Abstract: A surgical instrument according to an embodiment may include: a shaft; an end effector provided on a side of one end of the shaft; a housing including a base to which the other end of the shaft is connected, and a lid portion to cover the base; and a circuit board disposed on the base. The housing includes a press portion that presses the circuit board to the base to hold the circuit board.

Abstract: An adapter set is provided with an adapter placed between a robot arm and a surgical instrument, and a stopper mounted on the adapter. The stopper includes a rotation restricting part configured to restrict a rotation of a driving transmission member of the adapter. The driving transmission member includes a first member that includes an engaging depressed part configured to fit together with a driven member of the surgical instrument and another engaging depressed part that is provided separately from the engaging depressed part and is configured to fit together with the rotation restricting part of the stopper, and a second member that includes an engaging depressed part configured to fit together with a driving member. The stopper is configured to be removed from the adapter after the driving member fits together with the second member of the adapter.

Abstract: The adapter includes: a base body that includes a first surface attached to a robot arm, and a second surface to which a surgical instrument is attached; an engaging portion that engages with the robot arm at an advanced position corresponding to an opening of the first surface; an urging member that urges the engaging portion in a direction from a retracted position to the advanced position; an operation portion connected to the engaging portion to shift the engaging portion to the retracted position while resisting an urging force of the urging member; and a stopper that stops the operation portion to prevent a shift of the engaging portion from the retracted position to the advanced position.

Abstract: A method of fixing a surgical instrument to a robot arm according to one or more embodiment may include: attaching the surgical instrument to a drive part of the robot arm via an adaptor in a state where a first engagement portion of a drive transmission member of the adaptor is set at a second initial orientation; and rotating the first engagement portion from the second initial orientation so as to engage the first engagement portion of the drive transmission member with an engagement portion of an driven member.

Abstract: An adaptor according to one or more embodiments may include a drive transmission member to transmit a driving force from a driving member of a drive part to a driven member of a surgical instrument. The drive transmission member may include: a first member to be fitted to the driven member of the surgical instrument; and a second member relatively movable with respect to the first member in directions toward the surgical instrument and toward the drive part and to be fitted to the driving member. The second member may include a movement restriction part that comes in contact with the driven member to restrict a movement of the second member toward the surgical instrument in a state where the driving member of the drive part is fitted to the second member and the driven member of the surgical instrument is fitted to the first member.

Abstract: A stopper according to one or more embodiments may include: a stopper body; and a rotation restriction portion provided at the stopper body and configured to restrict rotations of the drive transmission member. The stopper may be configured such that the rotation restriction portion restricts the rotations of the drive transmission member in a state where the stopper body is attached to the adaptor main body and the rotation restriction portion releases the restriction of the rotations of the drive transmission member in a state where the stopper body is detached from the adaptor main body.

Abstract: Disclosed are a compact activation member for operating a medical treatment tool, an activation mechanism having the activation member, and a method for fabricating the activation mechanism. An activation member is directed to an activation member which is provided in a housing as to be rotatable about a rotational axis and around which an elongate element for operating a treatment tool is wound. The activation member includes: a plurality of rotation members which rotate about the rotational axis; and a pressing member which engages with at least one of the plurality of rotation members. Each of the plurality of rotation members includes a surface provided with ridges and grooves. The plurality of rotation members are attached to a base of the housing by being pressed by the pressing member in an extending direction of the rotational axis, with the surfaces of the plurality of rotation members engaged with each other.

Abstract: A compact medical treatment tool having an end portion, used for surgery, and a surgical system having such a medical treatment tool are provided. A medical treatment tool includes an end effector, a wrist member, a shaft, a first pulley, and a second pulley. A first pulley portion included in the end effector is rotatably mounted on the wrist member via a first connection, and is located closer to a first end of the first connection. The first pulley is mounted on the wrist member. A rotational axis of the first pulley intersects with a plane defined by a shaft axis and a first axis that is defined by the first connection. The rotational axis of the first pulley is located closer to a second end of the first connection, opposite to the first end of the first connection, than a groove of the first pulley portion.

Abstract: A compact medical treatment tool having an end portion, used for surgery, and a surgical system having such a medical treatment tool are provided. A medical treatment tool includes an end effector, a wrist member, a shaft, a first pulley, and a second pulley. A first pulley portion included in the end effector is rotatably mounted on the wrist member via a first connection, and is located closer to a first end of the first connection. The first pulley is mounted on the wrist member. A rotational axis of the first pulley intersects with a plane defined by a shaft axis and a first axis that is defined by the first connection. The rotational axis of the first pulley is located closer to a second end of the first connection, opposite to the first end of the first connection, than a groove of the first pulley portion.

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 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: 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 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: 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: 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 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 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: A compact medical treatment tool having an end portion, used for surgery, and a surgical system having such a medical treatment tool are provided. A medical treatment tool includes an end effector, a wrist member, a shaft, a first pulley, and a second pulley. A first pulley portion included in the end effector is rotatably mounted on the wrist member via a first connection, and is located closer to a first end of the first connection. The first pulley is mounted on the wrist member. A rotational axis of the first pulley intersects with a plane defined by a shaft axis and a first axis that is defined by the first connection. The rotational axis of the first pulley is located closer to a second end of the first connection, opposite to the first end of the first connection, than a groove of the first pulley portion.

Abstract: Disclosed are a compact activation member for operating a medical treatment tool, an activation mechanism having the activation member, and a method for fabricating the activation mechanism. An activation member is directed to an activation member which is provided in a housing as to be rotatable about a rotational axis and around which an elongate element for operating a treatment tool is wound. The activation member includes: a plurality of rotation members which rotate about the rotational axis; and a pressing member which engages with at least one of the plurality of rotation members. Each of the plurality of rotation members includes a surface provided with ridges and grooves. The plurality of rotation members are attached to a base of the housing by being pressed by the pressing member in an extending direction of the rotational axis, with the surfaces of the plurality of rotation members engaged with each other.