Patent ID: 11944280
Assignee: MEDICAROID CORPORATION
Field: Medical technology (Instruments)
Classification: CPC A | IPC A

Claim 14:
15. A method for detachably connecting a surgical instrument to a robot arm of a robotic surgical system via an adapter,
the adapter comprising:
a base including a first surface to be attached to an attachment portion of the robot arm, a second surface to which an attachment surface of the surgical instrument is attached, and recesses formed in the first surface, wherein engagement projecting portions projected from the attachment portion of the robot arm are accommodated in the recesses of the base in a state where the first surface of the base of the adapter is attached to the attachment portion of the robot arm;
one or more drive power transmission members each of which is rotatably provided in the base such that each drive power transmission member is rotatable about a rotational axis thereof to transmit rotation of a driving member provided in the robot arm, wherein the rotational axis is perpendicular to the first surface;
an engagement member movable linearly in a direction perpendicular to the rotational axis between an advanced position where engagement portions of the engagement member are engaged with the engagement projecting portions that are inserted in the recesses respectively and a retracted position where the engagement portions of the engagement member are disengaged from the engagement projecting portions that are inserted in the recesses respectively;
a biasing member which biases the engagement member in a direction from the retracted position to the advanced position; and
an operating member to be operated to move the engagement member to the retracted position against a biasing force of the biasing member, wherein the engagement member is integrally formed with the engagement portions thereof, wherein
the adapter includes a guide rail on the second surface, and the surgical instrument includes a guide groove in the attachment surface, the guide groove receiving the guide rail,
the method comprising:
moving the engagement member to the retracted position with the operating member;
attaching the first surface of the adapter in which the engagement member has been moved to the retracted position, to the attachment portion of the robot arm;
moving the engagement member to the advanced position by the biasing member; and
attaching the attachment surface of the surgical instrument to the second surface of the adapter.