to be distinguishable from each other.

11. The drape body is colorless and transparent, The sterile drape of claim 10 , wherein the circular elastic cord is colored.

12. 12. The sterile drape according to claim 1, wherein the other end of the drape body is closed linearly and has chamfered corners.

13. The sterile drape according to any one of claims 1 to 12, wherein the annular elastic cord comprises a rubber cord.

14. a robotic arm including a mounting portion to which a surgical instrument is attached via an adapter; a sterile drape covering the robotic arm; The sterile drape comprises: a bag-shaped drape body having an opening at one end; a pair of gripping portions provided so as to extend from the one end of the drape body; a circular elastic cord provided in the vicinity of the opening of the drape main body separately from the gripping portion, for fixing the drape main body to the robot arm; a mount cover disposed on the other side of the drape body, configured to cover the attachment portion of the robot arm to which the adapter for attaching the surgical instrument to the robot arm is attached, the mount cover having a plurality of through holes; a protective film that is removably attached to the mount cover and covers the entire surface of the mount cover.

15. A method for attaching a surgical instrument to a robot arm of a surgical support robot, comprising: a sterile drape comprising: a bag-shaped drape body having an opening at one end; a pair of gripping portions extending from the one end of the drape body; an annular stretchable cord provided in the drape body near the opening, separate from the gripping portions, for fixing the drape body to the robot arm; a mount cover disposed on the other side of the drape body, the mount cover having a plurality of through holes and configured to cover an attachment portion of the robot arm to which an adapter for attaching a surgical instrument to the robot arm is attached; and a protective film removably attached to the mount cover and covering the entire surface of the mount cover, the sterile drape being placed over the tip of the robot arm through the opening, and the robot arm is covered with the drape body while gripping the pair of gripping portions with the mount cover facing the attachment portion; fixing the drape body to the robot arm by a circular elastic cord provided in the vicinity of the opening of the drape body; Peel off the protective film covering the mount cover; the adapter is attached to the attachment portion via the mount cover; A method for attaching a surgical instrument, comprising attaching the surgical instrument to the adapter.

16. 16. The method for attaching a surgical instrument according to claim 15, wherein the drape body is folded inward so that the surface that will be on the outside when covering the robot arm is not exposed, and the opening is moved along the robot arm to turn the drape body inside out while covering the robot arm with the drape body.

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