US 11,744,444 B2
Manipulator arm and patient-side system for surgical system
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 Oct. 22, 2020, as Appl. No. 17/76,806.
Application 17/076,806 is a continuation of application No. 16/726,241, filed on Dec. 24, 2019.
Claims priority of application No. 2018-243446 (JP), filed on Dec. 26, 2018; and application No. 2019-227262 (JP), filed on Dec. 17, 2019.
Prior Publication US 2021/0038058 A1, Feb. 11, 2021
Int. Cl. A61B 1/00 (2006.01); A61B 34/00 (2016.01); B25J 9/00 (2006.01); B25J 17/00 (2006.01); B25J 18/00 (2006.01); A61B 34/30 (2016.01); A61B 34/37 (2016.01)
CPC A61B 1/00149 (2013.01) [A61B 1/0016 (2013.01); A61B 34/71 (2016.02); B25J 9/0009 (2013.01); B25J 17/00 (2013.01); B25J 18/00 (2013.01); A61B 34/37 (2016.02); A61B 2034/305 (2016.02)] 20 Claims
OG exemplary drawing
 
1. A manipulator arm for a surgery system, comprising:
an arm body including a plurality of links and a plurality of joints; and
a translation mechanism provided to a distal end portion of the arm body,
wherein the translation mechanism includes:
a proximal side unit connected to the distal end portion of the arm body;
a distal side unit including a tool holding part to which a surgical tool is removably attached and a first motor configured to drive the surgical tool; and
a connection unit connecting the proximal side unit and the distal side unit and including a first slide mechanism, a second slide mechanism and a second motor,
wherein the proximal side unit is connected to the connection unit through the first slide mechanism such that the proximal side unit moves in a longitudinal direction of the connection unit by driving the second motor,
wherein the distal side unit is connected to the connection unit through the second slide mechanism such that the distal side unit moves in the longitudinal direction by driving the second motor, and
wherein when the proximal side unit is moved in a first direction in the longitudinal direction by driving the second motor, the distal side unit is moved in a second direction opposite to the first direction in the longitudinal direction.