US 11,723,731 B2
Adapter set, adapter, and method of mounting surgical instrument on robot arm through adapter
Kenji Ago, Kobe (JP); and Kazuhiro Sato, Kobe (JP)
Assigned to MEDICAROID CORPORATION, Kobe (JP)
Filed by Medicaroid Corporation, Kobe (JP)
Filed on Sep. 23, 2020, as Appl. No. 17/30,140.
Claims priority of application No. 2019-177049 (JP), filed on Sep. 27, 2019.
Prior Publication US 2021/0093398 A1, Apr. 1, 2021
Int. Cl. A61B 34/30 (2016.01); A61B 46/10 (2016.01); A61B 17/00 (2006.01); A61B 34/37 (2016.01)
CPC A61B 34/30 (2016.02) [A61B 46/10 (2016.02); A61B 34/37 (2016.02); A61B 2017/00486 (2013.01); A61B 2017/00973 (2013.01); A61B 2034/301 (2016.02)] 20 Claims
OG exemplary drawing
 
1. An adapter set comprising:
an adapter placed between a driving unit that is provided in a robot arm and includes a driving member, and a surgical instrument that includes a driven member; and
a stopper mounted on the adapter, wherein
the adapter includes a rotatably provided driving transmission member configured to transmit a driving force from the driving member of the driving unit to the driven member of the surgical instrument,
the stopper includes a rotation restricting part configured to restrict a rotation of the driving transmission member,
the driving transmission member includes a first member that includes a first engaging part configured to fit together with the driven member of the surgical instrument and a second engaging part that is provided separately from the first engaging part and is configured to fit together with the rotation restricting part of the stopper, and a second member that includes a third engaging part configured to fit together with the driving member of the driving unit, and
the stopper is configured to be mounted on the adapter in a state in which the rotation of the driving transmission member is restricted by the rotation restricting part before the driving member of the driving unit fits together with the second member of the adapter, and is also configured to be removed from the adapter after the driving member of the driving unit fits together with the second member of the adapter.