Surgical instrument adapters and surgical robots

Abstract

To provide a surgical instrument adapter that allows an operating handle of a manual surgical instrument to be smoothly operated.SOLUTION: A surgical instrument adapter 300 comprises an interface part 310 comprising a first rotating body 311 to be rotated and driven by first driving force transmitted from a first driving part 751 arranged in a robot arm 60, a first driven part 320 for rotating an operating handle 402 of the manual surgical instrument 400, and a first driving force transmitting mechanism 330 for transmitting the first driving force to the first driven part 320 from the first rotating body 311. The first driven part 320 includes a lever part 321 to be rotated by the first driving force, and a roller part 322 connected to the lever part 321, in contact with the operating handle 402, and to be moved along a surface 402a of the operating handle 402.SELECTED DRAWING: Figure 15

Description

[Technical Field]

[0001] The present disclosure relates to a surgical instrument adapter and a surgical assistance robot. [Background Art]

[0002] Conventionally, surgical instrument adapters for connecting a manual surgical instrument to a robot arm are known. For example, Patent Document 1 discloses a surgical instrument adapter for attaching a manual surgical instrument including an operation handle operated by an operator to a robot arm. In Patent Document 1, an openable and closable end effector is disposed at a distal end of the manual surgical instrument. The surgical instrument adapter of Patent Document 1 includes a holding member, a mechanical finger member, and a linear actuator. The holding member holds the manual surgical instrument. In a state where the manual surgical instrument is held by the holding member, the mechanical finger member abuts on the operation handle. The mechanical finger member has a prismatic shape that abuts on the operation handle. The mechanical finger member is linearly moved by the linear actuator, so that the prismatic finger member slides on a surface of the operation handle. Accordingly, the operation handle is rotated by the finger member. As a result, the end effector of the manual surgical instrument is closed. [Prior Art Documents] [Patent Documents]

[0003] [Patent Document 1] US Patent Application Publication No. 2016 / 0249993 Specification [Summary of Invention] [Problem to be Solved by Invention]

[0004] However, in the above-mentioned Patent Document 1, the operation handle is rotated by the prismatic finger member while the finger member slides on the surface of the operation handle. Therefore, a frictional force acting between the prismatic finger member and the operation handle becomes relatively large. As a result, there is a problem that the finger member may not be able to smoothly rotate the operation handle in some cases.

[0005] This disclosure is made to solve the problems described above, and one of its purposes is to provide a surgical instrument adapter and a surgical assistance robot that can smoothly rotate the operating handle of a manual surgical instrument. [Means for solving the problem]

[0006] To achieve the above objective, a surgical instrument adapter according to the first aspect of this disclosure is a surgical instrument adapter for connecting a manual surgical instrument to a robot arm, comprising: an interface portion having a first rotating body that is rotationally driven by a first driving force transmitted from a first drive unit disposed on the robot arm; a first driven portion that rotates the operating handle of a manual surgical instrument; and a first driving force transmission mechanism that transmits the first driving force from the first rotating body to the first driven portion, wherein the first driven portion includes a lever portion that is rotated by the first driving force, and a roller portion that is connected to the lever portion, contacts the operating handle, and moves while rotating along the surface of the operating handle.

[0007] As described above, the surgical instrument adapter according to the first aspect of this disclosure includes, in the first driven part, a lever part that is rotated by a first driving force, and a roller part that is connected to the lever part and in contact with the operating handle, and moves while rotating along the surface of the operating handle. As a result, the roller part of the first driven part moves while rotating along the surface of the operating handle, so that the frictional force acting between the roller part and the operating handle is relatively small. Therefore, the first driven part can smoothly rotate the operating handle of a manual surgical instrument.

[0008] A surgical assistance robot according to a second aspect of this disclosure comprises a robotic arm having a drive unit and a surgical instrument adapter that connects a manual surgical instrument to the robotic arm in an operable manner, the surgical instrument adapter including an interface unit having a rotating body that is rotationally driven by a driving force transmitted from the drive unit located on the robotic arm, a driven unit that rotates the operating handle of a manual surgical instrument, and a driving force transmission mechanism that transmits a driving force from the rotating body to the driven unit, the driven unit including a lever unit that is rotated by the driving force and a roller unit that is connected to the lever unit and contacts the operating handle, and moves while rotating along the surface of the operating handle.

[0009] The surgical assistance robot according to the second aspect of this disclosure, as described above, includes a driven part which is a lever part that is rotated by a driving force, and a roller part that is connected to the lever part and comes into contact with the operating handle, and moves while rotating along the surface of the operating handle. As a result, the roller part of the driven part moves while rotating along the surface of the operating handle, so the frictional force acting between the roller part and the operating handle is relatively small. Therefore, it is possible to provide a surgical assistance robot in which the driven part can smoothly rotate the operating handle of a manual surgical instrument. [Effects of the Invention]

[0010] According to this disclosure, as described above, the operating handle of a manual surgical instrument can be rotated smoothly. [Brief explanation of the drawing]

[0011] [Figure 1] This figure shows the configuration of a surgical support system according to one embodiment. [Figure 2] This figure shows the configuration of a medical trolley according to one embodiment. [Figure 3] This figure shows the configuration of a robot arm according to one embodiment. [Figure 4] This is a diagram of forceps. [Figure 5] This is a perspective view showing the configuration of the arm operating section according to one embodiment. [Figure 6] It is a perspective view showing a state where an adapter and a medical instrument are removed from a drive unit of a robot arm according to one embodiment. [Figure 7] It is a perspective view of the adapter and a surgical instrument according to one embodiment viewed from the Y2 direction side. [Figure 8] It is a control block diagram of a surgery assistance robot according to one embodiment. [Figure 9] It is a control block diagram of a robot arm according to one embodiment. [Figure 10] It is a control block diagram of a medical cart and a positioner according to one embodiment. [Figure 11] It is a diagram showing a manual surgical instrument. [Figure 12] It is a diagram showing a state where a manual surgical instrument is attached to a surgical instrument adapter according to one embodiment. [Figure 13] It is a diagram showing a state where an operation handle arranged on a surgical instrument adapter according to one embodiment is rotated to the A2 side. [Figure 14] It is a perspective view of a surgical instrument adapter according to one embodiment viewed from the Y2 direction side. [Figure 15] It is a diagram showing an operation handle and a first driven part according to one embodiment. [Figure 16] It is a diagram showing a first driven part according to one embodiment. [Figure 17] It is a perspective view showing a first driving force transmission mechanism according to one embodiment. [Figure 18] It is a perspective view showing a second driving force transmission mechanism according to one embodiment. [Figure 19] It is a diagram showing a state where an operation handle arranged on a surgical instrument adapter according to one embodiment is rotated to the A1 side. [Figure 20] It is a diagram showing a first driven part according to a modified example. DETAILED DESCRIPTION OF THE INVENTION

[0012] Hereinafter, one embodiment of the present disclosure that embodies the present disclosure will be described with reference to the drawings.

[0013] (Configuration of the surgical support system) The configuration of the surgical support system 100 according to this embodiment will now be described. The surgical support system 100 comprises a surgical support robot 1 and a remote control device 2.

[0014] In this specification, the longitudinal direction of the surgical instrument 4 is defined as the Z direction. The tip side of the surgical instrument 4 is defined as the Z1 side, and the base side of the surgical instrument 4 is defined as the Z2 side. The direction perpendicular to the Z direction is defined as the X direction. One side in the X direction is defined as the X1 side, and the other side as the X2 side. The direction perpendicular to both the Z and X directions is defined as the Y direction. One side in the Y direction is defined as the Y1 side, and the other side as the Y2 side.

[0015] As shown in Figure 1, the surgical robot 1 is positioned inside the operating room. The remote control device 2 is positioned at a distance from the surgical robot 1. An operator, such as a physician, inputs commands to the remote control device 2 to cause the surgical robot 1 to perform the desired action. The remote control device 2 transmits the input commands to the surgical robot 1. The surgical robot 1 operates based on the received commands. The surgical robot 1 is positioned inside the operating room, which is a sterile field.

[0016] (Configuration of the surgical assistance robot) As shown in Figure 1, the surgical assistance robot 1 comprises a medical trolley 3, a positioner 40, an arm base 50, a plurality of robot arms 60, and an arm operating unit 80.

[0017] As shown in Figure 2, the medical trolley 3 moves the positioner 40. The medical trolley 3 includes an input device 33. The input device 33 accepts operations for moving and changing the posture of the positioner 40, arm base 50, and multiple robotic arms 60, mainly for preparing for surgery before the procedure. The medical trolley 3 includes an operating handle 34, a stabilizer 34c and an electric cylinder 34d shown in Figure 8. The input device 33 includes a display unit 33a. The display unit 33a is, for example, a liquid crystal panel.

[0018] As shown in Figure 2, the trolley positioner operation unit 35 is supported at the rear of the medical trolley 3 by a trolley positioner operation support unit 36, and the medical trolley 3 or the positioner 40 is moved by operating the trolley positioner operation unit 35. The trolley positioner operation unit 35 includes an input device 33 and an operation handle 34. The input device 33 includes a display unit 33a, a joystick 33b, and an enable switch 33c. The joystick 33b is located near the input device 33 of the medical trolley 3. By selecting an operation mode displayed on the input device 33 and operating the joystick 33b, the positioner 40 is moved in three dimensions.

[0019] The enable switch 33c is located near the joystick 33b of the medical trolley 3. The enable switch 33c allows or disallows the movement of the positioner 40. When the enable switch 33c is pressed and the movement of the positioner 40 is permitted, the joystick 33b is operated, causing the positioner 40 to move.

[0020] Furthermore, the operating handle 34 is positioned near the display unit 33a of the medical trolley 3. The operating handle 34 has a throttle 34a that controls the movement of the medical trolley 3 when grasped and rotated by an operator such as a nurse or technician. Specifically, the operating handle 34 is positioned below the input device 33. When the throttle 34a is rotated from the front to the back, the medical trolley 3 moves forward. When the throttle 34a is rotated from the back to the front, the medical trolley 3 moves backward. The speed of the medical trolley 3 is also changed according to the amount of rotation of the throttle 34a. The operating handle 34 is also configured to be rotatable left and right, as indicated by the R direction, and the medical trolley 3 rotates in conjunction with the rotation of the operating handle 34.

[0021] Furthermore, an enable switch 34b is located on the operating handle 34 of the medical trolley 3 to allow or disallow the movement of the medical trolley 3. When the enable switch 34b is pressed and the movement of the medical trolley 3 is permitted, the throttle 34a on the operating handle 34 is operated, causing the medical trolley 3 to move.

[0022] As shown in Figure 1, the positioner 40 consists of, for example, a 7-axis articulated robot. The positioner 40 is positioned on a medical trolley 3. The positioner 40 adjusts the position of the arm base 50. The positioner 40 moves the position of the arm base 50 in three dimensions.

[0023] The positioner 40 includes a base portion 41 and a plurality of link portions 42 connected to the base portion 41. The plurality of link portions 42 are connected to each other by joints 43.

[0024] The arm base 50 is attached to the tip of the positioner 40. Multiple robot arms 60 are each attached to the arm base 50 at their base ends. Multiple robot arms 60 can be folded and stored. The arm base 50 and multiple robot arms 60 are used covered with sterile drapes. The robot arms 60 also support surgical instruments 4.

[0025] The arm base 50 is equipped with a status indicator 53 and an arm status indicator 54, as shown in Figure 8. The status indicator 53 displays the status of the surgical support system 100. The arm status indicator 54 displays the status of the robot arm 60.

[0026] Multiple robot arms 60 are arranged. Specifically, four robot arms 60a, 60b, 60c, and 60d are arranged. Robot arms 60a, 60b, 60c, and 60d have similar configurations to each other.

[0027] As shown in Figure 3, the robot arm 60 includes an arm section 61, a first link section 72, a second link section 73, and a translational movement mechanism section 70. The robot arm 60 has JT1, JT2, JT3, JT4, JT5, JT6, and JT7 axes as rotational axes and a JT8 axis as a linear motion axis. The axes from JT1 to JT7 are the rotational axes of the joints 64 of the arm section 61. The JT7 axis is the rotational axis of the first link section 72. The JT8 axis is the linear motion axis by which the translational movement mechanism section 70 moves the second link section 73 relative to the first link section 72 along the Z direction. The arm section 61 includes a base section 62, a link section 63, and joints 64.

[0028] The arm section 61 consists of a 7-axis articulated robot arm. The first link section 72 is located at the tip of the arm section 61. The arm operation section 80, which will be described later, is attached to the second link section 73. The translational movement mechanism section 70 is located between the first link section 72 and the second link section 73. A holder 71 for holding surgical instruments 4 is located on the second link section 73.

[0029] Each of the multiple robotic arms 60 has a surgical instrument 4 attached to its tip. The surgical instrument 4 includes, for example, interchangeable instruments, an endoscope 6 for capturing images of the surgical site, and a pivot positioning device for setting the pivot position PP. The surgical instrument 4 as an instrument includes a driven unit 4a, forceps 4b, and a shaft 4c.

[0030] As shown in Figure 1, an endoscope 6 is attached to the tip of one of the multiple robot arms 60, for example, robot arm 60c, while surgical instruments 4 other than the endoscope 6 are attached to the tips of the remaining robot arms 60a, 60b, and 60d. The endoscope 6 is attached to either of the two centrally located robot arms 60b and 60c, among the four robot arms 60 that are arranged adjacent to each other.

[0031] (Instrument configuration) As shown in Figure 4, for example, a forceps 4b is positioned at the tip of the instrument. In addition to the forceps 4b, other articulated instruments such as scissors, grippers, needle holders, microdissectors, stable applicators, tackers, suction and irrigation tools, snare wires, and clip applicators may be positioned at the tip of the instrument. Non-articulated instruments such as cutting blades, cauterization probes, irrigators, catheters, and suction orifices may be positioned at the tip of the instrument.

[0032] The forceps 4b includes a first support 4e and a second support 4f. The first support 4e rotatably supports the proximal ends of the jaw members 104a and 104b around the JT11 axis. The second support 4f rotatably supports the proximal end of the first support 4e around the JT10 axis. The shaft 4c rotates around the JT9 axis. The jaw members 104a and 104b open and close around the JT12 axis.

[0033] (Configuration of the arm control unit) As shown in Figure 5, the arm operating unit 80 is attached to the robot arm 60 and operates the robot arm 60. Specifically, the arm operating unit 80 is attached to the second link unit 73.

[0034] The arm operating section 80 includes an enable switch 81, a joystick 82, a linear switch 83, a mode switching button 84, a mode indicator 84a, a pivot button 85, and an adjustment button 86.

[0035] The enable switch 81 allows or disallows the movement of the robot arm 60 by the joystick 82 and the linear switch 83. When the arm control unit 80 is held by an operator such as a nurse or assistant, pressing the enable switch 81 allows the robot arm 60 to move the surgical instrument 4.

[0036] The joystick 82 is a control device for manipulating the movement of the surgical instrument 4 by the robot arm 60. The joystick 82 controls the direction and speed of movement of the robot arm 60. The robot arm 60 moves according to the direction and angle at which the joystick 82 is tilted.

[0037] The linear switch 83 is a switch for moving the surgical instrument 4 in the Z direction, which is the longitudinal direction of the surgical instrument 4. The linear switch 83 includes a linear switch 83a that moves the surgical instrument 4 in the direction of insertion into the patient P, and a linear switch 83b that moves the surgical instrument 4 away from the patient P. Both the linear switch 83a and the linear switch 83b are push-button switches.

[0038] The mode switching button 84 is a push-button switch for switching between a mode in which the surgical instrument 4 is translated and a mode in which it is rotated. In the mode in which the robot arm 60 is translated, the robot arm 60 is moved so that the tip 4d of the surgical instrument 4 moves on the XY plane. In the mode in which the robot arm 60 is rotated, if the pivot position PP is not stored in the memory unit 32, the robot arm 60 rotates around the forceps 4b, and if the pivot position PP is stored in the memory unit 32, the robot arm 60 is moved so that the surgical instrument 4 rotates with the pivot position PP as the fulcrum. Note that the surgical instrument 4 is rotated while its shaft 4c is inserted into the trocar T. The mode switching button 84 is located on the Z-direction side of the arm operation unit 80.

[0039] The mode indicator 84a displays the switched mode. When the mode indicator 84a is lit, it indicates rotational movement mode, and when it is off, it indicates translational movement mode. The mode indicator 84a also serves as a pivot position indicator, showing when the pivot position PP has been set. The mode indicator 84a is located on the Z-direction side of the arm operating section 80.

[0040] The pivot button 85 is a push-button switch for setting the pivot position PP, which serves as the fulcrum for the movement of the surgical instrument 4 attached to the robot arm 60.

[0041] The adjustment button 86 is used to optimize the position of the robot arm 60. After setting the pivot position PP for the robot arm 60 to which the endoscope 6 is attached, pressing the adjustment button 86 optimizes the positions of the other robot arms 60 and the arm base 50.

[0042] (Remote control device) As shown in Figure 1, the remote control device 2 is located, for example, inside or outside the operating room. The remote control device 2 includes an operating unit 120, which includes an arm 121 and an operating handle 21, a foot pedal 22, a touch panel 23, a monitor 24, a support arm 25, and a support bar 26. The operating unit 120 constitutes an operating handle for an operator, such as a doctor, to input commands.

[0043] The operating section 120 is a handle for operating the surgical instrument 4. The operating section 120 also receives the amount of manipulation applied to the surgical instrument 4. The operating section 120 includes an operating section 120 located on the left side as viewed from the operator, such as a physician, and operated by the operator's left hand, and an operating section 120 located on the right side and operated by the operator's right hand. The operating section 120 operated by the operator's left hand and the operating section 120 operated by the operator's right hand each include an operating handle 21L and an operating handle 21R, respectively.

[0044] The monitor 24 is a scope-type display device for displaying images captured by the endoscope 6. The support arm 25 supports the monitor 24 so that its height is at the same height as the face of the operator, such as a doctor. The touch panel 23 is located on the support bar 26. The surgical support robot 1 can be operated by the remote control device 2 by detecting the operator's head using sensors located near the monitor 24. The operator operates the control unit 120 and foot pedals 22 while viewing the affected area on the monitor 24. This inputs commands to the remote control device 2. The commands input to the remote control device 2 are transmitted to the surgical support robot 1.

[0045] (Composition of medical devices, adapters, drapes, and arms) Referring to Figures 6 and 7, the configuration of the surgical instrument 4, adapter 220, drape 210, and robot arm 60 will be described.

[0046] As shown in Figures 6 and 7, the surgical instrument 4 is detachably connected to the robot arm 60 via an adapter 220. The adapter 220 is positioned between the drive unit 75 of the robot arm 60 and the surgical instrument 4. The adapter 220 is a drape adapter for holding the drape 210, which is replaced by the user after each surgery. This allows the drape 210 to be held using the adapter 220. The drape 210 is a drape for covering the robot arm 60 and is sterilized. The adapter 220 is configured to sandwich the drape 210 between itself and the robot arm 60. The drive unit 75 includes a first drive unit 751, a second drive unit 752, a third drive unit 753, and a fourth drive unit 754. The first drive unit 751 is an example of a drive unit.

[0047] The surgical instrument 4 is connected to the adapter 220 by having its mounting surface, connection part 4g, located on the Y2 direction side, attached to the adapter 220. The connection part 4g is located on the housing 4h and is attached to the robot arm 60 via the adapter 220. The adapter 220 is connected to the surgical instrument 4 by having its mounting surface, connection part 220a, located on the Y1 direction side. The adapter 220 is also connected to the drive unit 75 of the robot arm 60 by having its mounting surface, connection part 220b, located on the Y2 direction side, attached to the drive unit 75 of the robot arm 60. The drive unit 75 of the robot arm 60 is connected to the adapter 220 by having its mounting surface, connection part 76, located on the Y1 direction side.

[0048] As shown in Figure 6, the robotic arm 60 is covered with a drape 210 because it is used in a sterile area. In the operating room, sterile procedures are performed to prevent contamination of the surgically incised area and medical instruments by pathogens or foreign objects. In these sterile procedures, a sterile area and a contaminated area (areas outside the sterile area) are established. The surgical site is placed in the sterile area. During surgery, members of the surgical team, including the operator, ensure that only sterilized objects are located in the sterile area, and if an object located in the contaminated area is moved to the sterile area, it is sterilized. Similarly, if a member of the surgical team, including the operator, places their hands in the contaminated area, they sterilize their hands before directly touching objects located in the sterile area. Instruments used in the sterile area are sterilized or covered with a sterilized drape 210.

[0049] The drape 210 comprises a main body 211 that covers the robot arm 60, and a mounting portion 212 that is sandwiched between the drive unit 75 of the robot arm 60 and the adapter 220. The main body 211 is made of a flexible film member formed in a film shape. The flexible film member is made of a resin material such as thermoplastic polyurethane or polyethylene. The main body 211 has an opening so that the drive unit 75 of the robot arm 60 and the adapter 220 can engage with each other. The mounting portion 212 is positioned in the opening of the main body 211 so as to close the opening. The mounting portion 212 is made of a resin molded member. The resin molded member is made of a resin material such as polyethylene terephthalate. The mounting portion 212 is made to be harder and less flexible than the main body 211. The mounting portion 212 has an opening so that the drive unit 75 of the robot arm 60 and the adapter 220 can engage with each other. The openings in the mounting portion 212 may be positioned to correspond to the engagement points between the drive unit 75 of the robot arm 60 and the adapter 220. Alternatively, multiple openings in the mounting portion 212 may be positioned to correspond to multiple engagement points between the drive unit 75 of the robot arm 60 and the adapter 220.

[0050] As shown in Figures 6 and 7, the adapter 220 comprises an adapter body 221 and a plurality of drive transmission units 222 rotatably held on the adapter body 221 around a rotation axis extending in the Y direction. The plurality of drive transmission units 222 are rotatably arranged on the adapter body 221 around the rotation axis. There are four drive transmission units 222, corresponding to the four driven members 4i of the surgical instrument 4. The drive transmission units 222 are configured to transmit driving force from the robot arm 60 to the driven members 4i of the surgical instrument 4. The drive transmission unit 222 includes a fitting recess 222a that fits with a fitting projection 4j of the driven member 4i of the surgical instrument 4. The fitting recess 222a is formed on the Y1 direction side of the drive transmission unit 222, which is the surgical instrument 4 side, so as to be recessed from the Y1 direction surface of the drive transmission unit 222 toward the Y2 direction side, which is opposite to the surgical instrument 4 side.

[0051] Furthermore, the drive transmission unit 222 includes a fitting recess 222b that fits with the fitting projection 75a of the drive unit 75 of the robot arm 60. The fitting recess 222b is formed on the Y2 direction side of the drive transmission unit 222, which is the robot arm 60 side, so as to be recessed from the Y2 direction surface of the drive transmission unit 222 toward the Y1 direction side, which is the opposite side from the robot arm 60.

[0052] (Control system configuration) As shown in Figure 8, the surgical support system 100 includes a control device 130, an arm control unit 31a, a positioner control unit 31b, and an operation control unit 110.

[0053] The control device 130 is positioned inside the medical trolley 3 to communicate with the arm control unit 31a and the positioner control unit 31b, and controls the entire surgical support system 100. Specifically, the control device 130 communicates with and controls the arm control unit 31a, the positioner control unit 31b, and the operation control unit 110, respectively. The control device 130 is connected to the arm control unit 31a, the positioner control unit 31b, and the operation control unit 110 by a LAN or the like. The control device 130 is located inside the medical trolley 3.

[0054] An arm control unit 31a is located for each of the multiple robot arms 60. In other words, multiple arm control units 31a corresponding to the number of robot arms 60 are located inside the medical trolley 3.

[0055] As shown in Figure 8, the input device 33 is connected to the control device 130 via a LAN or the like. The status indicator 53, arm status indicator 54, operating handle 34, throttle 34a, joystick 33b, stabilizer 34c, and electric cylinder 34d are connected to the positioner control unit 31b via a communication network that allows them to share information with each other, through wiring 145. In Figure 8, it is shown that all of the status indicators, such as the status indicator 53 and arm status indicator 54, are connected to a single wiring 145, but in reality, there is a separate wiring 145 for each of the status indicator 53, arm status indicator 54, operating handle 34, throttle 34a, joystick 33b, stabilizer 34c, and electric cylinder 34d.

[0056] As shown in Figure 9, the arm section 61 is equipped with multiple servo motors M1, encoders E1, and a reduction gear to correspond to multiple joints 64. The encoders E1 detect the rotation angle of the servo motors M1. The reduction gear reduces the rotation of the servo motors M1 to increase the torque. Inside the medical trolley 3, a servo control unit C1 for controlling the servo motors M1 is located adjacent to the arm control unit 31a. The encoders E1 for detecting the rotation angle of the servo motors M1 are electrically connected to the servo control unit C1.

[0057] Brake BRKs are installed on each joint 64 of the arm section 61 and on each joint 43 of the positioner 40. Brake BRKs are also installed on the front wheels of the medical trolley 3, the arm base 50, and the translational movement mechanism 70. Control signals are transmitted unidirectionally from the arm control unit 31a to each brake BRK installed on the joint 64 of the arm section 61 and the translational movement mechanism 70. The control signals are signals to turn the brake BRKs on and off. The signal to turn on the brake BRKs includes a signal to maintain the brake BRKs in an engaged state. The same applies to the control signals from the positioner control unit 31b to each brake BRK installed on the joint 43 of the positioner 40 and the arm base 50. At startup, all brake BRKs are released on the arm base 50, the arm section 61, and the translational movement mechanism 70, and the servo motors SM are driven to counteract gravity, thereby maintaining the posture of the robot arm 60 and the arm base 50. When an error occurs in the surgical support system 100, the brakes BRK mounted on the arm base 50, the arm section 61, and the translational movement mechanism section 70 are turned on. When the error in the surgical support system 100 is cleared, the brakes BRK mounted on the arm base 50, the arm section 61, and the translational movement mechanism section 70 are turned off. When the surgical support system 100 is shut down, the brakes BRK mounted on the arm base 50, the arm section 61, and the translational movement mechanism section 70 are turned on again. In addition, the front wheels of the medical trolley 3 always have the brakes BRK on, and the brakes BRK are released only while the enable switch 34b of the medical trolley 3 is pressed. Also, each joint 43 of the positioner 40 always has the brakes BRK on, and the brakes BRK are released only while the enable switch 33c of the medical trolley 3 is pressed.

[0058] The second link section 73 is equipped with a servo motor M2, an encoder E2, and a reduction gear for rotating a driven member located on the driven unit 4a of the surgical instrument 4. The encoder E2 detects the rotation angle of the servo motor M2. The reduction gear reduces the rotation of the servo motor M2 to increase torque. The medical trolley 3 is also equipped with a servo control unit C2 for controlling the servo motor M2 that drives the surgical instrument 4. The encoder E2 for detecting the rotation angle of the servo motor M2 is electrically connected to the servo control unit C2. Note that multiple servo motors M2, encoders E2, and servo control units C2 are provided.

[0059] The translational movement mechanism 70 includes a servo motor M3, an encoder E3, and a reduction gear for translating the surgical instrument 4. The encoder E3 detects the rotation angle of the servo motor M3. The reduction gear reduces the rotation of the servo motor M3 to increase the torque. The medical trolley 3 also includes a servo control unit C3 for controlling the servo motor M3 that translates the surgical instrument 4. The encoder E3 for detecting the rotation angle of the servo motor M3 is electrically connected to the servo control unit C3.

[0060] As shown in Figure 10, the positioner 40 is equipped with multiple servo motors M4, an encoder E4, and a reduction gear, corresponding to the multiple joints 43 of the positioner 40. The encoder E4 is configured to detect the rotation angle of the servo motors M4. The reduction gear is configured to reduce the rotation of the servo motors M4 and increase the torque.

[0061] The medical trolley 3 is equipped with wheels, including front wheels that serve as drive wheels and rear wheels that are steered by an operating handle 34. The rear wheels are positioned closer to the operating handle 34 than the front wheels. The medical trolley 3 also has servo motors M5 that drive each of the multiple front wheels, encoders E5, a reduction gear, and brakes. The reduction gear is configured to reduce the rotation of the servo motors M5 and increase the torque. A potentiometer P1, as shown in Figure 2, is positioned on the operating handle 34 of the medical trolley 3, and the servo motors M5 of the front wheels are driven based on the rotation angle detected by the potentiometer P1 in response to the twisting of the throttle 34a. The rear wheels of the medical trolley 3 are of the twin-wheel type, and the rear wheels are steered based on the left and right rotation of the operating handle 34. Furthermore, a potentiometer P2, as shown in Figure 2, is positioned on the rotation axis of the operating handle 34 of the medical trolley 3, and a servo motor M5a, encoder E5a, and reduction gear are positioned on the rear wheels of the medical trolley 3. The reduction gear is configured to reduce the rotation of the servo motor M5a and increase the torque. The servo motor M5a is driven based on the rotation angle detected by the potentiometer P2 in response to the left and right rotation of the operating handle 34. In other words, the steering of the rear wheels by the left and right rotation of the operating handle 34 is power-assisted by the servo motor M5a.

[0062] The medical trolley 3 moves in the forward and backward direction when its front wheels are driven. In addition, when the operating handle 34 of the medical trolley 3 is rotated, the rear wheels are steered, causing the medical trolley 3 to rotate in the left and right direction.

[0063] As shown in Figure 10, the medical trolley 3 is equipped with a servo control unit C4 for controlling the servo motor M4 that moves the positioner 40. An encoder E4 for detecting the rotation angle of the servo motor M4 is electrically connected to the servo control unit C4. The medical trolley 3 is also equipped with a servo control unit C5 for controlling the servo motor M5 that drives the front wheels of the medical trolley 3. An encoder E5 for detecting the rotation angle of the servo motor M5 is electrically connected to the servo control unit C5. The medical trolley 3 is also equipped with a servo control unit C5a for controlling the servo motor M5a that power assists the steering of the rear wheels of the medical trolley 3. An encoder E5a for detecting the rotation angle of the servo motor M5a is electrically connected to the servo control unit C5a.

[0064] As shown in Figure 8, the control device 130 controls the robot arm 60 based on operations received by the arm operation unit 80. For example, the control device 130 controls the robot arm 60 based on operations received by the joystick 82 of the arm operation unit 80. Specifically, the arm control unit 31a outputs an input signal received from the joystick 82 to the control device 130. The control device 130 generates a position command based on the received input signal and the rotation angle detected by the encoder E1, and outputs the position command to the servo control unit C1 via the arm control unit 31a. The servo control unit C1 generates a current command based on the position command received from the arm control unit 31a and the rotation angle detected by the encoder E1, and outputs the current command to the servo motor M1. As a result, the robot arm 60 moves in accordance with the motion command input to the joystick 82.

[0065] The control device 130 controls the robot arm 60 based on input signals from the linear switch 83 of the arm operation unit 80. Specifically, the arm control unit 31a outputs the input signal received from the linear switch 83 to the control device 130. The control device 130 generates a position command based on the received input signal and the rotation angle detected by the encoder E1 or E3, and outputs the position command to the servo control unit C1 or C3 via the arm control unit 31a. The servo control unit C1 or C3 generates a current command based on the position command received from the arm control unit 31a and the rotation angle detected by the encoder E1 or E3, and outputs the current command to the servo motor M1 or M3. As a result, the robot arm 60 moves in accordance with the motion command input to the linear switch 83.

[0066] The positioner control unit 31b is located on the medical trolley 3. The positioner control unit 31b controls the positioner 40 and the medical trolley 3. The positioner 40 is equipped with a servo motor SM, an encoder EN, and a reduction gear, corresponding to the multiple joints 43 of the positioner 40. The servo control unit SC, which controls the servo motor SM of the positioner 40, is located on the medical trolley 3. The medical trolley 3 is equipped with a servo motor SM, an encoder EN, a reduction gear, a servo control unit SC, and a brake, which drive each of the multiple front wheels of the medical trolley 3.

[0067] The operation control unit 110 is located in the main body of the remote control device 2. The operation control unit 110 controls the operation unit 120. The operation control unit 110 is positioned to correspond to the left-hand operation unit 120 and the right-hand operation unit 120, respectively. The operation unit 120 is equipped with a servo motor SM, an encoder EN, and a reduction gear, corresponding to the multiple joints of the operation unit 120. The servo control unit SC, which controls the servo motor SM of the operation unit 120, is located adjacent to the operation control unit 110 in the main body of the remote control device 2.

[0068] (Configuration of manual surgical instruments) Referring to Figure 11, the configuration of the manual surgical instrument 400 will be described. The manual surgical instrument 400 is normally operated by a surgeon such as a physician, but in this embodiment, it is not operated directly by the physician, but rather by the surgical support robot 1 via the remote control device 2.

[0069] The manual surgical instrument 400 comprises a grip section 401, an operating handle 402, a rotating section 403, a shaft 404, and an end effector 405. The end effector 405 has a pair of jaw members positioned at the tip of the shaft 404.

[0070] The operating handle 402 has a ring shape with a hole in the center. The operator, such as a doctor, grasps the grip portion 401 and the operating handle 402. As a result, the grip portion 401 comes into contact with the palm of the operator's hand. The operator hooks their fingers inside the ring-shaped operating handle 402. When the operator grips the operating handle 402, the operating handle 402 rotates in direction A1. This closes the pair of jaw members. When the operator releases their grip on the operating handle 402, the operating handle 402 rotates in direction A2. This opens the pair of jaw members.

[0071] The rotating part 403 is connected to the shaft 404. When the rotating part 403 rotates in the B1 direction or the B2 direction, the shaft 404 rotates in the B1 direction or the B2 direction.

[0072] (Configuration of surgical instrument adapter) Next, the configuration of the surgical instrument adapter 300 will be described. The surgical instrument adapter 300 is used to connect the manual surgical instruments 400 to the robot arm 60.

[0073] In this embodiment, the surgical instrument adapter 300 includes an interface section 310 shown in Figure 12, a first driven section 320, a first drive force transmission mechanism 330, a second pulley section 340, a surgical instrument holding section 350 shown in Figure 13, and a second driven section 360 and a second drive force transmission mechanism 370 shown in Figure 18. The first driven section 320 is an example of a driven section. The first drive force transmission mechanism 330 is an example of a drive force transmission mechanism.

[0074] As shown in Figure 14, the interface section 310 has a first rotating body 311 which is rotationally driven by a first driving force transmitted from a first drive unit 751 located on the robot arm 60 shown in Figure 6. The interface section 310 has a second rotating body 312 which is rotationally driven by a second driving force transmitted from a second drive unit 752 located on the robot arm 60. The interface section 310 is attached to the holder 71 of the second link section 73 shown in Figure 6 via an adapter 220. The first rotating body 311 and the second rotating body 312 are pulleys. A pulley is also called a capstan. On the second link section 73 side of the first rotating body 311 and the second rotating body 312, a fitting projection 311a and a fitting projection 312a are located, respectively. The fitting projection 311a and the fitting projection 312a engage with the fitting recess 222a of the adapter 220 shown in Figure 6. The first solid of revolution 311 and the second solid of revolution 312 rotate around axes F1 and F2, respectively. Axes F1 and F2 are aligned in the Y direction. The first solid of revolution 311 is an example of a solid of revolution.

[0075] In this embodiment, as shown in Figure 13, the first driven unit 320 rotates the operating handle 402 of the manual surgical instrument 400 by the first driving force transmitted from the first drive unit 751. The first driven unit 320 rotates the operating handle 402 in directions A1 and A2.

[0076] In this embodiment, the first driven portion 320 includes a lever portion 321, a roller portion 322 shown in Figure 15, a clamping portion 323, and a first pulley portion 324. The lever portion 321 is rotated by a first driving force. Specifically, the lever portion 321 is fixed to the inner surface of the surgical instrument holding portion 350. The lever portion 321 rotates with axis F3 as the axis of rotation. Axis F3 is along the X direction. The lever portion 321 has a plate shape.

[0077] In this embodiment, as shown in Figure 15, the roller portion 322 is connected to the lever portion 321 and contacts the operating handle 402. The roller portion 322 moves while rotating along the surface 402a of the operating handle 402. The surface 402a is the Z1 side surface of the operating handle 402. The roller portion 322 is formed of, for example, metal. The roller portion 322 is connected to the tip side, which is one side of the lever portion 321. The roller portion 322 is rotatably connected to the tip side of the lever portion 321. The roller portion 322 is cantilevered to the lever portion 321. The roller portion 322 rotates about axis F4 as the axis of rotation. Axis F4 is along the X direction. The roller portion 322 has a cylindrical shape. The roller portion 322 makes line contact with the operating handle 402.

[0078] In this embodiment, the clamping portion 323, together with the roller portion 322, clamps the operating handle 402. The clamping portion 323 abuts against the inner surface 402b of the ring-shaped operating handle 402. Surface 402b is the Z2 side surface, opposite to the Z1 side surface 402a.

[0079] In this embodiment, as shown in Figure 16, the clamping portion 323 includes a main body portion 323a, a contact portion 323b, and a biasing portion 323c. The main body portion 323a is attached to the lever portion 321. The main body portion 323a has an L-shape. The base end of the main body portion 323a is attached to the tip end of the lever portion 321. A groove portion 323d is provided on the base end of the main body portion 323a, and the lever portion 321 is inserted into the groove portion 323d. The main body portion 323a does not rotate relative to the lever portion 321. The main body portion 323a is attached to the lever portion 321 by fastening members such as screws.

[0080] The contact portion 323b contacts the operating handle 402. The contact portion 323b contacts the inner surface 402b of the ring-shaped operating handle 402. In this embodiment, the portion 323e of the contact portion 323b that contacts the operating handle 402 has a curved surface. The contact portion 323b has a substantially semi-cylindrical shape. The portion 323e on the Z1 side of the contact portion 323b is a curved surface, and the portion 323f on the Z2 side of the contact portion 323b is a flat surface.

[0081] In this embodiment, the biasing portion 323c is positioned between the main body portion 323a and the contact portion 323b. The biasing portion 323c biases the contact portion 323b toward the operating handle 402. The contact portion 323b is, for example, a compression coil spring. One end of the biasing portion 323c is connected to portion 323f of the contact portion 323b. The other end of the biasing portion 323c is connected to the main body portion 323a. A groove portion 323g is positioned in the main body portion 323a. The groove portion 323g has a cross shape. The groove portion 323g is formed along the Z direction and along the X direction. The other end of the biasing portion 323c is connected to the inner surface of the groove portion 323g on the Z2 side. The biasing portion 323c and the contact portion 323b are positioned in the portion of the groove portion 323g formed along the Z direction.

[0082] In this embodiment, as shown in Figure 17, the first pulley portion 324 is connected to the base end side, which is the other side of the lever portion 321. The first pulley portion 324 is rotated by the second elongated element 332, which will be described later.

[0083] In this embodiment, the first drive force transmission mechanism 330 transmits a first drive force from the first rotating body 311 to the first driven part 320. The first drive force transmission mechanism 330 is positioned between the first rotating body 311 and the first driven part 320. The first drive force transmission mechanism 330 includes an elongated element consisting of a wire or cable that transmits the first drive force from the first rotating body 311 to the first driven part 320. The first drive force transmission mechanism 330 includes a first elongated element 331 wound around the first rotating body 311 and the second pulley portion 340, and a second elongated element 332 wound around the second pulley portion 340 and the first pulley portion 324 of the first driven part 320. The first elongated element 331 and the second elongated element 332 are examples of elongated elements.

[0084] In this embodiment, the second pulley portion 340 is positioned on the movement path of the elongated element between the first rotating body 311 and the first pulley portion 324. As described above, the first elongated element 331 is wound around the first rotating body 311 and the second pulley portion 340. The second elongated element 332 is wound around the second pulley portion 340 and the first pulley portion 324. In the second pulley portion 340, the first elongated element 331 and the second elongated element 332 are positioned offset in the X direction. In the surgical instrument holding portion 350, the second pulley portion 340 is positioned on the Z2 direction side of the first rotating body 311. The second pulley portion 340 is positioned in the interface portion 310. The first elongated element 331 is positioned along the Z direction. The second elongated element 332 is positioned to intersect the Z direction. The second pulley portion 340 rotates with axis F5 as the axis of rotation. Axis F5 is aligned with the X direction.

[0085] In this embodiment, as shown in Figure 13, the diameter d1 of the first pulley portion 324 is larger than the diameter d2 of the first rotating body 311. The diameters d1 and d2 are set so that the first driven portion 320 can rotate the operating handle 402 by the driving force of the first drive portion 751. The diameter d2 of the first rotating body 311 represents the diameter of the shaft portion around which the first elongated element 331 is wrapped.

[0086] In this embodiment, the surgical instrument holder 350 holds the manual surgical instrument 400 so as to position the roller portion 322 relative to the operating handle 402. The surgical instrument holder 350 is a housing that covers the grip portion 401, operating handle 402, and rotating portion 403 of the manual surgical instrument 400. As shown in Figure 12, the surgical instrument holder 350 includes a main body portion 351 and a lid portion 352. The lid portion 352 is attached to the main body portion 351 by a hinge portion 353. The lid portion 352 covers the opening of the main body portion 351. A hole portion 354 is formed in the main body portion 351. The shaft 404 of the manual surgical instrument 400 is inserted into the hole portion 354, and the rotating portion 403 is positioned in the hole portion 354. As shown in Figure 13, the grip portion 401 and the operating handle 402 are arranged in the main body portion 351. The operating handle 402 is positioned on the main body 351 so as to contact the roller portion 322.

[0087] In this embodiment, the interface portion 310 and the first driven portion 320 are located on the surgical instrument holder portion 350. The interface portion 310 is located on the Y2 side of the main body portion 351 of the surgical instrument holder portion 350. The first driven portion 320 is attached to the inner surface of the main body portion 351 on the X2 side. The operating handle 402 is located on the main body portion 351 such that the clamping portion 323 is inserted into the central hole of the ring-shaped operating handle 402.

[0088] In this embodiment, as shown in Figure 18, the second driven unit 360 rotates the rotating part 403 of the manual surgical instrument 400. The second drive force transmission mechanism 370 transmits a second drive force from the second rotating body 312 to the second driven unit 360. The second drive force transmission mechanism 370 is positioned between the second rotating body 312 and the second driven unit 360 and includes a gear section 371 that transmits the second drive force from the second rotating body 312 to the second driven unit 360. A helical gear 312b is positioned on the second rotating body 312. The gear section 371 includes a helical gear section 371a and a spur gear 371b. The second driven unit 360 includes a cylindrical member 361 and a spur gear 362. The rotating part 403 of the manual surgical instrument 400 is inserted into the cylindrical member 361. The cylindrical member 361 is positioned in the hole 354 of the surgical instrument holding portion 350. The spur gear 362 is positioned on the outer circumference of the cylindrical member 361. The helical gear 312b of the second rotating body 312 meshes with the helical gear portion 371a. The spur gear 371b and the spur gear 362 mesh. As a result, the second driving force is transmitted from the second driving unit 752 to the second driven unit 360.

[0089] As shown in Figure 13, a retaining member 356 is positioned on the inner surface of the surgical instrument holder 350 to prevent the rotating part 403 of the manual surgical instrument 400 from coming out of the cylindrical member 361 in the Z2 direction. The retaining member 356 contacts the grip part 401, thereby preventing the rotating part 403 of the manual surgical instrument 400 from coming out of the cylindrical member 361 in the Z2 direction.

[0090] (operation) As shown in Figure 19, the first driving force transmitted from the first drive unit 751 causes the first rotating body 311 to rotate about axis F1 in the G1 direction, and the first elongated element 331 causes the second pulley portion 340 to rotate about axis F5 in the G2 direction. The rotation of the second pulley portion 340 causes the second elongated element 332 to rotate the first pulley portion 324 about axis F3 in the G3 direction. As a result, the roller portion 322 moves along the surface 402a of the operating handle 402, causing the operating handle 402 to rotate in the A1 direction. As shown in Figure 13, the first rotating body 311 rotates about axis F1 in the opposite direction to the G1 direction, and the contact portion 323b moves along the surface 402b of the operating handle 402, causing the operating handle 402 to rotate in the A2 direction.

[0091] As shown in Figure 18, the second driving force transmitted from the second drive unit 752 causes the second rotating body 312 to rotate around the axis F2 in the G11 direction, causing the helical gear portion 371a and the spur gear 371b of the gear portion 371 to rotate in the G12 direction. As the spur gear 371b of the gear portion 371 rotates in the G12 direction, the spur gear 362 rotates in the G13 direction. As the spur gear 362 and the cylindrical member 361 rotate, the rotating portion 403 of the manual surgical instrument 400 rotates in the G13 direction. As the second rotating body 312 rotates around the axis F2 in the opposite direction to the G11 direction, the rotating portion 403 of the manual surgical instrument 400 rotates in the opposite direction to the G13 direction.

[0092] [Effects of this embodiment] The first driven unit 320 includes a lever portion 321 that is rotated by the first driving force, and a roller portion 322 that is connected to the lever portion 321 and contacts the operating handle 402, and moves while rotating along the surface 402a of the operating handle 402. As a result, the roller portion 322 of the first driven unit 320 moves while rotating along the surface 402a of the operating handle 402, so the frictional force acting between the roller portion 322 and the operating handle 402 is relatively small. Therefore, the first driven unit 320 can smoothly rotate the operating handle 402 of the manual surgical instrument 400.

[0093] The first driven unit 320 further includes a clamping unit 323 that clamps the operating handle 402 together with the roller unit 322. This allows the roller unit 322 to rotate the operating handle 402 in the A1 direction, and the clamping unit 323 to rotate the operating handle 402 in the A2 direction, opposite to the A1 direction. In other words, the rotation of the operating handle 402 in both directions can be controlled by the first driving force of the first drive unit 751. In addition, the clamping unit 323 can prevent the roller unit 322 from separating from the operating handle 402.

[0094] The clamping portion 323 includes a main body portion 323a attached to the lever portion 321, a contact portion 323b that abuts against the operating handle 402, and a biasing portion 323c positioned between the main body portion 323a and the contact portion 323b, which biases the contact portion 323b toward the operating handle 402. As a result, the contact portion 323b is biased toward the operating handle 402 by the biasing portion 323c, so even if the distance between the operating handle 402 and the contact portion 323b changes due to the rotation of the operating handle 402, the contact state between the operating handle 402 and the contact portion 323b can be maintained.

[0095] The portion 323e of the contact portion 323b that contacts the operating handle 402 has a curved surface. As a result, the frictional force acting between the contact portion 323b of the clamping portion 323 and the operating handle 402 is relatively small, allowing the clamping portion 323 to move smoothly relative to the operating handle 402.

[0096] The first drive force transmission mechanism 330 is positioned between the first rotating body 311 and the first driven part 320 and includes a first elongated element 331 and a second elongated element 332, which are wires or cables that transmit a first drive force from the first rotating body 311 to the first driven part 320. A roller section 322 is connected to one side of the lever section 321, and the first driven part 320 further includes a first pulley section 324 connected to the other side of the lever section 321 and rotated by the second elongated element 332. This arrangement exposes the first elongated element 331 and the second elongated element 332, allowing for easy cleaning of the first elongated element 331 and the second elongated element 332.

[0097] The surgical instrument adapter 300 further includes a second pulley portion 340 positioned on the movement path of the first elongated element 331 and the second elongated element 332 between the first rotating body 311 and the first pulley portion 324. This allows interference between the first elongated element 331 and the second elongated element 332 and the member to be suppressed even when a member that interferes with the first elongated element 331 and the second elongated element 332 is positioned between the first rotating body 311 and the first pulley portion 324, by changing the movement path of the first elongated element 331 and the second elongated element 332 using the second pulley portion 340.

[0098] The diameter d1 of the first pulley portion 324 is larger than the diameter d2 of the first rotating body 311. This allows the torque of the first drive unit 751 to be transmitted to the first driven unit 320 in an increased state via the first rotating body 311, the second pulley portion 340, and the first pulley portion 324. Therefore, the driving force to rotate the operating handle 402 can be secured without increasing the size of the first drive unit 751.

[0099] The surgical instrument adapter 300 further includes a surgical instrument holder 350 that holds the manual surgical instrument 400 so as to position the roller portion 322 relative to the operating handle 402. This allows the roller portion 322 to be easily positioned relative to the operating handle 402 by holding the manual surgical instrument 400 with the surgical instrument holder 350.

[0100] The cylindrical member 361 is positioned in the surgical instrument holder 350 and connected to the interface 310 via a bearing. The rotating part 403 of the manual surgical instrument 400 engages with the cylindrical member 361, allowing the manual surgical instrument 400 to be easily positioned. Specifically, the rotating part 403 connected to the shaft 404 of the manual surgical instrument 400 has a notch. The cylindrical member 361 of the surgical instrument holder 350 is connected so as to fit into the notch of the rotating part 403, thereby positioning the manual surgical instrument 400 relative to the surgical instrument holder 350.

[0101] The interface unit 310 further includes a second rotating body 312 which is rotationally driven by a second driving force transmitted from a second drive unit 752 located on the robot arm 60. The surgical instrument adapter 300 further includes a second driven unit 360 which rotates a rotating part 403 connected to the shaft 404 of the manual surgical instrument 400, and a second driving force transmission mechanism 370 which transmits a second driving force from the second rotating body 312 to the second driven unit 360. This makes it possible to easily rotate the rotating part 403 of the manual surgical instrument 400 using the second driving force of the second drive unit 752.

[0102] The second drive force transmission mechanism 370 is positioned between the second rotating body 312 and the second driven part 360 and includes a gear section 371 that transmits a second drive force from the second rotating body 312 to the second driven part 360. As a result, the gear section 371, which has a relatively simple configuration, allows the rotating part 403 of the manual surgical instrument 400 to be easily rotated by the second drive force of the second drive section 752.

[0103] [Differentiation] It should be noted that the embodiments disclosed herein are illustrative and not restrictive in all respects. The scope of this disclosure is defined by the claims rather than the description of the embodiments above, and further includes all modifications (modifications) within the meaning and scope equivalent to the claims.

[0104] In the above embodiment, an example was shown in which the first drive force transmission mechanism 330 includes a first elongated element 331 and a second elongated element 332 made of a wire or cable, but the disclosure is not limited thereto. For example, the first drive force transmission mechanism 330 may include a guide wire.

[0105] In the above embodiment, an example was shown in which the first driven part 320 includes a clamping part 323, but the disclosure is not limited thereto. For example, as shown in the modified example in Figure 20, the first driven part 420 may not include a clamping part 323. The first driven part 420 consists only of a roller part 322 connected to a lever part 321. The first driven part 420 is an example of a drive part.

[0106] In the above embodiment, an example was shown in which the contact portion 323b of the clamping portion 323 has a substantially semi-cylindrical shape, but the disclosure is not limited thereto. For example, the contact portion may be formed from a cylindrical and rotatable roller portion.

[0107] In the above embodiment, an example was shown in which both a first driven unit 320 that rotates the operating handle 402 of the manual surgical instrument 400 and a second driven unit 360 that rotates the rotating part 403 of the manual surgical instrument 400 are arranged on the surgical instrument adapter 300, but the disclosure is not limited thereto. For example, only the first driven unit 320 that rotates the operating handle 402 of the manual surgical instrument 400 may be arranged on the surgical instrument adapter 300.

[0108] Furthermore, although the above embodiment shows an example in which four robot arms 60 are arranged, the disclosure is not limited thereto. In this disclosure, the number of robot arms 60 may be any other number, as long as at least one or more are arranged.

[0109] Furthermore, although the above embodiment shows an example in which the arm portion 61 and the positioner 40 are composed of a 7-axis articulated robot, this disclosure is not limited to this. For example, the arm portion 61 and the positioner 40 may be composed of an articulated robot with an axis configuration other than a 7-axis articulated robot. An axis configuration other than a 7-axis articulated robot would be, for example, 6 axes or 8 axes.

[0110] Furthermore, while the above embodiment shows an example in which the surgical support robot 1 includes a medical cart 3, a positioner 40, and an arm base 50, this disclosure is not limited to this. For example, the medical cart 3, the positioner 40, and the arm base 50 are not necessarily required, and the surgical support robot 1 may consist only of a robot arm 60.

[0111] [Pattern] Those skilled in the art will understand that the exemplary embodiments described above are specific examples of the following embodiments.

[0112] (Item 1) A surgical instrument adapter for connecting manual surgical instruments to a robotic arm, An interface unit having a first rotating body that is rotationally driven by a first driving force transmitted from a first drive unit arranged on the robot arm, A first driven unit that rotates the operating handle of the manual surgical instrument, The system comprises a first drive force transmission mechanism that transmits the first drive force from the first rotating body to the first driven part, The first driven unit is, The lever portion rotated by the first driving force, A surgical instrument adapter comprising a roller portion connected to the lever portion and in contact with the operating handle, and moving while rotating along the surface of the operating handle.

[0113] (Item 2) The surgical instrument adapter according to item 1, wherein the first driven portion further includes a clamping portion that clamps the operating handle together with the roller portion.

[0114] (Item 3) The aforementioned clamping portion is, The main body is attached to the lever portion, A contact portion that contacts the aforementioned operating handle, The surgical instrument adapter according to item 2, further comprising a biasing unit disposed between the main body and the contact portion, which biases the contact portion toward the operating handle.

[0115] (Item 4) The portion of the contact part that contacts the operating handle has a curved surface, as described in item 3, for the surgical instrument adapter.

[0116] (Item 5) The first driving force transmission mechanism includes an elongated element consisting of a wire or cable, which is disposed between the first rotating body and the first driven part and transmits the first driving force from the first rotating body to the first driven part. The roller portion is connected to one side of the lever portion, The surgical instrument adapter according to any one of items 1 to 4, wherein the first driven portion further includes a first pulley portion connected to the other side of the lever portion and rotated by the elongated element.

[0117] (Item 6) The surgical instrument adapter described in item 5, wherein the diameter of the first pulley portion is larger than the diameter of the first rotating body.

[0118] (Item 7) The surgical instrument adapter according to item 5, further comprising a second pulley portion positioned on the movement path of the elongated element between the first rotating body and the first pulley portion.

[0119] (Item 8) The surgical instrument adapter according to any one of items 1 to 7, further comprising a surgical instrument holder for holding the manual surgical instrument so as to position the roller portion relative to the operating handle.

[0120] (Item 9) The surgical instrument adapter described in item 8, wherein the interface portion and the first driven portion are located on the surgical instrument holding portion.

[0121] (Item 10) The interface unit further comprises a second rotating body which is rotationally driven by a second driving force transmitted from a second drive unit located on the robot arm. A second driven unit that rotates the rotating part connected to the shaft of the aforementioned manual surgical instrument, A surgical instrument adapter according to any one of items 1 to 9, further comprising a second drive force transmission mechanism for transmitting the second drive force from the second rotating body to the second driven part.

[0122] (Item 11) The second drive force transmission mechanism is, The surgical instrument adapter according to item 10, comprising a gear section disposed between the second rotating body and the second driven part, which transmits the second driving force from the second rotating body to the second driven part.

[0123] (Item 12) A robotic arm having a drive unit, The robot arm is equipped with a surgical instrument adapter that allows manual surgical instruments to be operated, An interface unit having a rotating body that is rotationally driven by a driving force transmitted from the drive unit arranged on the robot arm, The aforementioned surgical instrument adapter is A driven unit that rotates the operating handle of the manual surgical instrument, It includes a drive force transmission mechanism that transmits the driving force from the rotating body to the driven part, The driven unit is, A lever portion that is rotated by the aforementioned driving force, A surgical assistance robot comprising: a roller portion connected to the lever portion and in contact with the operating handle, and moving along the surface of the operating handle.

[0124] 60 robotic arms 100 Surgical Assistance Robots 300 Surgical Instrument Adapters 310 Interface section 311 First solid of revolution (solid of revolution) 312 Second Rotating Body 320, 420 First driven part (driven part) 321 Lever section 322 Roller section 323 Clamping part 323a Main body 323b Contact part 323c Force part 323e part 324 First pulley section 330 First power transmission mechanism (power transmission mechanism) 331 First slender element (slender element) 332 Second slender element (slender element) 340 Second pulley section 350 Surgical instrument holder 360 Second driven unit 370 Second drive force transmission mechanism 371 Gear section 400 Manual surgical instruments 402 Operating handle 403 Rotating part 404 shaft 751 First drive unit (drive unit) 752 Second drive unit

Claims

1. A surgical instrument adapter for connecting manual surgical instruments to a robotic arm, An interface unit having a first rotating body that is rotationally driven by a first driving force transmitted from a first drive unit arranged on the robot arm, A first driven unit that rotates the operating handle of the manual surgical instrument, The system includes a first drive force transmission mechanism that transmits a first drive force from the first rotating body to the first driven part, The first driven unit is, The lever portion rotated by the first driving force, A surgical instrument adapter comprising a roller portion connected to the lever portion and in contact with the operating handle, and moving while rotating along the surface of the operating handle.

2. The surgical instrument adapter according to claim 1, wherein the first driven portion further includes a clamping portion that clamps the operating handle together with the roller portion.

3. The aforementioned clamping portion is, The main body is attached to the lever portion, A contact portion that contacts the aforementioned operating handle, The surgical instrument adapter according to claim 2, further comprising a biasing unit disposed between the main body and the contact portion, which biases the contact portion toward the operating handle.

4. The surgical instrument adapter according to claim 3, wherein the portion of the contact part that contacts the operating handle has a curved surface.

5. The first driving force transmission mechanism includes an elongated element consisting of a wire or cable, which is disposed between the first rotating body and the first driven part and transmits the first driving force from the first rotating body to the first driven part. The roller portion is connected to one side of the lever portion, The surgical instrument adapter according to claim 1, wherein the first driven portion further includes a first pulley portion connected to the other side of the lever portion and rotated by the elongated element.

6. The surgical instrument adapter according to claim 5, wherein the diameter of the first pulley portion is larger than the diameter of the first rotating body.

7. The surgical instrument adapter according to claim 5, further comprising a second pulley portion disposed on the movement path of the elongated element between the first rotating body and the first pulley portion.

8. The surgical instrument adapter according to claim 1, further comprising a surgical instrument holding portion for holding the manual surgical instrument so as to position the roller portion with respect to the operating handle.

9. The surgical instrument adapter according to claim 8, wherein the interface portion and the first driven portion are arranged in the surgical instrument holding portion.

10. The interface unit further comprises a second rotating body which is rotationally driven by a second driving force transmitted from a second drive unit located on the robot arm. A second driven unit that rotates the rotating part connected to the shaft of the aforementioned manual surgical instrument, The surgical instrument adapter according to claim 1, further comprising a second drive force transmission mechanism for transmitting the second drive force from the second rotating body to the second driven part.

11. The second drive force transmission mechanism is, The surgical instrument adapter according to claim 10, further comprising a gear portion disposed between the second rotating body and the second driven portion, which transmits the second driving force from the second rotating body to the second driven portion.

12. A robotic arm having a drive unit, The robot arm is equipped with a surgical instrument adapter that allows manual surgical instruments to be operated, The aforementioned surgical instrument adapter is An interface unit having a rotating body that is rotationally driven by a driving force transmitted from the drive unit arranged on the robot arm, A driven unit that rotates the operating handle of the manual surgical instrument, It includes a drive force transmission mechanism that transmits the driving force from the rotating body to the driven part, The driven unit is, A lever portion that is rotated by the aforementioned driving force, A surgical assistance robot comprising: a roller portion connected to the lever portion and in contact with the operating handle, and moving along the surface of the operating handle.

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