LIVSMED INC.

Provided is an instrument sterile adapter device for a surgical robot system. The instrument sterile adapter device includes: a sterile adapter body having a carriage coupling surface and an instrument coupling surface, wherein the carriage coupling surface is configured to be coupled to an instrument carriage, and the instrument coupling surface is disposed opposite to the carriage coupling surface and configured to be coupled to a surgical instrument; at least one coupler mounted on the sterile adapter body, and configured to transfer rotational power from the instrument carriage to the surgical instrument; and a fixed cover detachably coupled to the sterile adapter body and configured to restrain rotation of the at least one coupler while the fixed cover is mounted on the sterile adapter body.

A trocar holder for a surgical robot includes a clamp assembly including a first clamp and a second clamp which are arranged to face each other and configured to be rotatable around different shafts, a sliding member connected to the first clamp and the second clamp, and configured to move between a proximal end and a distal end along a first axis to cause rotational motions of the first clamp and the second clamp, and a holder body in which the sliding member and at least a portion of the clamp assembly are disposed.

A cartridge for a surgical instrument includes an end tool rotatable in at least one direction, the cartridge including a housing, a cover that covers one surface of the housing and has formed thereon a staple hole through which a staple accommodated in the housing is ejected to the outside, a working member arranged inside the housing and configured to move relative to the housing in a first direction that is a lengthwise direction of the housing, a release member on which the staple is arranged, wherein, as the working member moves, the release member moves upward from a lower portion of the housing to an upper portion of the housing to eject the staple to the outside, and an elastic member that is arranged between the housing and the cover, and provides an elastic force in a direction in which the release member is moved downward.

Provided is an end tool including: a first jaw configured to rotate independently; a J11 pulley coupled with the first jaw and configured to rotate around a first axis formed at an end tool hub; a J16 pulley formed at one side of the J11 pulley and configured to rotate around a second axis formed at one side of the first axis; a J12 pulley and a J14 pulley formed at one side of the J16 pulley, and configured to rotate around a third axis formed at a predetermined angle with the first axis. The end tool may further include: a first jaw wire configured to at least partially contact the J12 pulley, the J11 pulley, the J16 pulley, and the J14 pulley; a J16 pulley formed between the J11 pulley and a J12 pulley/a J14 pulley; and the first jaw wire is located on an internal tangent of the J11 pulley and the J16 pulley.

Provided is a surgical robot system including at least one driving element and a processor configured to control the driving element. The driving element includes: a first member; a second member configured to change a relative position of the second member with respect to a first member; and at least one joint member configured to provide a rotational coupling between the first member and the second member, wherein the at least one joint member is an elastic joint member configured to allow twisting between the first member and the second member, which are targets of rotational coupling due to an external force.

A surgical instrument includes an end tool including one or more jaws, wherein one of the one or more jaws includes a reciprocating assembly disposed in the jaw and formed to be movable in a first direction, which is a longitudinal direction of jaw, an operation member formed to be in contact with the reciprocating assembly and movable forward toward a distal end of the jaw from a proximal end side of the jaw in the first direction by the reciprocating assembly, and a backward-moving wire disposed adjacent to the operation member and movable in the first direction, wherein the backward-moving wire includes one or more coupling members fixed to the backward-moving wire, wherein the one or more coupling members are allowed to move the operation member backward toward the proximal end of the jaw.

A mounting assembly detection system includes a motor pack configured to provide a driving force to a surgical instrument, and a mounting assembly configured to be detachably mounted on the motor pack. The motor pack includes a first sensor module disposed adjacent to a mounting part configured to provide an area in which the mounting assembly is mounted. The first sensor module includes a first magnetic sensor and a first magnetic body having a first area adjacent to the first magnetic sensor and a second area adjacent to the mounting part. The mounting assembly includes a detection target module including a first magnet disposed at a position corresponding to the first sensor module.

A trocar holder of the surgical robot includes a grip assembly including a first grip portion and a second grip portion that are disposed to face each other and configured to move closer to or away from each other, a holder body to which at least a part of the grip assembly is connected, a power generation device including a driving motor configured to generate power for driving the grip assembly, and a power transfer device disposed in the holder body and configured to transfer the power generated by the driving motor to the grip assembly.

Provided is a surgical robot arm, and more particularly, a minimally invasive surgical robot arm formed in a modular form to be used in laparoscopic surgery or various other surgeries.

The present disclosure relates to an end tool of a surgical instrument and a surgical instrument including the same, and more particularly, to an end tool of a surgical instrument that may be mounted on a robotic arm or operable manually to be used in laparoscopic surgery or other various surgeries, wherein the end tool is rotatable in two or more directions and is moved in a way that intuitively matches a motion of a manipulation portion, and a surgical instrument including the same.