Patent ID: 11944268
Assignee: MEDICAROID CORPORATION
Field: Medical technology (Instruments)
Classification: CPC A | IPC A

Claim 13:
14. A robotic surgical system, comprising:
a robot arm;
an endoscope adaptor connected to the robot arm; and
a controller configured to control a drive part of the robot arm, wherein
the endoscope adaptor comprises:
an endoscope holder;
a base rotatably supporting the endoscope holder, the base being provided with:
a disk rotatably provided in the base and including a projection or a recess configured to be engaged directly or indirectly with the drive part of the robot arm so as to be rotated by the drive part of the robot arm; and
a transmission mechanism configured to decelerate and transmit rotation of the disk to the endoscope holder, wherein

the transmission mechanism comprises:
a drive transmission shaft configured to be rotated by the rotation of the disk;
a first cylinder formed with a through hole through which the drive transmission shaft passes and engaged with the drive transmission shaft to rotate integrally with the drive transmission shaft; and
a second cylinder formed with a through hole through which the drive transmission shaft passes and rotatable with respect to the drive transmission shaft and configured to be linked to the first cylinder so as to rotate along with the first cylinder when the first cylinder and the second cylinder are engaged with eath other,

the base includes a stopper projection provided at a position to come in contact with the second cylinder to stop rotation of the drive transmission shaft, and
the controller is configured to rotationally position the drive part to a home position of the drive part, based on a rotational position of the drive part of the robot arm when the second cylinder comes in contact with the stopper projection and thus the rotation of the drive transmission shaft is stopped.