RIVERFIELD INC.

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 surgical robot includes an operation part that includes a movable part moved by a force applied by an operation by a user, an action part that performs an action according to the operation, a drive part that supplies a driving force to the action part, an operation controller that controls a movement of the movable part, and a controller that implements an operation force setter that sets a magnitude of a resistance force that is a force in a direction opposite to a direction of the movement of the movable part. The operation force setter sets the magnitude of the resistance force based on a resistance parameter set in advance, and the operation controller applies, to the movable part, the resistance force having the magnitude set by the operation force setter.

A surgical robot includes an operating section that receives a pressure from a gas, a pressure generating device that generates the pressure, a pressure detector that detects a pressure supplied from the pressure generating device to the operating section, and a control device configured to implement an operation diagnosis device that makes a determination, using the pressure detected by the pressure detector, whether the operating section is operable, and that notifies a result of the determination.

A surgical robot for use in endoscopic surgery includes a control device that implements a position information calculator that calculates information relating to a distal end position of the treatment instrument used in endoscopic surgery, and information relating to a distal end position of an endoscope, a first display section that displays a relative positional relationship between the distal end of the treatment instrument and the distal end of the endoscope by using a calculation result obtained from the position information calculator, and a second display section that displays an image captured by the endoscope.

A surgical robot for use in endoscopic surgery includes an arm device that holds a surgical instrument used in endoscopic surgery, a drive device that drives the arm device, a display section, and a display processor that displays, on the display section, a relative positional relationship between a trocar site and a distal end position of the surgical instrument.

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 surgical device includes a forceps device, driven portions to which a driving force is transmitted from outside the surgical device, plural wires, each being fixed to one of the driven portions and transmitting respective movements of the driven portions to the forceps device. The forceps device includes grasping portions that may be opened and closed by a movement of a first wire of the plural wires, and a joint portion that may be bent by a movement of one or more second wires of the plural wires.

A surgical device includes a forceps device that performs a bending movement and opening and closing movements of grasping portions of the forceps device, driven portions to which a driving force is transmitted from outside the surgical device, and plural cords, each being fixed to one of the driven portions, the cords transmitting movements of the driven portions to the forceps device. The forceps device performs one or both of the bending movement and the opening and closing movements when all or a portion of the cords are pulled.

There is provided a surgical tool. The surgical tool of the present disclosure includes one or more driven portions to transmit a driving force to a distal end of a shaft to be inserted into a patient's body; a main body holding the one or more driven portions so as to be relatively movable in respective specified directions; and one or more fixing portions each configured to move in a direction intersecting a corresponding one of the specified directions and extending toward a corresponding one of the one or more driven portions and the main body, and to be abuttable with the corresponding one of the one or more driven portions and with the main body.

A surgical robot system includes a surgical instrument including a shaft to be inserted through a trocar placed in a subject, an arm device that holds the surgical instrument and moves the surgical instrument with respect to the subject, a detector arranged at the arm device and configured to detect values of forces and torques acting on the surgical instrument; and a controller that calculates a value of a first external force that the surgical instrument receives from the trocar and a value of a second external force that is received from an object other than the trocar and that is abuttable on the surgical instrument, based on the values of forces and torques, and controls the arm device to move the surgical instrument, based on the value of the first external force and the value of the second external force.