RIVERFIELD INC.

A surgical device retracting mechanism includes a holder that holds a surgical device, a guide that guides the holder to linearly advance and retract, a locking member that locks the holder in a locking state in which the surgical device is inserted in a surgical site, and a retracting device that releases the locking state and retract the holder based on a detection signal.

A surgical robot includes a robot arm, an operation device that is operated by a user to perform an operation of the robot arm, an actuator that supplies a driving force to the robot arm, and hardware control logic or a processor that sets a magnitude of an operation reaction force a direction opposite to an operation direction of the operation device, and applies the operation reaction force having the magnitude set by the reaction force setter to the operation device. The magnitude of the operation reaction force is set based on change information about a change in the driving force supplied by the actuator and based on a conversion coefficient.

A medical robot includes a surgical tool and an attachment portion. The surgical tool has a main body that includes a driven portion that transmits a driving force, and a driven side hole. The attachment portion has an attachment surface and a transmission side hole is arranged in which a transmission plate transmits the driving force in a linear motion direction to the driven portion. The surgical tool and the attachment portion respectively include a surgical tool engagement portion and an attachment engagement portion that engage to attach the surgical tool to the attachment portion by relative movement in a relative movement direction along the attachment surface and intersecting the linear motion direction. The attachment surface includes a guide groove that guides the driven portion to a specified position of the transmission side hole.

A console device of a medical robot system may include a grip, a gimbal that rotatably supports the grip around a yaw axis, a pitch axis, and a roll axis, the yaw axis, the pitch axis, and the roll axis intersecting each other, and a controller that controls the gimbal. The gimbal includes harness windings that are wound around respective joints around the yaw axis, around the pitch axis, and around the roll axis, drivers that apply torque to the respective joints, and angle sensors that detect angles of the respective joints and output detected values of the angles of the respective joints to the controller. The controller controls the drivers based on the detected values received from the respective angle sensors to apply the torque to the respective joints in order to compensate for torsional torque at the respective joints due to the respective harness windings.

A hand controller includes a tab that has a first side surface and a second side surface facing away from the first side surface and an end surface that extends from the first side surface to the second side surface, a handle that faces the end surface of the tab and is mounted to the tab to allow the handle to be moved in and out of contact with the end surface of the tab, an operation lever that faces the first side surface of the tab and is coupled to the tab to allow the operation lever to be moved in and out of contact with the first side surface of the tab, and a finger sensor on the second side surface of the tab, the finger sensor detecting a finger of a hand of an operator.

A bearing structure includes a fixing member attached with respect to an arm of a surgical robot in a state in which a holder that is provided at a distal end of the arm is inserted inside the fixing member, a first drape that covers the arm being attachable to the fixing member, and a rotating member attached with respect to the fixing member in a slidably rotatable manner in a state in which the holder is inserted inside the rotating member, a second drape that covers the holder being attachable to the rotating member. The rotating member is rotatable together with the holder.

A rotation position detector includes a motor having a drive shaft extending along a first axis, a drive-side pulley that is connected to the drive shaft, a holder that holds a treatment tool to be inserted into a patient during surgery, the holder rotating in association with the drive-side pulley, a driven-side pulley that rotates around the first axis, a diameter of the drive-side pulley being smaller than a diameter of the driven-side pulley, a transmission belt that transmits a rotational drive of the drive-side pulley to the driven-side pulley, a rotary encoder that is provided on the first axis and detects a rotation angle of the driven-side pulley, and a controller that calculates a rotation position of the holder based on the rotation angle and based a pulley ratio of the drive-side pulley to the driven-side pulley, and controls the motor based on the rotation position.

An arm structure includes a shoulder joint, an elbow joint, a wrist joint, a first connection structure connecting the shoulder joint with the elbow joint and that relatively moves while maintaining an orientation of the elbow joint relative to the shoulder joint, a second connection structure connecting the elbow joint with the wrist joint and that relatively moves while maintaining an orientation of the wrist joint relative to the elbow joint, a third connection structure connecting the shoulder joint with the second connection structure and that relatively moves while maintaining an orientation of the wrist joint relative to the shoulder joint, a first actuator that rotates a first rotating shaft included in the first connection structure, and a second actuator that rotates a second rotating shaft included in the third connection structure. The first and second rotating shafts are supported by the shoulder joint.

Disclosed is a method for fixing a soft actuator to a base, the soft actuator including a cylinder that includes a flange at an end in an axial direction, the cylinder being elastic in the axial direction and in a circumferential direction; and a coil that is wound around the cylinder in a spiral shape, suppresses a diameter expansion of the cylinder, and extends and contracts in the axial direction in accordance with an extension and contraction of the cylinder in the axial direction due to an increase and decrease in pressure within the cylinder, the base having a recess that has a groove, the method including engaging the flange and the groove with each other to fix the soft actuator to the base.

A surgical instrument holding device includes first and second parallel links, a wiring member and a connector. The first parallel link has two first link portions arranged in parallel with each other, each having one end in an axial direction as a first end portion. The second parallel link has two second link portions arranged in parallel with each other, each having one end in an axial direction as a second end portion. The wiring member is disposed along the parallel links. The connector has two first link supporters by which the respective first end portions are rotatably supported, two second link supporters by which the respective second end portions are rotatably supported, a first wiring supporter that supports the wiring member on a part between the two first link supporters, and a second wiring supporter that supports the wiring member on a part between the two second link supporters.