Endoscope adaptor, robotic surgical system, method of adjusting rotational position using endoscope adaptor
Inventors
Assignees
Interested in licensing this patent?
MTEC can help explore whether this patent might be available for licensing for your application.
Publication Number
US-11944268-B2
Publication Date
2024-04-02
Expiration Date
Abstract
An endoscope adaptor according to an embodiment may include a base portion including a transmission mechanism configured to decelerate and transmit rotation of a driven member configured to be driven to rotate by a drive part of a robot arm to an endoscope holder. The transmission mechanism includes a drive transmission shaft that is configured to be rotated by the rotation of the driven member, a first linkage member that is configured to rotate integrally with the drive transmission shaft, and a second linkage member being rotatable with respect to the drive transmission shaft and configured to rotate with first linkage member in a linked manner. The base portion includes a stopper configured to come in contact with the second linkage member to stop rotation of the drive transmission shaft.
Core Innovation
The invention relates to an endoscope adaptor for a robotic surgical system. The adaptor includes an endoscope holder rotatably supported by a base, and a disk rotatably provided in the base. The disk includes a projection or a recess configured to be engaged directly or indirectly with a drive part of a robot arm so that the disk is rotated by the rotation of the drive part, and a transmission mechanism configured to decelerate and transmit rotation of the disk to the endoscope holder.
The transmission mechanism includes a drive transmission shaft rotated by the rotation of the disk. A first cylinder is formed with a through hole through which the drive transmission shaft passes and is engaged with the drive transmission shaft to rotate integrally, and a second cylinder is formed with a through hole through which the drive transmission shaft passes and is rotatable with respect to the drive transmission shaft and is configured to be linked to the first cylinder so as to rotate along with the first cylinder when the first cylinder and the second cylinder are engaged with each other.
The base includes a stopper projection provided at a position to come in contact with the second cylinder to stop rotation of the drive transmission shaft. In the robotic surgical system, a controller is configured to rotationally position the drive part to a home position of the drive part based on a rotational position of the drive part when the second cylinder comes in contact with the stopper projection and thus rotation of the drive transmission shaft is stopped.
Claims Coverage
The document explicitly provides two independent claims. Across these claims, the coverage concentrates on a decelerating rotational transmission from a disk engaged with a robot arm drive part to an endoscope holder, including a drive transmission shaft with first and second cylinders and a stopper projection for stopping drive transmission shaft rotation, and controller-based home positioning based on stopper contact.
Decelerating transmission from a robot-driven disk to a rotatable endoscope holder
An endoscope adaptor including an endoscope holder; a base rotatably supporting the endoscope holder; a disk rotatably provided in the base and including a projection or a recess configured to be engaged directly or indirectly with a drive part of a robot arm so as to be rotated by the drive part; and a transmission mechanism configured to decelerate and transmit rotation of the disk to the endoscope holder.
Two-cylinder drive transmission shaft linkage with integrally rotating first cylinder
The transmission mechanism comprises a drive transmission shaft configured to be rotated by the rotation of the disk; a first cylinder formed with a through hole through which the drive transmission shaft passes and engaged with the drive transmission shaft to rotate integrally with the drive transmission shaft; and a second cylinder formed with a through hole through which the drive transmission shaft passes and rotatable with respect to the drive transmission shaft and configured to be linked to the first cylinder so as to rotate with the first cylinder when the first cylinder and the second cylinder are linked to each other.
Stopper projection stopping drive transmission shaft rotation
The base includes a stopper projection provided at a position to come in contact with the second cylinder to stop rotation of the drive transmission shaft.
Controller home positioning based on stopper contact state
A robotic surgical system comprising a robot arm; an endoscope adaptor connected to the robot arm; and a controller configured to control a drive part of the robot arm, wherein the controller is configured to rotationally position the drive part to a home position of the drive part based on a rotational position of the drive part when the second cylinder comes in contact with the stopper projection and thus the rotation of the drive transmission shaft is stopped.
Overall, the independent claims cover an endoscope adaptor that decelerates and transmits disk rotation from a robot arm drive part to an endoscope holder using a drive transmission shaft with first and second cylinders, where a stopper projection stops drive transmission shaft rotation. The robotic surgical system claim further specifies controller-based rotationally positioning of the robot arm drive part to a home position based on the rotational state when stopper contact occurs.
Stated Advantages
Provides a reproducible home position after the endoscope is attached.
Addresses encoder ambiguity when the drive part rotates more than 360 degrees by relying on correlated rotational positions of the endoscope holder and the drive part.
Documented Applications
An endoscope adaptor for a robotic surgical system, including use after an endoscope is attached to obtain a reproducible home position.
A robotic surgical system configured to rotationally position the robot arm drive part to a home position based on stopper contact between the second cylinder and a stopper projection.
Interested in licensing this patent?