US-12616532-B2 - Medical robot and attachment portion of medical robot

US12616532B2US 12616532 B2US12616532 B2US 12616532B2US-12616532-B2

Abstract

A medical robot includes a surgical tool and an attachment portion. The surgical tool has a main body that includes a driven portion that transmits a driving force, and a driven side hole. The attachment portion has an attachment surface and a transmission side hole is arranged in which a transmission plate transmits the driving force in a linear motion direction to the driven portion. The surgical tool and the attachment portion respectively include a surgical tool engagement portion and an attachment engagement portion that engage to attach the surgical tool to the attachment portion by relative movement in a relative movement direction along the attachment surface and intersecting the linear motion direction. The attachment surface includes a guide groove that guides the driven portion to a specified position of the transmission side hole.

Inventors

Koki SHINDO

Assignees

RIVERFIELD INC.

Dates

Publication Date: 20260505
Application Date: 20220617
Priority Date: 20191220

Claims (17)

1 . A medical robot comprising: a surgical tool comprising: a main body comprising: a driven plate configured to transmit a driving force to a treatment portion for performing a medical treatment; and a driven side hole in which the driven plate is housed and in which the driven plate is arranged so as to be linearly movable; and an attachment portion comprising: an attachment surface configured to face a surface of the main body in which the driven side hole is provided; and a transmission side hole in which a transmission plate is arranged that transmits the driving force in a linear motion direction to the driven plate, wherein the surgical tool and the attachment portion respectively comprise a surgical tool engagement portion and an attachment engagement portion configured to attach the surgical tool to the attachment portion by relative movement of the surgical tool and the attachment portion in a relative movement direction that is parallel to the attachment surface and that intersects the linear motion direction, and wherein the attachment surface comprises a guide groove extending laterally in the relative movement direction and configured to engage with a projection projecting from the driven plate when attaching the surgical tool to the attachment portion, thereby guiding the driven plate to a specific position of the transmission side hole.
2 . The medical robot according to claim 1 , further comprising an introducing groove provided at least at one end of the guide groove along the relative movement direction, the introducing groove having a greater groove width in a direction away from the transmission side hole.
3 . The medical robot according to claim 1 , further comprising an actuator configured to move the transmission plate to the specific position.
4 . The medical robot according to claim 1 , wherein a plurality of the transmission side holes and a plurality of the transmission plates are provided in the attachment portion side by side along the relative movement direction, and wherein a plurality of the driven side holes and a plurality of the driven plates are provided in the main body so as to correspond to at least a part of the plurality of the transmission side holes and the plurality of the transmission plates.
5 . The medical robot according to claim 1 , wherein the transmission plate comprises a recessed portion configured to engage with the projection of the driven plate in response to attachment of the surgical tool to the attachment portion, the recessed portion including an opening that allows the projection to move along the relative movement direction.
6 . The medical robot according to claim 1 , wherein the specific position is an engagement position at which the driven plate engages with the transmission plate.
7 . The medical robot according to claim 1 , wherein the treatment portion comprises a forceps or an endoscope.
8 . The medical robot according to claim 1 , wherein the surgical tool engagement portion is a first surgical tool engagement portion and the attachment engagement portion is a first attachment engagement portion, the surgical tool further comprises a second surgical tool engagement portion and the attachment portion further comprises a second attachment engagement portion, and wherein, when the surgical tool is attached to the attachment portion, the second surgical tool engagement portion engages with the second attachment engagement portion to restrict movement of the surgical tool in a direction orthogonal to the linear motion direction and an attachment direction.
9 . A medical robot comprising: a surgical tool comprising: a main body comprising: a driven plate that transmits a driving force to a treatment portion; a first hole in which the driven plate is housed and in which the driven plate is movable in a linear direction; a projection provided on the driven plate; and an engagement projection provided at a distal end of the main body, the engagement projection extending in an intersecting direction that is parallel to a surface of the main body in which the first hole is formed and that intersects with the linear direction; and an adapter comprising: a transmission plate configured to transmit the driving force to the driven plate; a second hole in which the transmission plate is housed and in which the transmission plate is movable in the linear direction; a guide groove that extends in the intersecting direction; and an engagement groove provided at a distal end of the adapter, the engagement groove extending in the intersecting direction and parallel to a surface of the adapter in which the second hole is formed, wherein the surgical tool is configured to be attached to the adapter by relative movement laterally in the intersecting direction, and wherein, when the surgical tool is attached to the adapter, the guide groove engages with the projection and the engagement groove engages with the engagement projection to guide the driven plate to a position within the second hole.
10 . The medical robot according to claim 9 , wherein the adapter further comprises an introducing groove in communication with the guide groove and provided at one end of the guide groove in the intersecting direction, the introducing groove having a width that increases as a direction from the second hole increases.
11 . The medical robot according to claim 9 , further comprising an actuator configured to move the transmission plate to the position within the second hole.
12 . The medical robot according to claim 9 , wherein the transmission plate comprises a recess configured to engage with the projection, the recess allowing the projection to move along the intersecting direction when the surgical tool is attached to the adapter.
13 . The medical robot according to claim 9 , wherein the position within the second hole is an engagement position at which the driven plate engages with the transmission plate.
14 . The medical robot according to claim 9 , wherein the adapter comprises a plurality of the second holes and a plurality of the transmission plates spaced apart from each other in the intersecting direction, wherein the surgical tool comprises a plurality of the first holes and a plurality of the driven plates spaced apart from each other in the intersecting direction, and wherein, when the surgical tool is attached to the adapter, the guide grooves engage with the projections to guide the driven plates to positions within the second holes.
15 . The medical robot according to claim 9 , wherein the treatment portion comprises a forceps or an endoscope.
16 . The medical robot according to claim 9 , wherein the surgical tool further comprises a plurality of engagement protrusions at a proximal end of the surgical tool, and wherein the adapter further comprises a proximal engagement groove at a proximal end of the adapter, and wherein, when the surgical tool is attached to the adapter, the plurality of engagement protrusions engage with the proximal engagement groove to restrict movement of the surgical tool in a direction orthogonal to the linear direction and the intersecting direction.
17 . A medical robot comprising: a surgical tool comprising: a main body comprising: a driven portion configured to transmit a driving force to a treatment portion for performing a medical treatment; and a driven side hole in which the driven portion is housed and in which the driven portion is arranged so as to be linearly movable; and an attachment portion comprising: an attachment surface configured to face a surface of the main body in which the driven side hole is provided; and a transmission side hole in which a transmission plate is arranged that transmits the driving force in a linear motion direction to the driven portion, wherein the surgical tool and the attachment portion respectively comprise a surgical tool engagement portion and an attachment engagement portion configured to attach the surgical tool to the attachment portion by relative movement of the surgical tool and the attachment portion in a relative movement direction that is parallel to the attachment surface and that intersects the linear motion direction, and wherein the attachment surface comprises a guide groove extending laterally in the relative movement direction and configured to engage with a projection projecting from the driven portion when attaching the surgical tool to the attachment portion, thereby guiding the driven portion to a specific position of the transmission side hole.

Description

CROSS-REFERENCE TO RELATED APPLICATIONS This Application is a continuation of International Application No. PCT/JP2020/035758 filed Sep. 23, 2020 which is based on and claims priority from Japanese Patent Application No. 2019-230907 filed on Dec. 20, 2019 with the Japan Patent Office, the contents of each of which being herein incorporated by reference in their entireties. BACKGROUND 1. Field The present disclosure relates to a medical robot to be used for treatment of patients and an attachment portion of the medical robot. 2. Description of the Related Art In recent years, medical treatment using a robot has been proposed in order to achieve reduction in workload on operators and labor saving in medical facilities. In the field of surgery, there has been a proposal of a medical robot with which an operator performs treatment of a patient by a multi-degree-of-freedom manipulator including a remotely controllable multi-degree-of-freedom arm. SUMMARY It is an aspect to provide a medical robot and an adapter thereof having improved operability and a simplified configuration. According to an aspect of one or more embodiments, there is provided a medical robot comprising a surgical tool comprising a main body comprising a driven portion configured to transmit a driving force to a treatment portion for performing a medical treatment; and a driven side hole in which the driven portion is housed and in which the driven portion is arranged so as to be linearly movable; and an attachment portion comprising an attachment surface configured to face a surface of the main body in which the driven side hole is provided; and a transmission side hole in which a transmission plate is arranged that transmits the driving force in a linear motion direction to the driven portion, wherein the surgical tool and the attachment portion respectively comprise a surgical tool engagement portion and an attachment engagement portion configured to attach the surgical tool to the attachment portion by relative movement of the surgical tool and the attachment portion in a relative movement direction along the attachment surface and intersecting the linear motion direction, and wherein the attachment surface comprises a guide groove extending in the relative movement direction and configured to engage with a projection projecting from the driven portion when attaching the surgical tool to the attachment portion, thereby guiding the driven portion to a specific position of the transmission side hole. According to another aspect of one or more embodiments, there is provided a An adapter of a medical robot, the adapter being configured to be attached to a surgical tool, the adapter comprising an attachment surface configured to face a surface of a main body of the surgical tool in which a driven side hole is provided; a transmission side hole in which a transmission plate is arranged to transmit a driving force in a linear motion direction to a driven portion of the surgical tool; an attachment engagement portion configured to receive the surgical tool by relative movement of the surgical tool and the adapter in an intersection direction along the attachment surface that intersects the linear motion direction; and a guide groove provided in the attachment surface and extending in the intersection direction, and configured to, when the surgical tool is attached to the adapter, engage with a projection of the driven portion to guide the driven portion to a position of the transmission side hole. According to yet another aspect of one or more embodiments, there is provided a medical robot comprising a surgical tool and an adapter. The surgical tool comprises a main body comprising a driven plate that transmits a driving force to a treatment portion; a first hole in which the driven plate is housed and in which the driven plate is movable in a linear direction; a projection provided on the driven plate; and an engagement projection provided at a distal end of the main body, the engagement projection extending in an intersecting direction that intersects with the linear direction. The adapter comprises a transmission plate configured to transmit the driving force to the driven plate; a second hole in which the transmission plate is housed and in which the transmission plate is movable in the linear direction; a guide groove that extends in the intersecting direction; and an engagement groove provided at a distal end of the adapter, the engagement groove extending in the intersecting direction. The surgical tool is configured to be attached to the adapter by relative movement in the intersecting direction and, when the surgical tool is attached to the adapter, the guide groove engages with the projection and the engagement groove engages with the engagement projection to guide the driven plate to a position within the second hole. BRIEF DESCRIPTION OF THE DRAWINGS The above and other aspects will be more clearly understood from the following detaile