Motive power transmission adapter and medical manipulator system

Patent metadata

Field	Value
Publication number	US-11207144-B2
Application number	US-201716320911-A
Country	US
Kind code	B2
Filing date	Dec 15, 2017
Priority date	May 16, 2017
Publication date	Dec 28, 2021
Grant date	Dec 28, 2021

Abstract

A motive power transmission adapter includes a casing and at least one power transmission portion. The casing is disposed between a surgical tool and a power unit for driving the surgical tool. In addition, the casing includes a clean surface which is a surface facing the surgical tool disposed in a clean region and an unclean surface which is a surface facing the power unit disposed in an unclean region. At least one power transmission portion is movable relative to the casing and transmits a movement of the drive portion to the driven portion. In addition, at least one power transmission portion is disposed to be movable in a direction in which the clean surface and the unclean surface extend and is disposed between the drive portion and the driven portion in a direction intersecting a linear motion direction of the drive portion.

First claim

The invention claimed is:

1. A motive power transmission adapter comprising:
a casing disposed between a surgical tool and a power unit for driving the surgical tool and comprising a clean surface, which is a surface facing the surgical tool disposed in a clean region, and an unclean surface, which is a surface facing the power unit disposed in an unclean region, the clean surface and the unclean surface being arranged to overlap each other with at least a part of the casing located between the clean surface and the unclean surface;
a plurality of guide portions having a groove shape provided in the clean surface and the unclean surface of the casing, the plurality of guide portions extending along the clean surface and the unclean surface and penetrating the casing from the clean surface to the unclean surface; and
a plurality of power transmission portions, each having a part located inside a corresponding guide portion of the plurality of guide portions and movable along the corresponding guide portion, wherein
each of the plurality of power transmission portions is: disposed between a drive portion, which is provided in the power unit and linearly moves, and a driven portion, which is provided in the surgical tool in a direction different from a linear motion direction of the drive portion and intersects the linear motion direction; and configured to transmit a movement of the drive portion to the driven portion,
the plurality of guide portions extend in the linear motion direction of the drive portion, and
the driven portion is configured to move along a path not intersecting an extended line of a path along which the drive portion linearly moves.

2. The motive power transmission adapter according to claim 1 , wherein
an unclean-side engagement portion capable of engaging with or being disengaged from the drive portion and capable of transmitting a linear motion of the drive portion is provided in a region of each of the plurality of power transmission portions facing the drive portion, and
a clean-side engagement portion capable of engaging with or being disengaged from the driven portion and capable of transmitting a movement of each of the plurality of power transmission portions to the driven portion is provided in a region of the each power transmission portion facing the driven portion.

3. The motive power transmission adapter according to claim 1 , wherein
the motive power transmission adapter is configured such that the surgical tool is attachable to and removable from the motive power transmission adapter so as to face the clean surface, and the power unit is attachable to and removable from the motive power transmission adapter so as to face the unclean surface.

4. The motive power transmission adapter according to claim 1 , wherein
the casing is formed in a plate shape extending along the clean surface and the unclean surface and extending in the linear motion direction of the drive portion, and
the plurality of power transmission portions are disposed in the casing and are disposed to be arranged in the direction intersecting the linear motion direction of the drive portion.

5. The motive power transmission adapter according to claim 1 , wherein
the casing is formed in a tubular shape extending in the linear motion direction of the drive portion,
an outer peripheral surface of the casing on which the power unit is disposed forms the unclean surface, and an inner peripheral surface of the casing inside on which the surgical tool is disposed forms the clean surface, and
the plurality of power transmission portions each comprise a part to be disposed on the outer peripheral surface of the casing and are disposed to be arranged in the direction intersecting the linear motion direction of the drive portion.

6. The motive power transmission adapter according to claim 1 , wherein
the casing comprises a first regulation portion configured to abut against at least one of the surgical tool and the power unit and to regulate a relative movement direction between at least abutting one of the surgical tool and the power unit and the casing in the linear motion direction of the drive portion.

7. The motive power transmission adapter according to claim 1 , wherein
each of the plurality of power transmission portions comprises a first driven abutment surface configured to abut against a driven engagement portion of the driven portion when the surgical tool moves relative to the casing along the linear motion direction and engages with the casing.

8. The motive power transmission adapter according to claim 7 , wherein
an unclean-side engagement portion capable of engaging with or being disengaged from the drive portion and capable of transmitting a linear motion of the drive portion is provided in a region of each of the plurality of power transmission portions facing the drive portion,
a clean-side engagement portion capable of engaging with or being disengaged from the driven portion and capable of transmitting a movement of each of the plurality of power transmission portions to the driven portion is provided in a region of each power transmission portion facing the driven portion,
each of the plurality of power transmission portions comprises a first driven holding portion, and
the first driven holding portion is formed to have a length in the direction intersecting the linear motion direction with respect to the first driven abutment surface and is configured to regulate a relative movement in the linear motion direction between the driven engagement portion of the driven portion which moves relative to the first driven abutment surface in the intersection direction and the clean-side engagement portion.

9. The motive power transmission adapter according to claim 1 , wherein
each of the plurality of power transmission portions comprises a first drive abutment surface which abuts against a drive engagement portion of the drive portion when the power unit moves relative to the casing along the linear motion direction and engages with the casing.

10. The motive power transmission adapter according to claim 9 , wherein
an unclean-side engagement portion capable of engaging with or being disengaged from the drive portion and capable of transmitting a linear motion of the drive portion is provided in a region of each of the plurality of power transmission portions facing the drive portion,
a clean-side engagement portion capable of engaging with or being disengaged from the driven portion and capable of transmitting a movement of each of the plurality of power transmission portions to the driven portion is provided in a region of each power transmission portion facing the driven portion,
each of the plurality of power transmission portions comprises a first drive holding portion, and
the first drive holding portion is formed to have a length in the direction intersecting the linear motion direction with respect to the first drive abutment surface and is configured to regulate a relative movement in the linear motion direction between the drive engagement portion of the drive portion which moves relative to the first drive abutment surface in the intersection direction and the unclean-side engagement portion.

11. The motive power transmission adapter according to claim 1 , wherein
each of the plurality of power transmission portions comprises a first engagement convex portion configured to engage with at least one of the drive portion and the driven portion and a first elastic portion configured to be elastically deformed by a force applied to the first engagement convex portion.

12. The motive power transmission adapter according to claim 11 , whe

Assignees

• Riverfield Inc

Inventors

• HARAGUCHI Daisuke
• Shindo Koki
• Ujiie Hiroki

Classifications

• A61B46/10 Primary

  specially adapted for instruments{, e.g. microscopes} · CPC title

• B25J15/04

  with provision for the remote detachment or exchange of the head or parts thereof · CPC title

• A61B2017/00477

  Coupling (A61B2017/0046 takes precedence) · CPC title

• A61B2090/065

  for measuring contact or contact pressure · CPC title

• A61B34/71

  Manipulators operated by drive cable mechanisms · CPC title