Adapter, surgical instrument set, and method for connecting surgical instrument

Inventors

BETSUGI, Shota • USUKI, Yu • Ago, Kenji

Assignees

Medicaroid Corp

Abstract

An adapter for detachably connecting a surgical instrument to a robot arm of a robotic surgical system according to an embodiment may include: a base including a first surface to be attached to an attachment portion of the robot arm, a second surface, and a plurality of recesses formed in the first surface; an engagement member disposed in the base and movable between an advanced position where the engagement member is advanced into the plurality of recesses and a retracted position where the engagement member is retracted from inside the plurality of recesses; a biasing member which biases the engagement member in a direction from the retracted position to the advanced position; and an operating member to be operated to move the engagement member to the retracted position against a biasing force of the biasing member.

Core Innovation

Embodiments describe an adapter for detachably connecting a surgical instrument to a robot arm of a robotic surgical system. The adapter includes a base having a first surface to be opposed to and attached to an attachment portion of the robot arm, and a second surface different from the first surface, with recesses formed in the first surface such that engagement projecting portions from the attachment portion are accommodated in the recesses with the first surface attached to the attachment portion.

The adapter further includes one or more drive power transmission members rotatably provided in the base, each rotatable about a rotational axis perpendicular to the first surface to transmit rotation of a corresponding driving member provided in the robot arm. An engagement member is disposed in the base and movable linearly in a direction perpendicular to the rotational axis between an advanced position and a retracted position, with a biasing member biasing the engagement member from the retracted position to the advanced position and an operating member moving the engagement member to the retracted position against the biasing force.

The engagement member is integrally formed with engagement portions that engage engagement projecting portions inserted in the recesses in the advanced position and are disengaged in the retracted position. The engagement member is also configured to engage a groove formed in each of the engagement projecting portions, and in other embodiments each engagement portion has a thickness which gradually decreases toward a distal end.

Claims Coverage

The provided material includes multiple independent claim categories. Across these independent claims, the document specifies four inventive features centered on the adapter and its attachment mechanism, plus additional features for instrument attachment and a method sequence.

Across the independent claims, the core claim coverage centers on a detachably connectable robotic-surgery adapter that fixes to a robot arm using recesses accommodating engagement projecting portions, while a linearly movable engagement member transitions between advanced and retracted positions under bias and operating-member control. The adapter also includes rotatable drive power transmission members with rotational axes perpendicular to the base surface for transmitting rotation from robot driving members, and the engagement member is integrally formed and engageable with grooves on the projecting portions. Additional independent coverage specifies a tapered engagement thickness toward a distal end, instrument attachment using a guide rail and guide groove interface, and a method sequence that retracts engagement, attaches the adapter to the robot arm, biases to advanced, and attaches the surgical instrument to the adapter.

Stated Advantages

Documented Applications