US 11,737,658 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 Dec. 24, 2019, as Appl. No. 16/726,241.
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 2020/0205645 A1, Jul. 2, 2020
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 attached and which includes a motor configured to drive the surgical tool;
a connection unit connecting the proximal side unit and the distal side unit; and
an electrical wiring circuit electrically connecting the proximal side unit and the distal side unit, wherein
the connection unit includes a first pulley; a second pulley; and an endless belt member wound around the first and second pulleys and movable in a first direction from the first pulley toward the second pulley and a second direction opposite to the first direction, and
the proximal side unit is attached to the endless belt member at a first attachment position, and the distal side unit is attached to the endless belt member at a second attachment position in such a manner that the distal side unit moves in a direction opposite to a direction in which the proximal side unit moves in association with movements of the endless belt member.