Abstract: An aspect of the present invention provides a drape unit that is disposed between a medical robot holding a surgical instrument and the surgical instrument to isolate the surgical instrument and the medical robot from each other. The drape unit transmits power in a forward/backward direction from a power transmission part of the medical robot to a movable part provided in the surgical instrument. The drape unit comprises: a movable intervening part that receives the power from the power transmission part; and a fixed intervening part that is detachably attached to the medical robot. The fixed intervening part has a through-hole through which a part of the movable intervening part is inserted. The fixed intervening part has a housing portion that covers a part of the movable intervening part as viewed in a penetrating direction of the through-hole when the movable intervening part moves to an end portion in the forward/backward direction.

Abstract: A medical robot includes an arm, a controller that controls driving of the arm, a holding body that is connected to the arm at a connection portion and holds a held body, and a selector switch provided on the holding body for selectively switching between a control state in which the driving of the arm is controlled by the controller and a manual state in which control by the controller is released. The controller performs control of switching between the control state and the manual state based on an operation signal from the selector switch.

Abstract: A pneumatic drive for a medical robot includes a manifold having cylinders extending in a first direction, and respective rods corresponding to the cylinders, the rods extending on one side of the cylinders in the first direction. The manifold includes air supply ports that feed the cylinders with air for moving the respective rods forward and backward. The air supply ports are provided on another side of the manifold in the first direction.

Abstract: A surgical robot includes a main body portion, an arm provided on the main body portion to hold an endoscope, an attachment member that detachably attached the main body portion to a table portion of a bed, and a vertical drive mechanism that allows the main body portion to move along a first direction perpendicular to the table portion. The arm is pneumatically driven.

Abstract: A floating drive for a medical robot includes an actuator that drives a rod forward and backward in a first direction, a manipulation member that operates with driving force of the actuator, and a transmission member that is located between the actuator and the manipulation member and that is engaged with the rod to transmit an operation of the rod to the manipulation member. The transmission member is restricted in its displacement having a component in a second direction orthogonal to the first direction, and the transmission member is separated from the rod in the second direction and transmitting force in the first direction from the rod to the manipulation member.

Abstract: A surgical system includes a gripping robot that holds a treatment tool, a storage, and a controller. The storage stores relationship information of a relationship between condition information of a surgery and a position of the gripping robot. The controller sets, based on the relationship information from the storage, an initial position of the gripping robot, and generates a control signal to control the gripping robot to move to the initial position and outputs the control signal to the gripping robot.

Abstract: A surgical instrument holding device includes a holding body, an adapter, a separator, a driving body, and a detector. The holding body holds a surgical instrument. The adapter receives the surgical instrument and is disposed between the surgical instrument and the holding body. The separator is provided between the adapter and the holding body and receives the adapter. The driving body supports the holding body such that the holding body is rotatable with respect to the driving body. The driving body includes a driving force transmitter that transmits a driving force to the holding body, and a bracket to which the driving force transmitter is mounted. The detector is disposed on the bracket and detects a state of attachment of the separator to the holding body and a state of attachment of the adapter to the separator.

Abstract: A surgery-assisting device includes a robot arm that includes plural movable bodies that are operably connected in order in a connecting direction, a surgical instrument connected to a distal end of the robot arm, and one or more actuators that generate a driving force that operates one or more of the movable bodies. The movable bodies include one or more distal-side movable bodies that is provided distally in the connection direction, and one or more proximal-side movable bodies that is provided proximally in the connection direction. An operation tolerance of the one or more distal-side movable bodies is higher than an operation tolerance of the one or more proximal-side movable bodies.

Abstract: A surgical instrument holding device includes a holding body, an adapter, a separator, and a driving body. The holding body holds a surgical instrument. The adapter receives the surgical instrument and is disposed between the surgical instrument and the holding body. The separator is provided between the adapter and the holding body and includes a receiving portion that receives the adapter. The driving body supplies a driving force to the holding body to drive the surgical instrument. The adapter includes a pressing portion and an engaging portion, and when the receiving portion of the separator receives the adapter, the pressing portion contacts the receiving portion and the engaging portion engages the receiving portion to attach the adapter to the separator.

Abstract: A surgical instrument holding device includes a holding body, an adapter, a separator, and a driving body. The holding body holds a surgical instrument. The adapter receives the surgical instrument and is disposed between the surgical instrument and the holding body. The separator is provided between the adapter and the holding body and receives the adapter. The driving body supplies a driving force to the holding body to drive the surgical instrument. The adapter includes a tubular portion through which the surgical instrument is received, and an arc shaped protrusion. The separator is arc shaped with a circumference extending from a first circumferential edge to a second circumferential edge. When the adapter is received in separator, the arc shaped protrusion engages the first circumferential edge and the second circumferential edge of the separator to restrict rotation of the adapter with respect to the separator.

Abstract: A surgical instrument holding device including a holding body, a separator, an adapter, and a driving body. The holding body includes a first engagement receiving portion. The separator is detachable from the holding body and includes a first engaging portion and a second engagement receiving portion. The adapter is detachable from the separator and a surgical instrument is detachable from the adapter. The adapter includes a second engaging portion. The driving body supports the holding body in a rotatable manner and applies a driving force to the holding body. The separator is attached to the holding body by an engagement of the first engaging portion with the first engagement receiving portion, and the adapter is attached to the separator by an engagement of the second engaging portion with the second engagement receiving portion.

Abstract: A surgical robot for use in endoscopic surgery includes an arm device that holds a surgical instrument used in endoscopic surgery, a drive device that drives the arm device, a display section, and a display processor that displays, on the display section, a relative positional relationship between a trocar site and a distal end position of the surgical instrument.

Abstract: A surgical robot includes an operation part that includes a movable part moved by a force applied by an operation by a user, an action part that performs an action according to the operation, a drive part that supplies a driving force to the action part, an operation controller that controls a movement of the movable part, and a controller that implements an operation force setter that sets a magnitude of a resistance force that is a force in a direction opposite to a direction of the movement of the movable part. The operation force setter sets the magnitude of the resistance force based on a resistance parameter set in advance, and the operation controller applies, to the movable part, the resistance force having the magnitude set by the operation force setter.

Abstract: A surgical robot for use in endoscopic surgery includes a control device that implements a position information calculator that calculates information relating to a distal end position of the treatment instrument used in endoscopic surgery, and information relating to a distal end position of an endoscope, a first display section that displays a relative positional relationship between the distal end of the treatment instrument and the distal end of the endoscope by using a calculation result obtained from the position information calculator, and a second display section that displays an image captured by the endoscope.

Abstract: A surgical robot includes a robot arm, an operation device that is operated by a user to perform an operation of the robot arm, an actuator that supplies a driving force to the robot arm, and hardware control logic or a processor that sets a magnitude of an operation reaction force a direction opposite to an operation direction of the operation device, and applies the operation reaction force having the magnitude set by the reaction force setter to the operation device. The magnitude of the operation reaction force is set based on change information about a change in the driving force supplied by the actuator and based on a conversion coefficient.

Abstract: A surgical robot includes an operating section that receives a pressure from a gas, a pressure generating device that generates the pressure, a pressure detector that detects a pressure supplied from the pressure generating device to the operating section, and a control device configured to implement an operation diagnosis device that makes a determination, using the pressure detected by the pressure detector, whether the operating section is operable, and that notifies a result of the determination.

Abstract: A surgical device includes a forceps device, driven portions to which a driving force is transmitted from outside the surgical device, plural wires, each being fixed to one of the driven portions and transmitting respective movements of the driven portions to the forceps device. The forceps device includes grasping portions that may be opened and closed by a movement of a first wire of the plural wires, and a joint portion that may be bent by a movement of one or more second wires of the plural wires.

Abstract: A surgical device includes a forceps device that performs a bending movement and opening and closing movements of grasping portions of the forceps device, driven portions to which a driving force is transmitted from outside the surgical device, and plural cords, each being fixed to one of the driven portions, the cords transmitting movements of the driven portions to the forceps device. The forceps device performs one or both of the bending movement and the opening and closing movements when all or a portion of the cords are pulled.

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.

Abstract: There is provided a surgical tool. The surgical tool of the present disclosure includes one or more driven portions to transmit a driving force to a distal end of a shaft to be inserted into a patient's body; a main body holding the one or more driven portions so as to be relatively movable in respective specified directions; and one or more fixing portions each configured to move in a direction intersecting a corresponding one of the specified directions and extending toward a corresponding one of the one or more driven portions and the main body, and to be abuttable with the corresponding one of the one or more driven portions and with the main body.