Abstract: A patient-side apparatus of a surgical system according to an embodiment may include: manipulator arms with multi-degree of freedom, each of which includes a distal end portion provided with a tool holding part configured to hold an elongated surgical tool; an arm base to which base end portions of the manipulator arms are attached; a base; and a positioner that includes links and joints to connect the base and the arm base such that the positioner movably holds the arm base. The links include a first link that is connected to a central portion of the arm base in a longitudinal direction of the arm base with a first roll joint arranged between the first link and the arm base. The positioner holds the arm base such that a first rotation axis of the first roll joint is inclined with respect to both a vertical direction and a horizontal plane.

Abstract: A medical manipulator according to one or more embodiments may include: a first manipulator arm with multi-degree of freedom that holds a medical tool at a distal end portion thereof; a second manipulator arm with multi-degree of freedom that holds a medical tool at a distal end portion thereof; an arm base that holds base end portions of the first and second manipulator arms; a movement mechanism configured to move the base end portion of the first manipulator arm with respect to the arm base to change a distance between the base end portion of the first manipulator arm and the base end portion of the second manipulator arm; and a positioner configured to move the arm base and position the arm base in place.

Abstract: A remote control apparatus according to one or more embodiments may include a display, an operation handle, an armrest, and a supporting mechanism. The supporting mechanism includes a supporting section that supports the display, the operation handle, and the armrest and a driver configured to move the supporting section in an up-and-down direction. The supporting mechanism is configured, upon transitioning between a first mode and a second mode, to move the supporting section by the driver in the up-and-down direction to move the display, the operation handle, and the armrest in an integrated manner in the up-and-down direction.

Abstract: A surgical system according to one or more embodiments may include: manipulators respectively supporting an endoscope and first and second surgical instruments; a remote control apparatus including a display device, a first operation handle for right hand to operate the first surgical instrument, and a second operation handle for left hand to operate the second surgical instrument; and a control apparatus. The control apparatus may display, on the display device, a graphical user interface, overlapped with the image captured by the endoscope, the graphical user interface including a first area that displays information on the first surgical instrument to be operated by the first operation handle, a second area that displays information on the second surgical instrument to be operated by the second operation handle, and a third area that displays information on the endoscope, which are arranged side by side in order from right to left.

Abstract: A surgical system according to one or more embodiments may include: manipulators respectively supporting an endoscope and surgical instruments; a remote control apparatus including a display device to display an image captured by the endoscope, operation handles to operate the surgical instruments respectively, and foot pedals; and a control apparatus. The foot pedals include first and second foot pedals for the surgical instruments, and a third foot pedal for the endoscope. The control apparatus displays a graphical user interface, overlapped with the image captured by the endoscope, on the display device, the graphical user interface including first to third areas to display information on the surgical instruments and the endoscope. The control apparatus changes, when a foot of an operator is detected at an operation preparation position of one of the foot pedals, a display form of corresponding one of the first to third areas.

Abstract: A sterile drape according to an embodiment may include: a flexible film member including a first opening and a second opening and configured to cover the robot arm received through the second opening; and a resin molded member configured to close the first opening of the flexible film member. The resin molded member includes: an upper surface portion having a shape and a size fitted to an attachment surface of an attachment portion of the robot arm; a side surface portion extending downward from the upper surface portion; and a projection which projects outward from a lower edge of the side surface portion and to which the flexible film member is welded.

Abstract: A driver interface provided to a robot arm of a robotic surgical system according to an embodiment may include: a drive member provided corresponding to a drive transmission member provided on an adaptor; an actuator to drive the drive member to rotate; and a housing accommodating the actuator therein and including a drive member opening at a location corresponding to the drive member and a drape detection opening. The driver interface may further include a detection member movable between a protrusion position at which a part of the detection member is protruded from the drape detection opening of the housing, and a withdrawal position at which the detection member is withdrawn into the drape detection opening of the housing. The driver interface may further include a sensor configured to detect the detection member is moved to the withdrawal position as a drape is brought into contact with the detection member.

Abstract: A surgical instrument to be detachably connected to a robot arm of the robotic surgical system according to an embodiment may include a base body, a treatment tool, an elongated shaft including a proximal end attached to the base body and a distal end to which the treatment tool is provided, a driven member provided at the base body to be rotatable about a rotational axis with respect to the base body, a bearing-integrated pulley, and an elongated element extending through the shaft to operate the treatment tool. The elongated element is led from the shaft to the driven member through the bearing-integrated pulley and wound around and fixed to the driven member.

Abstract: A driver interface according to an embodiment may include an engagement member, an actuator, a detection member, and a sensor. The engagement member includes an engagement protrusion protruding from a surface of the engagement member and provided corresponding to an engagement recess provided at a drive transmission member rotatably provided in an adaptor. The actuator is configured to rotate the engagement member. The detection member is movable in a direction parallel to the rotation axis of the engagement member. The sensor detects the detection member that has moved as a result of contact with a part of the drive transmission member.

Abstract: An endoscope adaptor to be connected to a robot arm of a robotic surgical system through a drape adaptor according to an embodiment may include a base section, a holding section, a driven member, and a transmission mechanism. The base is to be detachably connected to the drape adaptor. The driven member is rotatably provided on the base section and configured to be rotated by a rotation drive section of the robot arm through the drape adaptor. The holding section holds an endoscope rotatably about a rotation axis, the endoscope including an insertion section including an image capturing section provided at a distal end of the insertion section and a body section connected to the insertion section, wherein the rotation axis extends in a direction in which the insertion section extends. The transmission mechanism is configured to transmit rotation of the driven member to the holding section holding the endoscope.

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

Abstract: A robotic surgical instrument according to an embodiment may include: an end effector; a first support body that supports the end effector rotatably about a first shaft; a second support body that supports the first support body rotatably about a second shaft; an elongated element to rotate the first support body with respect to the second support body; and a shaft to which the second support body is connected. The elongated element includes a wire, an attachment fixed to the wire, and a protection tube fixed to the wire. The first support body includes a through-hole having a size in which the attachment and the protection tube are insertable.

Abstract: A surgical instrument according to an embodiment may include: a base body including an attachment surface for the adaptor; a surgical tool; driven members rotatably provided on the base body; a housing covering the driven members; and first and second movable members movable with respect to the housing and the base body. The attachment surface of the base body includes a first guide groove and a second guide groove that slidably receive a first guide rail and a second guide rail provided on the adaptor respectively. The first and second guide grooves are defined by the base body and the first and second movable members such that groove widths of the first and second guide grooves are variable by moving the first and second movable members with respect to the base body.

Abstract: An adaptor for detachably connecting a surgical instrument to a robot arm of a robotic surgical system according to an embodiment may include: a base body including a first surface to be attached to the robot arm and a second surface to which an attachment surface of the surgical instrument is mounted; and drive transmission members rotatably provided on the base body. The second surface of the base body includes first and second guide rails respectively corresponding to first and second guide grooves provided on the attachment surface of the surgical instrument. The first and second guide rails of the second surface are configured to be inserted respectively into the first and second guide grooves of the attachment surface, and guide the surgical instrument to be slid to a position where the drive transmission members respectively correspond to rotation members provided on the attachment surface of the surgical instrument.

Abstract: A drive unit according to an embodiment may include: a first gear that rotates about a first axis; a second gear that rotates about a second axis extending in a direction perpendicular to the first axis; and a third gear that rotates about a third axis extending in a direction perpendicular to the first axis. Elongated elements in a shaft to operate a distal end part attached to the shaft include: a rigid first elongated element meshing with the second gear; and a rigid second elongated element meshing with the third gear. The second and third gears mesh with the first gear. The distal end part is operated in such a manner that as the first gear rotates, the first elongated element moves in a longitudinal direction of the shaft while the second elongated element moves in a direction opposite to the direction in which the first elongated element moves.

Abstract: A remote operation-type surgery system is disclosed, which includes: a multiple-degree freedom slave arm; a first operation interface configured to operate the multiple-degree freedom slave arm; a second operation interface configured to operate the multiple-degree freedom slave arm; a third operation interface configured to operate the multiple-degree freedom slave arm and different from the first and second operation interfaces; and a controller configured to control the multiple-degree freedom slave arm, wherein the controller is configured to: determine whether or not an in-operation signal is turned on; until the in-operation signal is turned on, control the multiple-degree freedom slave arm so that the multiple-degree freedom slave arm is operated by at least one of the second operation interface and the third operation interface; and while the in-operation signal is turned on, control the multiple-degree freedom slave arm so that the multi-degree-of-freedom slave arm is operated by the first operation

Abstract: A remote operation-type surgery system is disclosed, which includes a multiple-degree freedom slave arm; a first operation interface configured to operate the multiple-degree freedom slave arm to make a movement of a medical instrument; a second operation interface configured to receive an operational instruction for the multiple-degree freedom slave arm and different from the first operation interface; and a controller configured to control the multiple-degree freedom slave arm, wherein the controller is configured to: determine whether or not in-operation signal is turned on; until the in-operation signal is turned on, control the multiple-degree freedom slave arm so that the multiple-degree freedom slave arm performs a movement based on the operational instruction via the second operation interface; and while the in-operation signal is turned on, control the multiple-degree freedom slave arm so that the multi-degree-of-freedom slave arm follows the movement of the first operation interface.

Abstract: A medical system according to one or more embodiments may include a memory, a robotic operation table top, and a controller. The robotic operation table includes a table top and a robot arm supporting the table top. The controller gives the robot arm a command to move the table top to positions corresponding to the medical processes. The robot arm includes a plurality of joints, a plurality of movable elements connected by the plurality of joints to one another, and a plurality of electric actuators and a plurality of position detectors. At least one of the plurality of joints is a horizontally-rotating joint which couples two movable elements among the plurality of movable elements to each other so as to be rotatable about a vertical axis. The positions corresponding to the medical processes include a placement position, an imaging position, and a surgery position.

Abstract: Disclosed is a medical robot system including medical robots placed at different locations and a data analysis apparatus. Each of the medical robots includes a controller that transmits data on a state of operation of the medical robot to the data analysis apparatus. The data analysis apparatus includes a data analysis unit that generates a reference for determining whether or not the medical robots are normal, based on the data transmitted from the medical robots. The data analysis unit monitors the data transmitted from each of the medical robots in operation based on the reference.

Abstract: A surgical system includes: a tool manipulator having a tool manipulator arm configured to perform translational motion and rotational motion of a distal end with respect to a proximal end and a surgical tool linked to the distal end of the tool manipulator arm; a console having a handling tool configured to receive a tool movement command of a surgeon for the surgical tool, the tool movement command including a translation amount of the translational motion and a rotation amount of the rotational motion for the surgical tool; and a controller configured to control the tool manipulator.