RIVERFIELD INC.

A drape for covering a medical robot includes an attachment detachably attached to the medical robot, a flexible sheet covering the medical robot, the flexible sheet being fixed to the attachment, and a flexible body that prevents the sheet from being pinched between the attachment and the medical robot.

A medical robot of the present disclosure includes: a surgical tool including a treatment portion, and a body including a driven portion configured to transmit a driving force to the treatment portion; and an attachment portion including a transmitting portion configured to transmit the driving force by being engaged with the driven portion, and an attachment surface configured to face the body. The surgical tool includes a surgical-instrument-engagement-part and the attachment portion includes an attachment-portion-engagement-part. The surgical-instrument-engagement-part and the attachment-portion-engagement-part are configured to allow the surgical tool to be attached to the attachment portion by a relative movement of the surgical tool and the attachment portion in a direction along the attachment surface, and also configured to allow the surgical tool to be removed from the attachment portion by a relative movement of the surgical tool and the attachment portion in a direction intersecting with the attachment surface.

A slider includes a slider body movable in a linear direction with respect to a casing of a surgical instrument, and a roller between the casing and the slider body. The roller is rotatable with respect to the casing and the slider body.

A foot controller for operating of a device includes: a placement section on which a foot is to be placed; a first operating part configured to be moved back and forth and left and right by the foot placed at a first position of the placement section; and a second operating part configured to be moved back and forth and left and right by the foot placed at a second position of the placement section. The first operating part and the second operating part are arranged along a front-back direction on the placement section, and configured to select a predetermined operation of the device based on a movement of the foot.

A drape unit disposed between a medical robot that holds a surgical instrument and the surgical instrument to isolate the surgical instrument and the medical robot from each other, the drape unit including a drape unit and a locking cover. The draft unit comprising a slider having a first engagement portion and a second engagement portion, and a separator main body having a through-hole, and the locking cover, configured to be detached and reattached to the drape unit, comprising: a main body portion configured to cover an entirety of the through-hole, a holding portion that detachably holds a relative position of the main body portion to the separator main body, and a slider holding portion provided so as to hold a relative position between the main body portion and the slider, the slider holding portion being configured to engage with the second engagement portion.

A pneumatic drive for a medical robot includes a manifold having cylinders extending in a first direction, and respective rods corresponding to the cylinders, the rods extending on one side of the cylinders in the first direction. The manifold includes air supply ports that feed the cylinders with air for moving the respective rods forward and backward. The air supply ports are provided on another side of the manifold in the first direction.

A medical robot system including a memory and a central processing unit that performs operations including receiving measurement signals of forces measured at two or more points on one or both of a surgical tool and a slave device that supports the surgical tool, generating image information for displaying information of the forces as images in association with the two or more points at which the forces are measured, based on the measurement signals, and outputting the image information that is generated to a display device that displays the image information in a second display region of the display device which is different from a first display region of the display device in which information on operation of the surgical tool is displayed.

A surgical instrument includes a base body detachable from a surgical robot arm, a support body connected to the base body, and first and second jaws. The first jaw is rotatably supported on a first shaft supported by the support body and includes a first opening pulley, a first closing pulley, and a first blade part. The second jaw is rotatably supported on the first shaft and includes a second opening pulley, a second closing pulley, and a second blade part. The first opening pulley is axially separated from the first closing pulley and the second opening pulley is axially separated from the second closing pulley. An axial direction of the first shaft is orthogonal to an opening and closing direction of the first blade part and the second blade part.

A force sense display device includes a processor that obtains image information from an image-capturing device that captures an image of a patient, obtains position information on a surgical instrument from a surgical assist robot, obtains force sense information on a magnitude and a direction of a force acting on the surgical instrument, generates a force sense representation based on the force sense information, the force sense representation including a force amount representation representing the magnitude of the force and a direction representation representing the direction of the force, detects, based on the image and position information, a surgical instrument area in an image on a display, the surgical instrument area being an area of the image in which the surgical instrument is displayed, and generates display information including the surgical instrument area with the force sense representation superimposed thereon and outputs the display information for display on the display.

An estimation device calculates a first perpendicular vector and a second perpendicular vector. The first perpendicular vector is a component of a vector in a movement of a first position, which is a provisional pivot position of a surgical tool, the component being perpendicular to a direction of an axis of the surgical tool. The second perpendicular vector is a component of a vector in a movement of a second position of the surgical tool, the component being perpendicular to the direction of the axis. Then, a first distance, which is a length from a reference point on a rear end side or a reference point on a front end side of the surgical tool to the first position, is updated based on an inner product of the first and second perpendicular vectors.