JP2020032162A - Adaptor - Google Patents

Abstract

To miniaturize an adaptor capable of detachably connecting a surgical instrument to a robot arm of a robot surgery system.SOLUTION: An adaptor 60 comprises: a base body 61; and a plurality of drive transmission members 62 rotatably provided on the base body 61. A second surface 60b of the base body 61 comprises first and second guide rails 63 which correspond to first and second guide grooves 45 provided substantially in parallel to the attachment surface 40a and are substantially parallel to each other. The first and second guide rails 63 of the second surface 60b can guide the surgical instrument 40 so that each of the plurality of drive transmission members 62 and each of a plurality of rotation members 44 provided on the attachment surface 40a correspond to each other by sliding respective one end part 452 of the first and second guide grooves 45 of the attachment surface 40a and respective one end 634 of the first and second guide rails 63 in corresponding manner.SELECTED DRAWING: Figure 4

Description

  The present invention relates to an adapter, and more particularly to an adapter for detachably connecting a surgical instrument to a robot arm of a robotic surgical system.

  2. Description of the Related Art Conventionally, an adapter for detachably connecting a surgical instrument to a robot arm of a robot surgical system has been known (for example, see Patent Document 1).

  Patent Literature 1 discloses an adapter including a holding member that engages with a claw provided on a side portion of a surgical instrument and an input unit that transmits a driving force of a robot arm to the surgical instrument. In the adapter of Patent Document 1, the holding member is formed so as to cover the claw portion from the outside.

U.S. Pat. No. 8,998,930

  However, in the adapter of Patent Literature 1, since the holding member is formed so as to cover the claw provided on the side of the surgical instrument from the outside, the adapter is formed wider than a portion to be attached to the adapter of the surgical instrument. There is a need to. Therefore, there is a problem that it is difficult to reduce the size of the adapter.

  The present invention is directed to reducing the size of an adapter for detachably connecting a surgical instrument to a robot arm of a robot surgical system.

  An adapter according to one aspect of the present invention is an adapter for detachably connecting a surgical instrument to a robot arm of a robot surgical system, wherein the first surface for attaching to the robot arm and the mounting surface for the surgical instrument are attached. And a plurality of drive transmitting members rotatably provided on the base, wherein the second surface of the base is provided with first and second bases substantially parallel to the mounting surface. The first and second guide rails on the second surface correspond to the first and second guide grooves, respectively, and the first and second guide rails on the second surface correspond to the first and second guide rails. By sliding each one end and one end of each of the first and second guide grooves of the mounting surface in correspondence with each other, each of the plurality of drive transmission members and the plurality of rotating members provided on the mounting surface are rotated. Each corresponds It is configured so as to guide the surgical instruments to so that.

  In the adapter according to one aspect of the present invention, by configuring as described above, the first surface and the second surface on which the mounting surface of the surgical instrument is mounted correspond to the guide grooves of the mounting surface of the surgical instrument. Since the two guide rails can be formed, the first and second guide rails can be formed inside the mounting surface of the surgical instrument in plan view. Thus, the adapter can be formed to have a size smaller than the mounting surface of the surgical instrument, so that the adapter for detachably connecting the surgical instrument to the robot arm of the robotic surgical system can be downsized.

  ADVANTAGE OF THE INVENTION According to this invention, the adapter for detachably connecting a surgical instrument to the robot arm of the robot surgical system can be miniaturized.

It is a figure showing the outline of the robot operation system by a 1st embodiment. FIG. 2 is a block diagram showing a control configuration of the robot surgery system according to the first embodiment. FIG. 2 is a perspective view showing a state in which a surgical instrument is attached to the robot arm according to the first embodiment via an adapter. FIG. 2 is a perspective view showing a state where an adapter and a surgical instrument are removed from the robot arm according to the first embodiment. It is the perspective view which looked at the adapter and surgical instrument by 1st Embodiment from below. It is the perspective view which looked at the adapter by a 1st embodiment from the upper part. FIG. 3 is an exploded perspective view of a drive transmission member of the adapter according to the first embodiment. FIG. 2 is a plan view of the adapter according to the first embodiment. FIG. 2 is a front view of the adapter according to the first embodiment. FIG. 3 is a bottom view of the base of the surgical instrument according to the first embodiment. It is a front view of the base of the surgical instrument by a 1st embodiment. FIG. 5 is a diagram for explaining attachment of an adapter to the robot arm according to the first embodiment. FIG. 2 is a first diagram for explaining attachment of a surgical instrument to the adapter according to the first embodiment. FIG. 2 is a second diagram for explaining attachment of the surgical instrument to the adapter according to the first embodiment. It is the perspective view which looked at the adapter and surgical instrument by 2nd Embodiment from below. It is the perspective view which looked at the adapter by 2nd Embodiment from the upper part. It is a perspective view for explaining attachment of an adapter to a robot arm by a 2nd embodiment. It is a 1st perspective view for explaining attachment of a surgical instrument to an adapter by a 2nd embodiment. It is a 2nd perspective view for explaining attachment of a surgical instrument to an adapter by a 2nd embodiment. FIG. 9 is a perspective view showing a state in which a surgical instrument is attached to a robot arm according to a second embodiment via an adapter. It is a 1st top view for explaining attachment of a surgical instrument to an adapter by a 2nd embodiment. It is a 2nd top view for explaining attachment of a surgical instrument to an adapter by a 2nd embodiment. It is a 3rd top view for explaining attachment of a surgical instrument to an adapter by a 2nd embodiment. It is a 1st side view for explaining attachment of a surgical instrument to an adapter by a 2nd embodiment. It is a 2nd side view for explaining attachment of a surgical instrument to an adapter by a 2nd embodiment. It is a 3rd side view for explaining attachment of a surgical instrument to an adapter by a 2nd embodiment.

  Hereinafter, embodiments will be described with reference to the drawings.

[First Embodiment]
(Configuration of robot surgery system)
The configuration of the robot surgery system 100 according to the first embodiment will be described with reference to FIGS.

  As shown in FIG. 1, the robot 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 a medical device provided on the patient-side device 20. When an operation mode command to be executed by the patient-side device 20 is input to the remote control device 10 by an operator O who is a surgeon, the remote control device 10 transmits the operation mode command to the patient via the controller 26. It is transmitted to the side device 20. Then, the patient-side device 20 operates medical instruments such as a surgical instrument (surgical instrument) 40 and an endoscope 50 attached to the robot arm 21 in response to the operation mode command transmitted from the remote operation device 10. . Thereby, minimally invasive surgery is performed.

  The patient-side device 20 constitutes an interface for performing an operation on the patient P. The patient side device 20 is arranged beside the operating table 30 on which the patient P lies. The patient-side device 20 has a plurality of robot arms 21, of which the endoscope 50 is attached to one robot arm 21 (21b), and the surgical instrument 40 is attached to the other robot arm 21 (21a). Each robot arm 21 is commonly supported by a platform 23. The plurality of robot arms 21 have a plurality of joints, and each joint is provided with a drive unit including a servomotor and a position detector such as an encoder. The robot arm 21 is configured such that a medical device attached to the robot arm 21 is controlled so as to perform a desired operation by a drive signal given via a controller 26.

  The platform 23 is supported by a positioner 22 mounted on the operating room floor. The positioner 22 has a column portion 24 having a vertically adjustable vertical axis connected to a base 25 having wheels and movable on the floor.

  A surgical instrument 40 as a medical instrument is detachably attached to the distal end of the robot arm 21a. The surgical instrument 40 includes a housing 43 (see FIG. 4) attached to the robot arm 21a, an elongated shaft 42 (see FIG. 4), and an end effector 41 (see FIG. 4) provided at the distal end of the shaft 42. It has. Examples of the end effector 41 include, but are not limited to, grasping forceps, scissors, hooks, a high-frequency knife, a snare wire, a clamp, and a stapler, and various treatment tools can be applied. In the operation using the patient-side device 20, the robot arm 21a introduces the surgical instrument 40 into the patient P via a cannula (trocar) placed on the surface of the patient P. Then, the end effector 41 of the surgical instrument 40 is arranged near the surgical site.

  An endoscope 50 as a medical instrument is detachably attached to the distal end of the robot arm 21b. The endoscope 50 is for photographing the inside of the body cavity of the patient P, and the photographed image is output to the remote operation device 10. As the endoscope 50, a 3D endoscope or a 2D endoscope capable of capturing a three-dimensional image is used. In the operation using the patient-side device 20, the robot arm 21b introduces the endoscope 50 into the patient P via a trocar placed on the body surface of the patient P. Then, the endoscope 50 is arranged near the surgical site.

  The remote control device 10 forms an interface with the operator O. The remote control device 10 is a device for the operator O to operate a medical device attached to the robot arm 21. That is, the remote operation device 10 is configured to be able to transmit the operation mode command to be executed by the surgical instrument 40 and the endoscope 50 input by the operator O to the patient-side device 20 via the controller 26. The remote control device 10 is installed, for example, beside the operating table 30 so that the patient P can be seen well while operating the master. The remote control device 10 can transmit an operation mode command wirelessly, for example, and can be installed in a separate room from the operating room in which the operating table 30 is installed.

  The operation mode to be executed by the surgical instrument 40 is an operation (a series of positions and postures) of the surgical instrument 40 and an operation mode realized by a function of each of the surgical instruments 40. For example, when the surgical instrument 40 is a grasping forceps, the operation mode to be performed by the surgical instrument 40 is an operation of opening and closing the roll rotation position and the pitch rotation position of the wrist of the end effector 41 and the jaw. . When the surgical instrument 40 is a high-frequency knife, the operation mode to be performed by the surgical instrument 40 may be an oscillating operation of the high-frequency knife, specifically, supply of current to the high-frequency knife. When the surgical instrument 40 is a snare wire, the operation mode to be performed by the surgical instrument 40 may be a binding operation and a release operation in a bound state. Further, the operation may be an operation of burning off the operation target site by supplying a current to the bipolar or monopolar.

  The operation mode to be executed by the endoscope 50 is, for example, the position and orientation of the end of the endoscope 50 or the setting of the zoom magnification.

  1 and 2, the remote control device 10 includes an operation handle 11, an operation pedal unit 12, a display unit 13, and a control device 14.

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

  The operation handle 11 is arranged to extend from the rear side of the remote operation device 10 toward the front side. The operation handle 11 is configured to be movable within a predetermined three-dimensional operation area. That is, the operation handle 11 is configured to be movable in the up-down direction, the left-right direction, and the front-back direction.

  The remote control device 10 and the patient device 20 constitute a master-slave type system in controlling the operations of the robot arm 21a and the robot arm 21b. That is, the operation handle 11 constitutes an operation unit on the master side in a master-slave type system, and the robot arm 21a and the robot arm 21b to which medical instruments are attached constitute operation units on the slave side. When the operator O operates the operation handle 11, the movement of the operation handle 11 is traced by the distal end of the robot arm 21a (the end effector 41 of the surgical instrument 40) or the distal end of the robot arm 21b (the endoscope 50). The operation of the robot arm 21a or the robot arm 21b is controlled so as to move.

  Further, the patient-side device 20 is configured to control the operation of the robot arm 21a according to the set operation magnification. For example, when the operation magnification is set to 倍, the end effector 41 of the surgical instrument 40 is controlled to move by a moving distance of の of the moving distance of the operation handle 11. Thereby, a fine operation can be performed accurately.

  The operation pedal section 12 includes a plurality of pedals for executing functions related to the medical device. The plurality of pedals include a coagulation pedal, a disconnect pedal, a camera pedal, and a clutch pedal. The plurality of pedals are operated by the foot of the operator O.

  The coagulation pedal can perform an operation of coagulating a surgical site using the surgical instrument 40. Specifically, when the coagulation pedal is operated, a voltage for coagulation is applied to the surgical instrument 40 to coagulate the surgical site. The cutting pedal can perform an operation of cutting a surgical site using the surgical instrument 40. Specifically, when the cutting pedal is operated, a voltage for cutting is applied to the surgical instrument 40, and the surgical site is cut.

  The camera pedal is used for manipulating the position and posture of the endoscope 50 that images the inside of the body cavity. Specifically, the camera pedal enables the operation by the operation handle 11 of the endoscope 50. That is, while the camera pedal is being pressed, the position and posture of the endoscope 50 can be operated by the operation handle 11. For example, the endoscope 50 is operated by using both the left and right operation handles 11. Specifically, the endoscope 50 is rotated by rotating the left and right operation handles 11 about the midpoint of the left and right operation handles 11. When the left and right operation handles 11 are pushed together, the endoscope 50 advances to the back. In addition, by pulling the left and right operation handles 11 together, the endoscope 50 returns to the front. In addition, by moving the left and right operation handles 11 up, down, left and right, the endoscope 50 moves up, down, left, and right.

  The clutch pedal is used when the operation connection between the robot arm 21 and the operation handle 11 is temporarily disconnected to stop the operation of the surgical instrument 40. Specifically, while the clutch pedal is being operated, even if the operation handle 11 is operated, the robot arm 21 of the patient-side device 20 does not operate. For example, when the operation handle 11 comes near the end of the movable range by the operation, the operation connection is temporarily disconnected by operating the clutch pedal, and the operation handle 11 is returned to the vicinity of the center position. it can. When the operation of the clutch pedal is stopped, the robot arm 21 and the operation handle 11 are connected again, and the operation of the operation handle 11 can be restarted near the center.

  The display unit 13 can display an image captured by the endoscope 50. The display unit 13 includes a scope type display unit or a non-scope type display unit. The scope-type display unit is, for example, a display unit of a type that looks into. Further, the non-scope type display unit is a concept including an open type display unit having a flat screen which is not a look-in type such as a display of a normal personal computer.

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

  As illustrated in FIG. 2, the control device 14 includes, for example, a control unit 141 having an arithmetic unit such as a CPU, a storage unit 142 having a memory such as a ROM and a RAM, and an image control unit 143. The control device 14 may be configured by a single control device that performs centralized control, or may be configured by a plurality of control devices that perform distributed control in cooperation with each other. The control unit 141 converts the operation mode command input from the operation handle 11 into an operation mode command to be executed by the robot arm 21 a according to the switching state of the operation pedal unit 12 or the endoscope 50. It is determined whether the command is an operation mode command to be executed. Then, when determining that the operation mode command input to the operation handle 11 is the operation mode command to be executed by the surgical instrument 40, the control unit 141 transmits the operation mode command to the robot arm 21a. Thus, the robot arm 21a is driven, and the operation controls the operation of the surgical instrument 40 attached to the robot arm 21a.

  When determining that the operation mode command input to the operation handle 11 is the operation mode command to be executed by the endoscope 50, the control unit 141 transmits the operation mode command to the robot arm 21b. As a result, the robot arm 21b is driven, and the operation of the endoscope 50 attached to the robot arm 21b is controlled by this drive.

  The storage unit 142 stores, for example, a control program corresponding to the type of the surgical instrument 40. The control unit 141 reads out these control programs according to the type of the attached surgical instrument 40, and thereby the remote control device 10 The operation command of the operation handle 11 and / or the operation pedal unit 12 can cause the operation appropriate for the individual surgical instrument 40.

  The image control unit 143 transmits the image acquired by the endoscope 50 to the display unit 13. The image control unit 143 performs an image processing correction process as needed.

(Configuration of adapter and surgical instrument)
The configurations of the adapter 60 and the surgical instrument 40 according to the first embodiment will be described with reference to FIGS.

  As shown in FIG. 3, the robot arm 21 is covered by a drape 70 for use in a clean area. Here, in the operating room, a clean operation is performed in order to prevent the incised portion and the medical device from being contaminated by pathogenic bacteria and foreign substances in the operation room. In this clean operation, a clean area and a contaminated area other than the clean area are set. The surgical site is located in a clean area. The members of the surgical team, including operator O, take care during the operation to ensure that only objects that are sterilized in the clean area are located, and when moving objects located in the contaminated area to the clean area, The object is sterilized. Similarly, when a member of the surgical team, including the operator O, places his hand in the contaminated area, the hand is sterilized before directly contacting 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 disposed between the robot arm 21 and the surgical instrument 40. Specifically, the drape 70 is disposed 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. That is, the adapter 60 is a drape adapter for sandwiching the drape 70 between the adapter 60 and the robot arm 21a. The surgical instrument 40 is attached to the adapter 60. The robot arm 21 transmits power to the surgical instrument 40 via the adapter 60 to drive the end effector 41 of the surgical instrument 40.

  As shown in FIG. 4, the adapter 60 includes a base 61, a plurality of drive transmitting members 62, a guide rail 63, a preceding guide rail 64, a first electrode array 65, and an arm engaging portion 66. ing. As shown in FIG. 5, the adapter 60 includes a plurality of arm engagement holes 67 and a plurality of positioning holes 68. As shown in FIG. 4, the drive transmission member 62 includes a plurality of first drive transmission members 62a arranged on the Y2 direction side and a plurality of second drive transmission members 62b arranged on the Y1 direction side. . The adapter 60 has a first surface 60a disposed on the Z2 direction side attached to the robot arm 21a. In the adapter 60, the surgical instrument 40 is attached to the second surface 60b disposed on the Z1 direction side.

  As shown in FIG. 5, the mounting surface 40 a arranged on the Z2 direction side of the housing 43 of the surgical instrument 40 is mounted on the adapter 60. The surgical instrument 40 includes a plurality of rotating members 44, two guide grooves 45 (a first guide groove 45a and a second guide groove 45b), two movable members 46, a leading guide groove 47, And a two-electrode array 48. The rotating member 44 includes a plurality of first rotating members 44a arranged on the Y2 direction side and a plurality of second rotating members 44b arranged on the Y1 direction side. The movable member 46 is connected to the button 461.

  As shown in FIG. 4, the drape 70 includes a main body 71 and a mounting portion 72. The main body 71 is formed in a film shape. The mounting portion 72 is formed by resin molding. The attachment portion 72 has a through hole at a portion where the robot arm 21a and the adapter 60 are engaged. The through-hole may be provided so as to correspond to each engaging portion. Further, the through holes may be provided so as to correspond to a plurality of engaging portions.

  The adapter 60 is mounted on the adapter mounting surface 211 of the robot arm 21. Further, the robot arm 21 includes a rotation drive unit 212, an engagement unit 213, and a boss 214.

  As shown in FIG. 5, the plurality of rotating members 44 of the surgical instrument 40 drive the end effector 41 by being rotationally driven. Specifically, the rotating member 44 and the end effector 41 are connected by a wire passed through the shaft 42. When the rotating member 44 is rotated, the wire is pulled and the end effector 41 is driven. The rotating member 44 is connected to the shaft 42 by a gear in the housing 43. Then, when the rotating member 44 is rotated, the shaft 42 is rotated.

  For example, four rotating members 44 are provided. The rotation of one rotation member 44 causes the shaft 42 to rotate. The rotation of the other three rotating members 44 drives the end effector 41. The four rotating members 44 are arranged two in the X direction and two in the Y direction.

  The guide groove 45 is provided so as to extend along the Y direction. Further, two guide grooves 45 are provided so as to face each other in the X direction. The two guide grooves 45 are provided substantially in parallel. The two guide grooves 45 are inserted into the two guide rails 63 of the adapter 60 and guide the attachment to the adapter 60. The width of the guide groove 45 changes as the movable member 46 moves in the X direction. That is, the width of the guide groove 45 is expanded by moving the movable member 46 inward. In addition, as the movable member 46 moves outward, the width of the guide groove 45 is reduced. The movable member 46 is urged in a direction (outward direction) in which the width of the guide groove 45 is reduced. Specifically, the movable member 46 is urged by a spring. The movable member 46 moves in a direction (inward direction) in which the width of the guide groove 45 is increased by the operator pressing the button 461.

  The preceding guide groove 47 is provided so as to extend along the Y direction. The preceding guide groove 47 is provided between the two guide grooves 45 (the first guide groove 45a and the second guide groove 45b). The preceding guide groove 47 is formed so as to extend substantially parallel to the guide groove 45. The preceding guide groove 47 is provided at substantially the center of the mounting surface 40a in the X direction.

  The second electrode array 48 is connected to the robot arm 21 via the first electrode array 65 of the adapter 60. The second electrode array 48 is connected to a substrate provided in the housing 43. That is, by attaching the surgical instrument 40 to the robot arm 21 via the adapter 60, the substrate of the surgical instrument 40 and the robot arm 21 are connected. The substrate in the housing 43 is used for managing the type of the surgical instrument 40 and the number of times the surgical instrument 40 is used.

  As shown in FIGS. 4 to 6, the adapter 60 is provided for detachably connecting the surgical instrument 40 to the robot arm 21 a of the robot surgical system 100. The base 61 includes a first surface 60a for mounting to the robot arm 21a, and a second surface 60b on which the mounting surface 40a of the surgical instrument 40 is mounted. The adapter 60 has substantially the same size as the housing 43 of the surgical instrument 40 when viewed in the Z direction. Specifically, the adapter 60 is formed in a substantially circular shape having substantially the same diameter as the housing 43 when viewed in the Z direction.

  The drive transmission member 62 is rotatably provided on the base 61. Specifically, the drive transmission member 62 is provided rotatably about a rotation axis extending in the Z direction. The drive transmission member 62 transmits the driving force of the rotation drive section 212 of the robot arm 21a to the rotation member 44 of the surgical instrument 40. A plurality of drive transmission members 62 are provided so as to correspond to the rotation members 44 of the surgical instrument 40. The plurality of drive transmission members 62 are arranged at positions corresponding to the rotating members 44 of the surgical instrument 40, respectively.

  The guide rail 63 is provided on the second surface 60b. The guide rail 63 is provided so as to extend along the Y direction. Further, two guide rails 63 are provided so as to face each other in the X direction. The two guide rails 63 (the first guide rail 63a and the second guide rail 63b) are provided substantially in parallel. The first guide rail 63a and the second guide rail 63b correspond to the first guide groove 45a and the second guide groove 45b provided substantially parallel to the mounting surface 40a of the surgical instrument 40, respectively. Is provided. The first guide rail 63a and the second guide rail 63b of the second surface 60b are connected to one end 634 (the end on the Y2 direction side) of each of the first guide rail 63a and the second guide rail 63b, and the mounting surface. By sliding one end 452 (the end on the Y1 direction side) of each of the first guide groove 45a and the second guide groove 45b of the 40a in correspondence with each other, each of the plurality of drive transmission members 62 and the mounting surface The surgical instrument 40 is configured to be guided so that each of the plurality of rotating members 44 provided on the 40a corresponds.

  Thereby, the first guide rail 63a and the second guide rail 63b are attached to the second surface 60b on which the mounting surface 40a of the surgical instrument 40 is mounted so as to correspond to the guide grooves 45 of the mounting surface 40a of the surgical instrument 40. Since it can be formed, the first guide rail 63a and the second guide rail 63b can be formed inside the mounting surface 40a of the surgical instrument 40 in plan view (when viewed in the Z direction). As a result, the adapter 60 can be formed to have a size smaller than the mounting surface 40a of the surgical instrument 40. Therefore, the adapter 60 for detachably connecting the surgical instrument 40 to the robot arm 21a of the robot surgical system 100 is downsized. can do.

  In addition, the first guide rail 63a and the second guide rail 63b of the second surface 60b move the surgical instrument in a direction (Y direction) that intersects a moving direction (Z direction) of the second member 622 with respect to the first member 621. The first guide groove 45a and the second guide groove 45b are configured to be guided. That is, the slide insertion direction of the surgical instrument 40 into the adapter 60 is substantially parallel to the direction in which the shaft 42 of the surgical instrument 40 extends. Accordingly, unlike the case where the slide insertion direction intersects with the direction in which the shaft 42 extends, the space required for moving the shaft 42 when the surgical instrument 40 is attached to and detached from the adapter 60 is reduced by the shaft 42. May be provided only in the extending direction. That is, there is no need to increase the space for moving the shaft 42 in a direction intersecting the direction in which the shaft 42 extends.

  The preceding guide rail 64 is provided on the second surface 60b. The leading guide rail 64 is provided so as to extend along the Y direction. The leading guide rail 64 is provided between the first guide rail 63a and the second guide rail 63b. The leading guide rail 64 is formed so as to extend substantially in parallel with the first guide rail 63a and the second guide rail 63b. The leading guide rail 64 is provided substantially at the center of the second surface 60b in the X direction. The leading guide rail 64 is provided corresponding to the leading guide groove 47 provided on the mounting surface 40a. That is, the leading guide rail 64 guides the surgical instrument 40 ahead of the first guide rail 63a and the second guide rail 63b. Thus, the first guide rail 63a and the second guide rail 63b are guided by the preceding guide rail 64 provided between the first guide rail 63a and the second guide rail 63b, so that the first guide rail 63b and the first guide groove 45a are formed. The surgical instrument 40 can be easily guided to the adapter 60 because it can be easily guided to the second guide groove 45b.

  The upstream side (Y2 direction side) of the leading guide rail 64 in the slide insertion direction of the surgical instrument 40 with respect to the adapter 60 is formed in a tapered shape. Specifically, the leading guide rail 64 is formed such that the end in the Y2 direction has a tapered width in the X direction. Further, the leading guide rail 64 is formed such that an end on the Y2 direction side has a tapered height in the Z direction. Thus, the leading guide rail 64 can be easily guided to the leading guide groove 47 by the tapered portion.

  The first electrode array 65 is connected to the second electrode array 48 of the surgical instrument 40 and the robot arm 21. As shown in FIG. 8, the first electrode array 65 includes a plurality of electrodes 651 and a groove 652. The electrode 651 is arranged to extend in the Z direction so as to penetrate the base 61. The groove 652 is provided on the second surface 60b. The groove 652 receives a protrusion 482 (see FIG. 11) provided on the second electrode array 48 on the mounting surface 40 a of the surgical instrument 40. That is, when the surgical instrument 40 is attached to the adapter 60, the protrusion 482 fits into the groove 652. Accordingly, even when the surgical instrument 40 is detached from the adapter 60, the protrusion 482 and the groove 652 can prevent an operator from touching the first electrode array 65 and the second electrode array 48. When attaching the surgical instrument 40 to the adapter 60, the first electrode array 65 and the second electrode array 48 can be connected by receiving the protrusion 482 by the groove 652.

  The arm engaging portion 66 engages with the engaging portion 213 of the robot arm 21. Specifically, the arm engaging portion 66 engages with the engaging portion 213 inserted into the arm engaging hole 67 provided on the first surface 60a. Further, the arm engaging portion 66 is movable in the Y direction. The arm engaging portion 66 is urged in the Y1 direction by an urging member. The arm engaging portion 66 engages with the engaging portion 213 by moving in the Y1 direction. On the other hand, the arm engagement portion 66 is disengaged from the engagement portion 213 by being moved in the Y2 direction.

  A plurality of arm engagement holes 67 are provided. That is, the adapter 60 is fixed to the robot arm 21 by engagement at a plurality of places. For example, five arm engagement holes 67 are provided. In addition, the plurality of arm engagement holes 67 are provided evenly along the circumferential direction of the first surface 60a.

  The positioning hole 68 is provided in the first surface 60a. The boss 214 of the robot arm 21 fits into the positioning hole 68. A plurality of positioning holes 68 are provided. The positioning hole 68 is provided near the end of the first surface 60a on the Y1 direction side.

  As shown in FIG. 7, the drive transmission member 62 includes a first member 621 and a second member 622 movably provided with respect to the first member 621 via the biasing member 623. The first member 621 has a concave portion 621a into which the second member 622 fits, and an engaging portion 621b that engages with the second member 622. The second member 622 has a concave portion 622a in which the urging member 623 is accommodated, and an engaging portion 622b that engages with the first member 621. The first member 621 and the second member 622 are fitted in the Z direction with the urging member 623 interposed therebetween. The first member 621 is disposed on the second surface 60b side (Z1 direction side). The second member 622 is disposed on the first surface 60a side (Z2 direction side). The urging member 623 urges the first member 621 with respect to the second member 622 in the Z1 direction. The biasing member 623 is made of, for example, a spring.

  The second member 622 is arranged flush with the first surface 60a in the Z direction. Further, the second member 622 is arranged so as not to move with respect to the base 61 in the Z direction. The first member 621 is arranged movably with respect to the base 61 in the Z direction. Thereby, when the surgical instrument 40 is guided along the first guide rail 63a and the second guide rail 63b and is attached to the adapter 60, the first of the drive transmission members 62 is prevented from hindering the movement of the surgical instrument 40. One member 621 can be moved so as to be depressed in the Z direction.

  The first member 621 is configured to rotate as the second member 622 rotates around the rotation axis in the Z direction. Specifically, the engaging portion 621b provided on the inner peripheral portion of the first member 621 and the engaging portion 622b provided on the outer peripheral portion of the second member 622 are configured to engage. . The engagement portion 621b of the first member 621 is formed so as to protrude inward from the recess 621a. The engagement portion 622b of the second member 622 is formed so as to be depressed inward from the outer peripheral portion of the second member 622. The engaging portion 621b of the first member 621 and the engaging portion 622b of the second member 622 are configured to engage with each other even if the first member 621 moves in the Z direction with respect to the second member 622. Have been. That is, regardless of the position of the first member 621 in the Z direction with respect to the second member 622, the first member 621 is configured to rotate together with the second member 622. Thus, when the second member 622 is rotated by the rotation of the rotation drive unit 212 of the robot arm 21, the first member 621 is also rotated. As a result, the rotation of the rotation drive unit 212 of the robot arm 21 is transmitted to the rotation member 44 of the surgical instrument 40 engaged with the first member 621.

  As shown in FIGS. 8 and 9, the guide rail 63 includes a rail portion 631, an overhang portion 632, and a claw portion 633. The rail portion 631 is formed to extend in the Y direction. The rail portion 631 enters the guide groove 45 of the surgical instrument 40 and guides the movement of the surgical instrument 40 with respect to the adapter 60.

  The overhang portion 632 is formed to extend from the rail portion 631 in the X direction. Specifically, of the first guide rail 63a and the second guide rail 63b, the overhang portion 632 of the guide rail 63 on the X1 direction side is arranged on the X1 direction side with respect to the rail portion 631. Further, of the first guide rail 63a and the second guide rail 63b, the projecting portion 632 of the guide rail 63 on the X2 direction side is disposed on the X2 direction side with respect to the rail portion 631.

  The claw portion 633 is formed to project from the rail portion 631 in the X direction. Specifically, of the first guide rail 63a and the second guide rail 63b, the claw portion 633 of the guide rail 63 on the X1 direction side is disposed on the X2 direction side with respect to the rail portion 631. Further, of the first guide rail 63a and the second guide rail 63b, the claw portion 633 of the guide rail 63 on the X2 direction side is disposed on the X1 direction side with respect to the rail portion 631. That is, the overhang portion 632 is provided on the opposite side of the claw portion 633 with respect to the rail portion 631. The overhang portion 632 is arranged outside the rail portion 631 in the X direction. The claw portion 633 is disposed inside the rail portion 631 in the X direction.

  The overhang portion 632 engages with an engagement groove 451 (see FIGS. 10 and 11) provided in the guide groove 45 of the surgical instrument 40. Thus, the surgical instrument 40 can be more stably fixed to the adapter 60 by the protrusion 632 being engaged with the engagement groove 451. That is, by engaging the overhang portion 632 with the engagement groove 451, the surgical instrument 40 is connected to the adapter 60 so as not to come off in the Z direction.

  The claw portion 633 engages with an engagement hole 462 (see FIGS. 10 and 11) provided in the guide groove 45 of the surgical instrument 40. Specifically, the claw portion 633 engages with an engagement hole 462 provided in a side wall of the movable member 46 forming the guide groove 45. Accordingly, the surgical instrument 40 guided by the guide rail 63 can be positioned and fixed to the adapter 60 by the engagement of the claw portion 633 with the engagement hole 462. That is, by engaging the claw portion 633 with the engagement hole 462, the surgical instrument 40 is positioned in the Y direction with respect to the adapter 60, and the surgical instrument 40 is prevented from falling out of the adapter 60 in the Y direction. Fixed (locked). Further, as shown in FIG. 9, the claw portion 633 is formed so as to be inclined along the X direction.

  As shown in FIG. 8, each of the plurality of drive transmission members 62 includes an engagement portion 624 that engages with the corresponding rotation member 44 provided on the mounting surface 40 a of the surgical instrument 40. The engagement portion 624 includes a first engagement portion 624a provided on the first drive transmission member 62a located on the upstream side (Y2 direction side) in the slide insertion direction among the plurality of drive transmission members 62, and a plurality of drive transmission members. 62 includes a second engagement portion 624b provided on the second drive transmission member 62b located on the downstream side (Y1 direction side) in the slide insertion direction. The first engaging portion 624a and the second engaging portion 624b have different shapes from each other. Accordingly, it is possible to prevent the rotation members 44 corresponding to the first drive transmission member 62a and the second drive transmission member 62b from engaging with each other and being caught in the middle of the sliding of the surgical instrument 40 with respect to the adapter 60. The surgical instrument 40 can be smoothly attached to the adapter 60.

  That is, the first engaging portion 624a has a shape in which the rotating member 44 engaging with the second engaging portion 624b does not engage. Thus, during the sliding of the surgical instrument 40 with respect to the adapter 60, the rotation members 44 corresponding to the first drive transmission member 62a and the second drive transmission member 62b are more reliably prevented from engaging and being caught. Can be.

  Specifically, a first concave portion 625 and a second concave portion 626 are independently formed as a first engagement portion 624a on the second surface 60b side of the first drive transmission member 62a. In addition, on the second surface 60b side of the second drive transmission member 62b, as the second engagement portion 624b, one concave portion having a shape in which the first concave portion 625 and the second concave portion 626 are connected by the third concave portion 627 is formed. ing. As shown in FIG. 10, among the plurality of rotating members 44 provided on the mounting surface 40a of the surgical instrument 40, the first rotating member 44a that engages with the first drive transmission member 62a has a first concave portion 625 and a second concave portion 625. It has a first projection 441 and a second projection 442 inserted into the recess 626. That is, the first protrusion 441 is engaged with the first recess 625. The second protrusion 442 is engaged with the second recess 626.

  Among the plurality of rotating members 44 provided on the mounting surface 40a of the surgical instrument 40, the second rotating member 44b that engages with the second drive transmission member 62b includes a first protrusion 441 inserted into one concave portion, It has two protrusions 442 and a third protrusion 443 arranged between the first protrusion 441 and the second protrusion 442. That is, the first protrusion 441 is engaged with the first recess 625. The second protrusion 442 is engaged with the second recess 626. The third protrusion 443 is engaged with the third recess 627. Thus, depending on whether the first concave portion 625 and the second concave portion 626 are provided independently or the first concave portion 625 and the second concave portion 626 are connected to form one concave portion, the first engagement portion 624a and the second engagement portion 624a are formed. The shapes of the portions 624b can be easily formed to be different from each other. In addition, the components forming the first protrusion 441 and the second protrusion 442 are commonly used, and the engagement portions of the first rotation member 44a and the second rotation member 44b have different shapes depending on the presence or absence of the third protrusion 443. Therefore, it is possible to suppress an increase in the types of components.

  As shown in FIGS. 10 and 11, an engagement groove 451 is provided in the guide groove 45 of the mounting surface 40 a of the surgical instrument 40. The engagement groove 451 is formed so as to extend in the Y direction along the guide groove 45. The projection 632 of the guide rail 63 provided on the second surface 60b of the adapter 60 is engaged with the engagement groove 451.

  An engagement hole 462 is provided in a side wall of the movable member 46 forming the guide groove 45. The claw portion 633 of the guide rail 63 provided on the second surface 60b of the adapter 60 is engaged with the engagement hole 462. By moving the movable member 46 inward in the X direction, the engagement of the claw portion 633 with the engagement hole 462 is released. In addition, by moving the movable member 46 inward in the X direction, the drive transmission member 62 is pushed in the Z2 direction, and the engagement between the drive transmission member 62 and the rotating member 44 is released. In this state, the surgical instrument 40 can be detached from the adapter 60 by sliding the surgical instrument 40 with respect to the adapter 60 in the Y2 direction.

  The second electrode array 48 on the mounting surface 40a of the surgical instrument 40 includes a plurality of electrodes 481 and a protrusion 482. The plurality of electrodes 481 are respectively connected to the plurality of electrodes 651 of the first electrode array 65 of the adapter 60. The protruding portions 482 are arranged on both sides in the X direction with respect to each electrode 481. The protrusion 482 is provided to prevent a hand or the like from touching the electrode 481. Specifically, the interval between the protruding portions 482 sandwiching the electrode 481 is sufficiently smaller than the size of the finger. Further, the protruding portion 482 protrudes more than the electrode 481 in the Z direction.

(Attaching surgical instruments to the robot arm)
The attachment of the surgical instrument 40 to the robot arm 21a according to the first embodiment will be described with reference to FIGS.

  As shown in FIG. 12, the adapter 60 is attached to the robot arm 21a with the robot arm 21a covered with the drape 70. The adapter 60 is attached to the robot arm 21a by moving the adapter 60 in the Z direction with respect to the robot arm 21a. As shown in FIGS. 13 and 14, the surgical instrument 40 is attached to the adapter 60 attached to the robot arm 21a. The surgical instrument 40 is attached to the adapter 60 by moving in the Y direction along the leading guide rail 64, the first guide rail 63a, and the second guide rail 63b of the adapter 60. Thereby, the surgical instrument 40 is attached to the robot arm 21a via the adapter 60.

  When removing the surgical instrument 40 from the robot arm 21a, the surgical instrument 40 is displaced from the adapter 60 by sliding the surgical instrument 40 in the Y2 direction while pressing the button 461 of the movable member 46 of the surgical instrument 40.

[Second embodiment]
Next, a second embodiment of the present invention will be described with reference to FIGS. In the second embodiment, an example of a configuration in which a leading guide portion is further provided in the adapter of the first embodiment will be described.

  Here, the adapter 60 of the second embodiment is provided with a leading guide portion 69, as shown in FIGS. The leading guide portion 69 is formed to protrude from the base 61 along a direction (Y direction) parallel to the direction in which the first guide rail 63a and the second guide rail 63b extend. Further, the leading guide portion 69 guides the surgical instrument 40 ahead of the first guide rail 63a and the second guide rail 63b. Accordingly, the first guide rail 63a and the second guide rail 63b can be easily moved to the first guide groove 45a and the second guide groove 45b by the guide of the leading guide portion 69 provided so as to protrude from the base 61. Can be easily attached to the adapter 60. Further, by providing the leading guide portion 69 so as to protrude from the base 31, it is possible to easily recognize the mounting direction and the mounting position of the surgical instrument 40 with respect to the adapter 60.

  The leading guide 69 guides the projection 49 projecting from the mounting surface 40a of the surgical instrument 40 toward the second surface 60b in the direction (Y direction) in which the first guide rail 63a and the second guide rail 63b extend. It is configured to be. Thus, the surgical instrument 40 can be easily guided to the mounting position of the adapter 60 by sliding the protruding portion 49 provided on the mounting surface 40a of the surgical instrument 40 along the leading guide portion 69.

  As shown in FIG. 15, the projection 49 of the surgical instrument 40 is provided in a pair near the end of the mounting surface 40a in the Y2 direction. Further, the pair of protrusions 49 are arranged at a predetermined interval in the X direction. Further, the pair of projecting portions 49 are arranged so as to sandwich the second electrode array 48.

  The second surface 60b of the base 61 has a mounting engagement portion 611 with which the projection 49 of the mounting surface 40a is engaged. Thus, the projection 49 that engages with the mounting engagement portion 611 can be guided by the preceding guide portion 69, so that there is no need to separately provide a member for guiding the surgical instrument. Specifically, as shown in FIG. 16, a pair of the mounting engagement portions 611 are provided near the end of the second surface 60b of the base 61 in the Y2 direction. The pair of mounting engagement portions 611 are arranged at a predetermined interval in the X direction. Further, the pair of mounting engagement portions 611 are arranged so as to sandwich the first electrode array 65.

  As shown in FIGS. 24 to 26, in a side view, the mounting engagement portion 611 has a concave portion that is concave in the Y direction. In side view, the protruding portion 49 has a protruding portion that protrudes in the Y direction. When the projection of the projection 49 fits into the recess of the attachment portion 611, the projection 49 and the attachment engagement 611 are engaged.

  In the second embodiment, as shown in FIG. 16, the base 61 is provided with a contact portion 612 with which the surgical instrument 40 contacts. The contact portion 612 is provided in a pair near the end of the second surface 60b of the base 61 in the Y1 direction. Further, the pair of contact portions 612 are arranged at predetermined intervals in the X direction. The pair of abutting portions 612 are formed so as to protrude toward the surgical instrument 40 (Z1 direction side). The contact portion 612 is configured to contact the end of the surgical instrument 40 on the Y1 direction side of the housing 43 when the surgical instrument 40 is attached to the adapter 60.

  The leading guide portion 69 is provided in a pair substantially parallel to the first surface 60a and the second surface 60b and at a predetermined interval in a direction (X direction) orthogonal to the direction in which the surgical instrument 40 is guided. ing. Thereby, the surgical instrument 40 can be more stably guided to the mounting position of the adapter 60 as compared with the case where the surgical instrument 40 is guided by one leading guide portion 69.

  As shown in FIGS. 21 to 23, each of the pair of leading guide portions 69 is configured to guide the projecting portion 49 of the surgical instrument 40 by an outer surface in the X direction. In other words, the leading guide 69 on the X1 direction guides the protruding portion 49 of the surgical instrument 40 in the Y direction by the side surface on the X1 direction. The leading guide portion 69 on the X2 direction guides the projecting portion 49 of the surgical instrument 40 in the Y direction by the side surface on the X2 direction side.

  As shown in FIG. 16, the pair of preceding guide portions 69 are connected to each other at the upstream end (Y2 direction side) in the slide insertion direction by a connection portion 691. Thereby, by connecting the ends of the pair of leading guides 69 to each other, the mechanical strength of the pair of leading guides 69 can be improved, so that the pair of leading guides 69 bends and deforms. Can be suppressed. Thereby, the guide function of the pair of preceding guide portions 69 can be reliably exhibited.

  The connecting portion 691 is formed so as to extend in a direction (X direction) in which the pair of preceding guide portions 69 are arranged. The connecting portion 691 is formed so that the surgical instrument 40 side (Z1 direction side) is recessed. Accordingly, when the surgical instrument 40 is slid in the Y1 direction while being guided by the leading guide section 69, the second electrode array 48 projecting in the Z2 direction from the mounting surface 40a of the surgical instrument 40 interferes with the connection section 691. Can be suppressed. The pair of leading guide portions 69 and the connection portions 691 are formed integrally. Thereby, the number of components can be reduced as compared with the case where the pair of leading guide portions 69 and the connecting portions 691 are formed separately.

  In the second embodiment, the first guide rail 63a and the second guide rail 63b on the second surface 60b are connected to one end 634 (Y2 direction side) of each of the first guide rail 63a and the second guide rail 63b. Of the first guide groove 45a and the second guide groove 45b of the mounting surface 40a (the end in the Y1 direction) so as to correspond to each other, so that a plurality of drive transmissions are performed. The surgical instrument 40 is configured to be guided so that each of the members 62 corresponds to each of the plurality of rotating members 44 provided on the mounting surface 40a.

(Attaching surgical instruments to the robot arm)
The attachment of the surgical instrument 40 to the robot arm 21a according to the second embodiment will be described with reference to FIGS.

  As shown in FIG. 17, the adapter 60 is attached to the robot arm 21a in a state where the robot arm 21a is covered with the drape 70. The adapter 60 is attached to the robot arm 21a by moving the adapter 60 in the Z direction with respect to the robot arm 21a. As shown in FIGS. 18 and 19, the surgical instrument 40 is attached to the adapter 60 attached to the robot arm 21a. The surgical instrument 40 is attached to the adapter 60 by moving in the Y direction along the leading guide 69, the leading guide rail 64, the first guide rail 63a, and the second guide rail 63b of the adapter 60. Thereby, as shown in FIG. 20, the surgical instrument 40 is attached to the robot arm 21a via the adapter 60.

  When removing the surgical instrument 40 from the robot arm 21a, the surgical instrument 40 is displaced from the adapter 60 by sliding the surgical instrument 40 in the Y2 direction while pressing the button 461 of the movable member 46 of the surgical instrument 40.

(Attaching surgical instruments to the adapter)
With reference to FIGS. 21 to 26, attachment of the surgical instrument 40 to the adapter 60 under the guidance of the leading guide portion 69 will be described.

  As shown in FIGS. 21 and 24, the surgical instrument 40 is positioned on the Z1 direction side of the adapter 60 such that the protrusion 49 of the surgical instrument 40 comes into contact with the leading guide portion 69 of the adapter 60.

  As shown in FIGS. 22 and 25, the surgical instrument 40 is moved in the Y1 direction while the protruding portion 49 is guided by the leading guide portion 69. At this time, the surgical instrument 40 is guided by the preceding guide rail 64, and subsequently, the surgical instrument 40 is guided by the first guide rail 63a and the second guide rail 63b.

  As shown in FIGS. 23 and 26, when the surgical instrument 40 is mounted on the adapter 60, the projecting portion 49 of the surgical instrument 40 is engaged with the mounting engagement portion 611 of the adapter 60.

  The other configuration of the second embodiment is the same as that of the first embodiment.

(Modification)
It should be understood that the embodiments disclosed this time are illustrative in all aspects and not restrictive. The scope of the present invention is defined by the terms of the claims, rather than the description of the embodiments, and includes all equivalents (modifications) within the scope and meaning equivalent to the claims.

  For example, in the above-described first and second embodiments, an example of a configuration in which the surgical instrument is slid along the second surface of the adapter in the direction in which the shaft extends to detach the surgical instrument is shown, but the present invention is not limited to this. I can't. In the present invention, the surgical instrument may be detached by sliding along the second surface of the adapter in a direction intersecting the direction in which the shaft extends.

  Further, in the first embodiment, an example in which the adapter has a substantially circular shape in a plan view has been described, but the present invention is not limited to this. In the present invention, the shape of the adapter in plan view may not be a substantially circular shape. For example, the adapter may have a rectangular shape in plan view.

  Further, in the first and second embodiments, the example in which the adapter is provided with the four drive transmission members has been described, but the present invention is not limited to this. In the present invention, the adapter may be provided with a plurality of drive transmission members other than four.

  Further, in the first and second embodiments, the example in which the adapter and the drape are provided separately is described, but the present invention is not limited to this. In the present invention, a configuration in which the adapter and the drape are provided integrally may be used.

  21a: robot arm, 40: surgical instrument, 40a: mounting surface, 42: shaft, 44: rotating member, 45: guide groove, 45a: first guide groove, 45b: second guide groove, 47: preceding guide groove , 48: second electrode array, 49: protrusion, 60: adapter, 60a: first surface, 60b: second surface, 61: base, 62: drive transmission member, 62a: first drive transmission member, 62b: first 2 drive transmission member, 63: guide rail, 63a: first guide rail, 63b: second guide rail, 64: preceding guide rail, 65: first electrode array, 69: preceding guide section, 70: drape, 100 : Robot surgery system, 441: first projection, 442: second projection, 443: third projection, 451: engagement groove, 462: engagement hole, 482: projection, 611: mounting engagement, 621: a first member, 22: second member, 623: urging member, 624: engaging portion, 624a: first engaging portion, 624b: second engaging portion, 625: first concave portion, 626: second concave portion, 631: rail portion 632: overhang, 633: claw, 652: groove, 691: connection

An adapter according to one aspect of the present invention is an adapter for detachably connecting a surgical instrument to a robot arm of a robot surgical system, wherein the first surface for attaching to the robot arm and the mounting surface for the surgical instrument are attached. a substrate comprising a second surface, the is provided with a plurality of drive transmission member provided rotatably to a substrate, the second surface of the substrate, first and second kicked set on a mounting surface It has first and second guide rails that correspond respectively to the guide groove, first and second guide rails of the second surface is inserted into the first and second guide grooves of preparative with surface surgery The surgical instrument is configured to be guided by sliding the instrument so that each of the plurality of drive transmitting members corresponds to each of the plurality of rotating members provided on the mounting surface.

Claims (17)

An adapter for detachably connecting a surgical instrument to a robot arm of a robotic surgical system,
A base including: a first surface for attaching to the robot arm; and a second surface on which an attachment surface for the surgical instrument is attached.
A plurality of drive transmission members rotatably provided on the base,
The second surface of the base has first and second guide rails provided substantially parallel to the first and second guide grooves provided substantially parallel to the mounting surface, respectively.
The first and second guide rails on the second surface are connected to one end of each of the first and second guide rails and one end of each of the first and second guide grooves of the mounting surface. By sliding correspondingly, each of the plurality of drive transmission members, and each of the plurality of rotating members provided on the mounting surface is configured to guide the surgical instrument so as to correspond, adapter. The drive transmission member includes a first member, and a second member movably provided with respect to the first member via an urging member,
The first and second guide rails of the second surface guide the first and second guide grooves of the surgical instrument in a direction intersecting a direction of movement of the second member with respect to the first member. The adapter of claim 1, wherein the adapter is configured as follows.   The second surface of the base is provided between the first and second guide rails, and is higher than the first and second guide rails in correspondence with the preceding guide groove provided on the mounting surface. The adapter according to claim 1 or 2, further comprising a leading guide rail for guiding the surgical instrument in advance.   The adapter according to claim 3, wherein the leading guide rail is formed such that an upstream side in a slide insertion direction is tapered.   The said 1st and 2nd guide rail has the claw part which engages with the engagement hole provided in the said 1st and 2nd guide groove, respectively. Adapter described in section.   The first and second guide rails are respectively provided on opposite sides of the claw portion with respect to a rail portion entering each of the first and second guide grooves, and the first and second guide grooves are provided. The adapter according to claim 5, further comprising an overhanging portion that engages with an engagement groove provided in each of the adapters.   The second surface of the base has a first electrode array, and a groove provided on the mounting surface for receiving a protrusion provided on a second electrode array connected to the first electrode array. The adapter according to any one of claims 1 to 6. The plurality of drive transmission members each include an engagement portion that engages with a corresponding rotation member provided on the mounting surface,
The engagement portion includes a first engagement portion provided on a first drive transmission member positioned upstream of the plurality of drive transmission members in the slide insertion direction, and a first engagement portion provided downstream of the plurality of drive transmission members in the slide insertion direction. The second drive transmission member located on the side, and a second engagement portion having a shape different from that of the first engagement portion. adapter.   The adapter according to claim 8, wherein the first engagement portion has a shape that does not engage the rotating member that engages with the second engagement portion. On the second surface side of the first drive transmission member, a first recess and a second recess are independently formed as the first engagement portion,
On the second surface side of the second drive transmission member, as the second engagement portion, one concave portion having a shape in which the first concave portion and the second concave portion are connected is formed.
A first rotating member that engages with the first drive transmission member among the plurality of rotating members provided on the mounting surface includes a first protrusion inserted into the first recess and the second recess, and a second protrusion. It has a projection,
The second rotation member, which engages with the second drive transmission member among the plurality of rotation members provided on the mounting surface, includes the first protrusion inserted into the one recess, and the second protrusion. The adapter according to claim 8, further comprising: a third protrusion disposed between the first protrusion and the second protrusion.   The adapter according to any one of claims 1 to 10, wherein a slide insertion direction is substantially parallel to a direction in which a shaft of the surgical instrument extends.   The adapter according to any one of claims 1 to 11, wherein the adapter is a drape adapter for sandwiching a drape between the robot arm and the robot arm.   A first guide rail that is formed to protrude from the base along a direction parallel to a direction in which the first and second guide rails extend, and that guides the surgical instrument ahead of the first and second guide rails; The adapter according to any one of claims 1 to 12, further comprising a guide portion.   The said leading guide part is comprised so that the protrusion part which protrudes from the said mounting surface of the said surgical instrument to the said 2nd surface side may be guided in the extending direction of the said 1st and 2nd guide rail. 14. The adapter according to 13.   The adapter according to claim 14, wherein the second surface of the base has a mounting engagement portion with which the protrusion of the mounting surface engages.   A pair of said leading guide portions are provided substantially parallel to said first surface and said second surface, and substantially parallel to each other at a predetermined interval in a direction orthogonal to a direction for guiding said surgical instrument. Item 17. The adapter according to any one of Items 13 to 15.   17. The adapter according to claim 16, further comprising a connecting part that connects ends of the pair of preceding guide parts on the upstream side in the slide insertion direction.

Images