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Publication Number
US-11918184-B2
Publication Date
2024-03-05
Expiration Date
Abstract
An endoscope adaptor according to an embodiment may include: an endoscope holder configured to hold an endoscope to be rotatable; and a base portion including an attachment portion, a driven member, and a transmission mechanism. The base portion includes a cable holder configured to hold a cable connected to the endoscope.
Core Innovation
The invention relates to an endoscope adaptor to be detachably connected to a robot arm of a robotic surgical system through a drape adaptor that holds a drape. The endoscope adaptor includes an endoscope holder that holds an endoscope, and a base rotatably supporting the endoscope holder. The base is provided with a driven member rotatably provided in the base and engaged directly or indirectly with a drive part of the robot arm to be rotated by the drive part via the drape adaptor.
The base further includes a transmission mechanism that includes a drive transmission shaft to transmit rotation of the driven member to rotate the endoscope holder. The endoscope adaptor also includes a cable holder that holds a cable connected to the endoscope. In this configuration, rotation of the endoscope holder is performed while the drape is held between the robot arm and the endoscope adaptor via the drape adaptor.
In a first embodiment, the endoscope adaptor uses an engagement geometry between an endoscope-side protrusion and a holder-side protrusion arranged relative to an endoscope rotation axis for engagement and disengagement. The engagement/disengagement generates a sound, and the endoscope attachment is configured using a notch and engagement portions. The cable holder includes an elastic member with a through hole formed with a first hole portion for a light cable and a second hole portion for a camera cable having a smaller diameter than the first hole portion.
In a second embodiment, the endoscope adaptor further includes a rotation prevention/braking member that prevents unintended endoscope rotation when the robot arm drive is not active. A torque-threshold behavior suppresses unintentional field-of-view changes caused by external force on the cable. A friction-based braking structure is provided so that the rotation prevention member suppresses endoscope-holder rotation by interacting with the drive transmission shaft when the drive part is not driving the driven member.
Claims Coverage
The independent claim is directed to a detachably connected endoscope adaptor for a robotic surgical system, defining core structural elements for rotational actuation of an endoscope holder and cable retention. Across the dependent claims described in the provided content, inventive features refine endoscope attachment, cable routing retention geometry, and provide rotation prevention via torque-threshold and friction/braking structures, including a gear-based transmission arrangement.
Detachably connected endoscope adaptor with drape adaptor
The endoscope adaptor detachably connects to a robot arm through a drape adaptor holding a drape, and includes an endoscope holder and a base that rotatably supports the endoscope holder.
Driven member and transmission mechanism with drive transmission shaft
The base includes a driven member rotatably provided in the base and engaged with a drive part of the robot arm to be rotated via the drape adaptor, and includes a transmission mechanism with a drive transmission shaft to transmit rotation of the driven member to rotate the endoscope holder.
Cable holder for endoscope cable
The base further includes a cable holder that holds a cable connected to the endoscope.
Endoscope attachment engagement geometry with sound upon engagement/disengagement
The endoscope adaptor includes an endoscope-side protrusion and a holder-side protrusion arranged relative to the endoscope rotation axis to engage and disengage, producing a sound upon engaging or disengaging.
Elastic clamp through-hole geometry for light and camera cables
The cable holder includes an elastic member with a through hole having a first hole portion for a light cable and a second hole portion for a camera cable, where the camera hole portion has a smaller diameter than the light hole portion.
Rotation prevention member stopping rotation when not driven
A rotation prevention member stops the endoscope holder from rotating when the driven member is not driven by the robot arm’s drive part.
Torque threshold behavior for rotation prevention
A rotation prevention member stops the drive transmission shaft from rotating when torque is below a predetermined value, and allows rotation when torque is equal to or greater than the predetermined torque.
Gear-based transmission arrangement coupled to rotation prevention
A transmission mechanism includes a gear-based transmission that couples the driven member to the endoscope holder via meshed gears on the drive transmission shaft, and further includes a rotation prevention member to stop rotation when the driven member is not driven.
The provided claim set centers on a detachably connected endoscope adaptor with a driven member and transmission mechanism using a drive transmission shaft to rotate an endoscope holder while a drape is held via a drape adaptor. Dependent features refine endoscope engagement with sound generation, cable-holder through-hole geometry for light and camera cables, and add rotation prevention that suppresses unintended rotation using torque-threshold and friction/braking behavior tied to whether the robot arm drive is active, including gear-based transmission.
Stated Advantages
Enables endoscope rotation while a drape is held between the robot arm and the endoscope adaptor via the drape adaptor.
Generates a sound upon engagement and disengagement of an endoscope attachment.
Suppresses unintended field-of-view changes due to external force on the cable by preventing unintended endoscope rotation.
Provides rotation prevention by stopping the endoscope holder from rotating when the driven member is not driven.
Documented Applications
Endoscope adaptation for robotic surgery, where an endoscope adaptor detachably connects to a robot arm through a drape adaptor holding a drape.
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