US 11,717,366 B2
Medical manipulator
Yasuhiko Hashimoto, Kobe (JP); Toshiaki Yoshida, Kobe (JP); and Kazunori Suga, Kobe (JP)
Assigned to KAWASAKI JUKOGYO KABUSHIKI KAISHA, Kobe (JP); and MEDICAROID CORPORATION, Kobe (JP)
Filed by KAWASAKI JUKOGYO KABUSHIKI KAISHA, Kobe (JP); and MEDICAROID CORPORATION, Kobe (JP)
Filed on Dec. 24, 2019, as Appl. No. 16/726,277.
Claims priority of application No. 2018-243445 (JP), filed on Dec. 26, 2018; and application No. 2019-224517 (JP), filed on Dec. 12, 2019.
Prior Publication US 2020/0205920 A1, Jul. 2, 2020
Int. Cl. A61B 90/50 (2016.01); A61B 50/13 (2016.01); A61B 34/00 (2016.01); A61B 34/37 (2016.01); A61B 34/30 (2016.01); A61B 17/00 (2006.01)
CPC A61B 34/70 (2016.02) [A61B 34/37 (2016.02); A61B 34/74 (2016.02); A61B 50/13 (2016.02); A61B 90/50 (2016.02); A61B 2017/00477 (2013.01); A61B 2017/00973 (2013.01); A61B 2034/305 (2016.02)] 20 Claims
OG exemplary drawing
 
1. A medical manipulator comprising:
an arm base including an attachment surface from which a first engagement portion and a restriction portion are projected; and
a manipulator arm including a distal end portion including a tool support portion configured to support a surgical tool, a proximal end portion including a second engagement portion, and plural links provided between the distal end portion and the proximal end portion and including a first link rotatably connected to the proximal end portion via a roll joint,
wherein one of the first and second engagement portions includes a shaft member extending an axial direction thereof parallel to the attachment surface,
the other of the first and second engagement portions includes an engagement member that is engageable with the shaft member, such that in a state where the engagement member is engaged with the shaft member, the engagement member is rotatable with respect to the shaft member,
the restriction portion of the arm base is formed with a restriction surface configured, in the state where the engagement member and the shaft member are engaged with each other, to come in contact with the proximal end portion of the manipulator arm to restrict rotation of the manipulator arm about the shaft member, wherein the restriction surface is parallel to the axial direction of the shaft member and is inclined with respect to the attachment surface of the arm base, and
the proximal end portion of the manipulator arm is fixed to the restriction portion of the arm base with a fixing member that extends through the restriction portion to the proximal end portion of the manipulator arm in a state where the restriction surface of the restriction portion of the arm base is in contact with the proximal end portion of the manipulator arm, such that an axis of the proximal end portion of the manipulator arm parallel to a first rotational axis of the roll joint is inclined with respect to the attachment surface of the arm base.