Patent Description:
In recent years, medical treatment using a robot has been proposed in order to achieve reduction in workload on operators and labor saving in medical facilities. In the field of surgery, there has been a proposal of a medical robot with which an operator performs treatment of a patient by a multi-degree-of-freedom manipulator including a remotely controllable multi-degree-of-freedom arm (see, for example, Patent Document <NUM>).

According to the technique described in Patent Document <NUM>, a configuration is disclosed in which a surgical tool to be used for treatment is attachable to and detachable from a medical robot. Also, a driving force to drive a movable part of the surgical tool is transmitted from the medical robot to the surgical tool.

Further, there is provided a transmission configuration configured to transmit a driving force from the medical robot to the surgical tool to be used for treatment when attaching the surgical tool to the medical robot. The transmission configuration is configured so as to be engaged and released in response to attachment and detachment of the surgical tool to and from the medical robot.

Specifically, a configuration is disclosed in which engagement is established so as to allow transmission of a driving force using a biasing force of a spring when the surgical tool is attached to and detached from the medical robot. This configuration allows replacement of the surgical tool while performing treatment.

Patent Document <NUM> describes a medical robot comprising a surgical tool. The surgical tool includes actuators and a drive apparatus for providing a drive force to actuators and including a chassis and a mounting interface for receiving the surgical tool by slots and portions.

Patent Document <NUM> describes a sterile adapter to be disposed between a surgical tool and an instrument holder. The sterile adapter is composed of a first runner and a second runner that are exposed on both sides with the main body as a reference. Electrical, magnetic, mechanical characteristics, etc. can be used to detect the alignment and combination of the runner and equipment.

Patent Document <NUM> describes a motive power transmission adapter comprising a casing disposed between a surgical tool and a power unit for driving the surgical tool and comprising a clean surface, which is a surface facing the surgical tool disposed in a clean region, and an unclean surface, which is a surface facing the power unit disposed in an unclean region; and at least one power transmission portion movable relative to the casing. Further, there is described a medical manipulator system comprising the motive power transmission adapter.

According to the technique disclosed in Patent Document <NUM>, however, the transmission configuration is required to allow movement due to biasing force since biasing force of the spring is used for engagement. In other words, it is required to intentionally provide a play, looseness, or gap in the transmission configuration.

Thus, it is difficult to reduce occurrence of a gap, which does not contribute to transmission of a driving force, in a path to transmit the driving force in the transmission configuration. A problem has been found that this gap makes it difficult to accurately control actions of the surgical tool.

Also, in order for an operator to operate the medical robot to move the surgical tool just as intended, it is necessary to detect whether engagement is established in the transmission configuration so as to allow transmission of a driving force. Specifically, it is necessary to detect engagement using a detection device, such as a sensor or a switch, and to provide wiring or the like to transmit detected information to the operator. That is, a problem has been found that the medical robot has a complicated configuration.

In one aspect of the present disclosure, it is preferable to provide a medical robot that facilitates improved operability and simplified configuration and to provide an attachment portion of a medical robot.

The object is solved by an attachment portion according to claim <NUM> corresponding to a second aspect of the present disclosure and a medical robot according to claim <NUM> corresponding to a first aspect of the present disclosure. A medical robot in a first aspect of the present disclosure comprises: a surgical tool at least comprising: a main body that comprises a driven portion configured to transmit a driving force to a treatment portion for performing a medical treatment; and a driven side hole in which the driven portion is housed and the driven portion is arranged so as to be relatively linearly movable; and an attachment portion at least comprising: an attachment surface configured to face a surface of the main body in which the driven side hole is provided; and a transmission side hole in which a transmitter to transmit a driving force in a linear motion direction to the driven portion is arranged. The surgical tool and the attachment portion respectively comprise a surgical tool engagement portion and an attachment engagement portion configured to attach the surgical tool to the attachment portion by relative movement of the surgical tool and the attachment portion in a direction along the attachment surface and intersecting the linear motion direction, and the attachment surface comprises a guide groove extending in a direction in which the surgical tool relatively moves with respect to the attachment portion and configured to engage with a projection projecting from the driven portion when attaching the surgical tool to the attachment portion, thereby guiding the driven portion to a specified position of the transmission side hole.

An attachment portion in a second aspect of the present disclosure is an attachment portion, to which a surgical tool is attached, the surgical tool at least comprising a main body that comprises a driven portion configured to transmit a driving force to a treatment portion for performing a medical treatment; and a driven side hole in which the driven portion is housed and the driven portion is arranged so as to be relatively linearly movable. The attachment portion at least comprises: an attachment surface configured to face a surface of the main body in which the driven side hole is provided; a transmission side hole in which a transmitter to transmit a driving force in a linear motion direction to the driven portion is arranged; an attachment engagement portion configured to attach the surgical tool to the attachment portion by relative movement of the surgical tool and the attachment portion in a direction along the attachment surface and intersecting the linear motion direction; and a guide groove provided in the attachment surface and extending in a direction in which the surgical tool relatively moves with respect to the attachment portion, and configured to engage with a projection projecting from the driven portion when attaching the surgical tool to the attachment portion, thereby guiding the driven portion to a specified position of the transmission side hole.

According to the medical robot in the first aspect and the attachment portion in the second aspect of the present disclosure, the surgical tool can be attached to the attachment portion by relative movement of the surgical tool and the attachment portion in a direction along the attachment surface and intersecting the linear motion direction of the driven portion and the transmitter. Also, when attaching the surgical tool to the attachment portion, the driven portion is guided to a specified position of the transmission side hole. The specified position is a position at which the driven portion and the transmitter engage with each other in response to attachment of the surgical tool to the attachment portion. Accordingly, the transmitter and the driven portion engage with each other so as to allow transmission of the driving force.

For example, as compared with a configuration disclosed in Patent Document <NUM>, the transmitter and the driven portion can be engaged with each other with a simple configuration since there is no need to use a biasing mechanism. Further, there is less need to provide a gap between the transmitter and the driven portion, and thus secure engagement therebetween is facilitated.

Accordingly, the gap can be reduced, thereby facilitating increase in operability of the medical robot. Moreover, reduction of the gap facilitates transmission of an external force, which is a force applied to the treatment portion of the surgical tool, to the medical robot, and facilitates increase in accuracy when estimating an external force. For example, it is possible to facilitate increase in safety of surgeries using the medical robot, and to facilitate reducing occurrence of complications. In other words, it is possible to facilitate improved QOL of patients, and to facilitate reducing burden on doctors who operate the medical robot. Moreover, it is possible to facilitate achievement of an improved learning curve in surgeries using the medical robot. "QOL", as referred to herein, is an abbreviation of "Quality of Life".

In addition, it is possible to determine whether an arrangement relationship between the transmitter and the driven portion is a desired arrangement relationship based on the relative position of the surgical tool and the attachment portion. Examples of the desired arrangement relationship may include an arrangement relationship that allows transmission of a driving force. In other words, there is less need to use a detection device, such as a sensor or a switch, than in the configuration disclosed in Patent Document <NUM>. Accordingly, it is possible to reduce complication of the configuration caused by providing a detection device, and to facilitate downsizing of the medical robot.

An introducer is provided at least at one end of the guide groove along a relative movement direction of the surgical tool and the attachment portion, the introducer having a greater groove width in a direction away from the transmission side hole.

By providing the introducer to the guide groove, the projection of the driven portion is guided by the introducer and thus easily enters the guide groove when attaching the surgical tool to the attachment portion. Also, in a case where the introducer is provided at each of both ends of the guide groove, there is an increased degree of freedom in terms of an approaching direction of the surgical tool to the attachment portion, as compared with a case of being provided at one end, and thus attachment of the surgical tool is facilitated.

In the first aspect, it is preferable that a mover configured to move the transmitter to the specified position is provided.

By providing the mover, the transmitter can be easily arranged at the specified position when attaching the surgical tool to the attachment portion. As compared with a case without the mover, workload can be reduced when attaching the surgical tool to the attachment portion, and thus the attachment is facilitated.

In the first aspect, it is preferable that a plurality of the transmission side holes and a plurality of the transmitters are provided in the attachment portion side by side along the relative movement direction of the surgical tool and the attachment portion, and that a plurality of the driven side holes and a plurality of the driven portions are provided in the main body so as to correspond to at least a part of the plurality of the transmission side holes and the plurality of the transmitters.

With this configuration, it is possible to transmit different driving forces to the treatment portion using a plurality of combinations of the transmitters and the driven portions. Accordingly, it is possible to control a plurality of actions of the treatment portion.

In the first aspect, it is preferable that the transmitter comprises a recessed portion configured to engage with the projection of the driven portion in response to attachment of the surgical tool to the attachment portion, the recessed portion including an opening that allows the projection to move along the relative movement direction of the surgical tool and the attachment portion.

By providing the recessed portion, it is possible to engage the projection of the driven portion with the recessed portion of the transmitter when the surgical tool is attached to the attachment portion. Also, it is possible to transmit a driving force from the transmitter to the driven portion based on engagement of the projection with the recessed portion.

According to the medical robot in the first aspect of the present disclosure and the attachment portion in the second aspect of the present disclosure, an effect is achieved that improved operability and simplified configuration can be facilitated by providing the guide groove configured to engage with the projection projecting from the driven portion, thereby guiding the driven portion to a specified position of the transmission side hole.

medical robot, <NUM>. actuator (mover), <NUM>. adapter (attachment portion), <NUM>. attachment surface, <NUM>. transmitter, <NUM>. recessed portion, <NUM>. transmission side hole, <NUM>. guide groove, <NUM>. introducer, <NUM>. first attachment engagement portion (attachment engagement portion), <NUM>. second attachment engagement portion (attachment engagement portion), <NUM>. surgical tool, <NUM>. main body, <NUM>. driven side hole, <NUM>. driven portion, <NUM>. projection, <NUM>. forceps (treatment portion), <NUM>. first surgical tool engagement portion (surgical tool engagement portion), <NUM>. second surgical tool engagement portion (surgical tool engagement portion).

A description will be given of a medical robot in an embodiment of the present disclosure with reference to <FIG>. A medical robot <NUM> of the present embodiment is a multi-degree-of-freedom manipulator having a multi-degree-of-freedom arm that is remotely controllable, and is used when an operator performs treatment of a patient, such as endoscopic surgery.

As shown in <FIG>, the medical robot <NUM> comprises a driver <NUM>, an adapter <NUM>, and a surgical tool <NUM>. The adapter <NUM> corresponds to one example configuration of an attachment portion.

To simplify the description of the present embodiment, a direction in which the driver <NUM> extends is defined as a Z-axis, and a direction toward a leading end of the driver <NUM> is defined as a positive direction of the Z-axis. Also, in the description, a direction which is orthogonal to the Z-axis and along which the surgical tool <NUM> is relatively moved when being attached to the adapter <NUM> is defined as an X-axis, and a left direction with respect to a positive direction of the Z-axis is defined as a positive direction of the X-axis. Further, in the description, a direction orthogonal to the Z-axis and the X-axis is defined as a Y-axis and a direction along which the surgical tool <NUM> is relatively moved when being detached from the adapter <NUM> is defined as a positive direction of the Y-axis.

The driver <NUM> supports the adapter <NUM> and the surgical tool <NUM> and transmits a driving force to actuate the surgical tool <NUM>. In the present embodiment, a portion of the driver <NUM> where the adapter <NUM> is arranged is rotatably arranged around an axis extending in the Z-axis direction.

As shown in <FIG> and <FIG>, the driver <NUM> comprises actuators <NUM> and a controller <NUM>. The actuator <NUM> corresponds to one example configuration of a mover.

At least one of the actuator <NUM> or the controller <NUM> may be provided in the driver <NUM> or may be provided outside the driver <NUM>, and its arrangement position is not limitative.

The actuator <NUM> generates a driving force to actuate the surgical tool <NUM>. The actuator <NUM>, which is connected to a later described transmitter <NUM> of the adapter <NUM> such that the driving force can be transmitted to the transmitter <NUM>, moves the transmitter <NUM> in the positive direction and a negative direction of the Z-axis.

In the present embodiment, the actuator <NUM> generates the driving force using a gas, such as air, or a fluid. The actuator <NUM> may employ an electric motor, and there is no limitation to a form of generating its power.

Further, the actuator <NUM> may be configured with a piston and a cylinder, or may be configured to generate the driving force using another fluid, and there is no limitation to a specific configuration.

The controller <NUM> controls generation of the driving force in the actuator <NUM>. The controller <NUM> also controls movement of the transmitter <NUM> in the positive direction and the negative direction of the Z-axis, and controls an arrangement position of the transmitter <NUM>. In the present embodiment, the controller <NUM> controls supply of a gas, such as air, to the actuator <NUM>.

As shown in <FIG> and <FIG>, the adapter <NUM> is arranged between the driver <NUM> and the surgical tool <NUM>. The adapter <NUM> is attachable to and detachable from the driver <NUM>, and is also attachable to and detachable from the surgical tool <NUM>.

The adapter <NUM> also serves to separate an unclean region on a side of the driver <NUM> and a clean region on a side of the surgical tool <NUM>. The adapter <NUM> comprises a not-shown drape that is a film-shaped member to separate the unclean region from the clean region.

The adapter <NUM> comprises at least an attachment surface <NUM>, a first attachment engagement portion <NUM>, and a second attachment engagement portion <NUM>. The first attachment engagement portion <NUM> and the second attachment engagement portion <NUM> each correspond to one example configuration of an attachment engagement portion.

The attachment surface <NUM> is a surface of the adapter <NUM> on which the surgical tool <NUM> is arranged and which faces a surface, in which driven side holes <NUM> are formed, of a main body <NUM> of the surgical tool <NUM> described later. The first attachment engagement portion <NUM> is provided at an end of the attachment surface <NUM> in the positive direction of the Z-axis, and the second attachment engagement portion <NUM> is provided at an end of the attachment surface <NUM> in the negative direction of the Z-axis.

The adapter <NUM> further comprises at least the transmitters <NUM>, transmission side holes <NUM>, a guide groove <NUM>, and an introducer <NUM>.

The transmitter <NUM> transmits a driving force to the surgical tool <NUM>. In the present embodiment, the transmitter <NUM> moves within the transmission side hole <NUM> in the positive direction and the negative direction of the Z-axis, to thereby transmit the driving force.

The transmitter <NUM> comprises a recessed portion <NUM> configured to engage with a later-described projection <NUM> of the surgical tool <NUM>. The recessed portion <NUM> is a recess formed in a surface of the transmitter <NUM> to face the surgical tool <NUM>, in other words, a surface located in the positive direction of the Y-axis.

The recessed portion <NUM> has a groove shape extending along the positive direction and the negative direction of the Y-axis. In other words, the recessed portion <NUM> includes an opening that allows the projection <NUM> to enter the recessed portion <NUM> from the positive direction and come out from the negative direction of the Y-axis.

Side walls of the recessed portion <NUM> on a positive direction side and a negative direction side of the Z-axis are shaped to abut the projection <NUM>. In other words, the side walls are shaped so as to transmit movement of the transmitter <NUM> in the positive direction and the negative direction of the Z-axis to the projection <NUM>.

The transmission side hole <NUM> is a through-hole in which the transmitter <NUM> is arranged relatively movably, and is configured to allow movement of the transmitter <NUM> in a direction along the attachment surface <NUM>, in other words, configured to avoid deviation of the transmitter <NUM> from the transmission side hole <NUM>. The transmission side hole <NUM> is shaped as an elongated hole extending in a direction along the Z-axis. In the present embodiment, three transmission side holes <NUM> are arranged apart from one another in an X-axis direction.

Although there are three sets of the transmitters <NUM> and the transmission side holes <NUM> in the present embodiment, the number of sets of the transmitters <NUM> and the transmission side holes <NUM> may be greater than three, or may be less than three, and the number is not limited.

The guide groove <NUM>, which is a recess formed in the attachment surface <NUM>, is a groove to be used for guiding the projection <NUM> of a driven portion <NUM> described later. The guide groove <NUM> extends in a direction of relative movement of the surgical tool <NUM> with respect to the attachment surface <NUM>. In the present embodiment, the guide groove <NUM> extends in a direction intersecting the transmission side hole <NUM>, for example, in a direction along the X-axis.

The introducer <NUM> is a groove formed at each of a first end and a second end of the guide groove <NUM> so as to be continuous to the guide groove <NUM>, and has a shape with a greater groove width in a direction away from the transmission side hole <NUM>. It is desirable that a width of an opening portion of the introducer <NUM>, in other words, a width at both ends thereof in the positive direction and the negative direction of the X-axis is large so as to include at least a moving range of the projection <NUM> in the transmitter <NUM>. Although the introducer <NUM> is provided at each of both ends of the guide groove <NUM> in the present embodiment, the introducer <NUM> may be provided only at the first end or the second end of the guide groove <NUM>.

The first attachment engagement portion <NUM> is formed at an end of the attachment surface <NUM> of the adapter <NUM> in the positive direction of the Z-axis so as to protrude in the positive direction of the Y-axis. The first attachment engagement portion <NUM> abuts the surgical tool <NUM> arranged on the attachment surface <NUM>, to thereby restrict movement of the surgical tool <NUM> in the positive direction of the Z-axis.

The first attachment engagement portion <NUM> comprises a surface to face the surgical tool <NUM> and the surface comprises a first engagement groove <NUM>. The first engagement groove <NUM> is a groove opening in the negative direction of the Z-axis and extending along the X-axis. The first engagement groove <NUM> engages with a later-described first surgical tool engagement portion <NUM> of the surgical tool <NUM>, to thereby restrict movement of the surgical tool <NUM> in directions along the Y-axis.

The second attachment engagement portion <NUM> is formed so as to protrude in the positive direction of the Y-axis from the end of the attachment surface <NUM> of the adapter <NUM> in the negative direction of the Z-axis. The second attachment engagement portion <NUM> abuts the surgical tool <NUM> arranged on the attachment surface <NUM>, to thereby restrict movement of the surgical tool <NUM> in the negative direction of the Z-axis.

The second attachment engagement portion <NUM> comprises a surface to face the surgical tool <NUM> and the surface comprises a second engagement groove <NUM>. The second engagement groove <NUM> is a groove opening in the positive direction of the Z-axis and extending along the X-axis. The second engagement groove <NUM> engages with a later-described second surgical tool engagement portion <NUM> of the surgical tool <NUM>, to thereby restrict movement of the surgical tool <NUM> in the directions along the Y-axis.

The surgical tool <NUM> is used when an operator performs treatment of a patient using the medical robot <NUM>. As shown in <FIG> and <FIG>, the surgical tool <NUM> comprises a main body <NUM>, a shaft <NUM> extending in a rod shape from the main body <NUM>, and a forceps <NUM> arranged at an end of the shaft <NUM> opposite to the main body <NUM>. The forceps <NUM> corresponds to one example configuration of a treatment portion.

The main body <NUM> is a portion of the surgical tool <NUM> configured to be attached to and detached from the driver <NUM> and also configured to support the shaft <NUM>. The main body <NUM> comprises the driven side holes <NUM>, the driven portions <NUM>, the first surgical tool engagement portion <NUM>, the second surgical tool engagement portions <NUM>, and an operation portion <NUM>. The first surgical tool engagement portion <NUM> and the second surgical tool engagement portion <NUM> each correspond to one example configuration of a surgical tool engagement portion.

The driven side hole <NUM> is an elongated hole formed in a surface of the main body <NUM> to face the attachment surface <NUM> of the driver <NUM> and extending in the Z-axis direction. The driven side hole <NUM> is provided in a position to face the transmission side hole <NUM>. The driven portion <NUM> to be described later is arranged in the driven side hole <NUM> so as to be relatively linearly movable with respect to the main body <NUM> in the Z-axis direction. In the present embodiment, the three driven side holes <NUM> are arranged apart from one another in the X-axis direction.

A driving force to move, for example, the forceps <NUM> is transmitted from the driver <NUM> to the driven portion <NUM>. The driven portion <NUM> is arranged to be linearly movable in the Z-axis direction within the driven side hole <NUM> according to the driving force transmitted from a surgical robot.

The driven portion <NUM> comprises a projection <NUM>. The projection <NUM> has a columnar shape projecting from the driven portion <NUM> in the negative direction of the Y-axis, and projects further than the main body <NUM> in the negative direction of the Y-axis when the driven portion <NUM> is arranged in the driven side hole <NUM>. The projection <NUM> engages with the recessed portion <NUM> provided to the transmitter <NUM> in the adapter <NUM>, to thereby transmit a driving force for linear movement in the Z-axis direction.

As shown in <FIG>, the first surgical tool engagement portion <NUM> is a protrusion provided at an end of the main body <NUM> in the positive direction of the Z-axis. The first surgical tool engagement portion <NUM> engages with the first engagement groove <NUM> of the first attachment engagement portion <NUM>, to thereby restrict movement of the surgical tool <NUM> in the directions along the Y-axis.

As shown in <FIG> and <FIG>, the second surgical tool engagement portions <NUM> are two protrusions provided at an end of the main body <NUM> in the negative direction of the Z-axis. The second surgical tool engagement portions <NUM> engage with the second engagement groove <NUM> of the second attachment engagement portion <NUM>, to thereby restrict movement of the surgical tool <NUM> in the directions along the Y-axis.

The operation portion <NUM> is a portion to be used when causing the second surgical tool engagement portions <NUM> to be housed in the main body <NUM> and to protrude from the main body <NUM>. The operation portion <NUM> is provided on a surface of the main body <NUM> on a positive direction side of the Y-axis and in an area on a negative direction side of the Z-axis.

The operation portion <NUM> is arranged to be relatively movable along the Z-axis with respect to the main body <NUM>. For example, when the operation portion <NUM> is relatively moved in the positive direction of the Z-axis with respect to the main body <NUM>, the second surgical tool engagement portions <NUM> are housed in the main body <NUM>. Conversely, when the operation portion <NUM> is moved in the negative direction of the Z-axis with respect to the main body <NUM>, the second surgical tool engagement portions <NUM> protrude from the main body <NUM>.

As shown in <FIG> and <FIG>, the shaft <NUM> is a tubular shaped member arranged to extend from the main body <NUM> in the Z-axis direction. The forceps <NUM> is arranged at the end of the shaft <NUM> in the positive direction of the Z-axis. Also, a joint <NUM> is provided to the shaft <NUM> in a vicinity of the forceps <NUM>.

The joint <NUM> is configured to allow changes in orientation of the forceps <NUM> and configured to be rotatable about the X-axis direction as a rotation axis and about the Y-axis direction as a rotation axis. The joint <NUM> is configured, for example, so as to be rotated by the driving force transmitted by the power transmitter <NUM>. It is to be noted that there is no particular limitation to the configuration of the joint <NUM>.

The forceps <NUM> is arranged at the end of the shaft <NUM> in the positive direction of the Z-axis, and is configured to be opened and closed by a driving force transmitted from the driven portion <NUM> through a wire or the like. There is no particular limitation to the configuration to open and close the forceps <NUM>.

Next, a description will be given of attachment and detachment of the surgical tool <NUM> in the medical robot <NUM> configured as above with reference to <FIG>, <FIG>, <FIG>, and <FIG>. A case of attaching the surgical tool <NUM> to the adapter <NUM> will be first described, and then a case of detaching the surgical tool <NUM> from the adapter <NUM> will be described.

When attaching the surgical tool <NUM> to the adapter <NUM>, the controller <NUM> performs control to drive the actuators <NUM> such that the transmitters <NUM> are arranged at specified positions, as shown in <FIG>. Once the transmitters <NUM> are arranged at specified positions, the recessed portions <NUM> of the transmitters <NUM> and the guide groove <NUM> form a groove extending in the direction along the X-axis.

The specified positions here mean positions where the recessed portions <NUM> of the transmitters <NUM> are arranged at positions at which the guide groove <NUM> and the transmission side holes <NUM> intersect. In other words, the driven portions <NUM> engage with the transmitters <NUM> at the specified position in response to attachment of the surgical tool <NUM> and the adapter <NUM>. Specifically, arrangement positions of the transmitters <NUM> shown in <FIG> are specified positions.

Thereafter, as shown in <FIG>, the surgical tool <NUM> is moved in the direction along the X-axis to be closer to the adapter <NUM>, and attachment is performed. <FIG> shows an example of attachment by moving the surgical tool <NUM> from the positive side to the negative side of the X-axis. Attachment may be performed by moving the surgical tool <NUM> closer to the adapter <NUM> from the negative side to the positive side of the X-axis.

During attachment, the first surgical tool engagement portion <NUM> of the surgical tool <NUM> moves in the direction along the X-axis into engagement with the first engagement groove <NUM> of the adapter <NUM>. Also, the second surgical tool engagement portions <NUM> move in the direction along the X-axis into engagement with the second engagement groove <NUM> of the adapter <NUM>.

Further, as shown in <FIG>, the driven portions <NUM> of the surgical tool <NUM> are guided by the guide groove <NUM> and the introducer <NUM> to positions allowing transmission of a driving force with the transmitter <NUM>. A description will be given of an example case where the driven portions <NUM> are arranged apart from the guide groove <NUM> on the positive direction side or the negative direction side of the Z-axis.

When the surgical tool <NUM> approaches the adapter <NUM> along the X-axis, the projections <NUM> of the driven portions <NUM> each abuts an oblique surface of the introducer <NUM>. When the surgical tool <NUM> is further moved, the projections <NUM> move toward the guide groove <NUM> along the oblique surface of the introducer <NUM>, and enter the groove formed by the guide groove <NUM> and the recessed portions <NUM>.

When the surgical tool <NUM> moves to a previously specified position relative to the adapter <NUM>, the projections <NUM> are arranged in the recessed portions <NUM>. In other words, the projections <NUM> are arranged in positions indicated by dotted lines in <FIG>. As a result, the transmitters <NUM> and the driven portions <NUM> are engaged to allow transmission of driving forces, and attachment between the surgical tool <NUM> and the adapter <NUM> is completed.

In the case of detaching the surgical tool <NUM> from the adapter <NUM>, an operation is first performed of sliding the operation portion <NUM> of the surgical tool <NUM> in the positive direction of the Z-axis, as shown in <FIG>. By this operation, the second surgical tool engagement portions <NUM> are housed in the main body <NUM>. As a result of this operation, engagement between the second surgical tool engagement portions <NUM> and the second engagement groove <NUM> is released, as shown in <FIG>.

Then, as shown in <FIG>, an end of the surgical tool <NUM> on the negative direction side of the Z-axis is raised in a direction of departing from the adapter <NUM>, specifically in the positive direction of the Y-axis. Subsequently, the surgical tool <NUM> as a whole is raised in the positive direction of the Y-axis, and the first surgical tool engagement portion <NUM> is pulled out from the first engagement groove <NUM>. As a result, detachment of the surgical tool <NUM> from the adapter <NUM> is completed.

According to the medical robot <NUM> and the adapter <NUM> configured as described above, the surgical tool <NUM> can be attached to the adapter <NUM> by relative movement between the surgical tool <NUM> and the adapter <NUM> in a direction along the attachment surface <NUM> and intersecting a linear motion direction of the driven portions <NUM> and the transmitters <NUM>. Also, the driven portions <NUM> are guided to the specified positions in the transmission side holes <NUM> when attaching the surgical tool <NUM> to the adapter <NUM>.

In comparison with, for example, the configuration disclosed in Patent Document <NUM>, the transmitter <NUM> and the driven portion <NUM> can be engaged with each other by a simple configuration since it is unnecessary to use a biasing mechanism. Also, there is less need to provide a gap between the transmitter <NUM> and the driven portion <NUM>, thus facilitating secure engagement therebetween.

Further, since the gap can be reduced, increase in operability of the medical robot <NUM> is facilitated. Moreover, reduction of the gap facilitates transmission of an external force, which is a force applied to the forceps <NUM> of the surgical tool <NUM>, to the medical robot <NUM>, and facilitates increase in accuracy when estimating the external force. For example, it is possible to facilitate increase in safety of surgeries using the medical robot <NUM>, and to facilitate reducing occurrence of complications. In other words, it is possible to facilitate improved QOL of patients, and to facilitate reducing burden on doctors who operate the medical robot <NUM>. "QOL", referred to herein, is an abbreviation of "Quality of Life". Moreover, it is possible to facilitate achievement of an improved learning curve in surgeries using the medical robot <NUM>.

In addition, it is possible to determine whether arrangement relationships of the transmitters <NUM> and the driven portions <NUM> are each a desired arrangement relationship based on a relative position of the surgical tool <NUM> and the adapter <NUM>. Examples of the desired arrangement relationship may include an arrangement relationship that allows transmission of a driving force. In other words, there is less need to use a detection device, such as a sensor and a switch, than in the configuration disclosed in Patent Document <NUM>. Accordingly, it is possible to reduce complication of the configuration caused by providing the detection device, and to facilitate downsizing of the medical robot <NUM>.

By providing the introducer <NUM> to the guide groove <NUM>, the projection <NUM> of the driven portion <NUM> is guided by the introducer <NUM> and thus is facilitated to enter the guide groove <NUM> when attaching the surgical tool <NUM> to the adapter <NUM>. Also, in a case where the introducer <NUM> is provided at each of both ends of the guide groove <NUM>, as compared with a case of being provided at one end, there is an increased degree of freedom in terms of an approaching direction of the surgical tool <NUM> to the adapter <NUM>, and thus attachment of the surgical tool <NUM> is facilitated.

By providing the actuators <NUM>, the transmitters <NUM> can be easily arranged at the specified positions when attaching the surgical tool <NUM> to the adapter <NUM>. As compared with a case without the actuators <NUM>, workload can be reduced when attaching the surgical tool <NUM> to the adapter <NUM>, and thus attachment is facilitated.

By providing the transmission side holes <NUM> and the transmitters <NUM> side by side along a relative movement direction of the surgical tool <NUM> and the adapter <NUM>, and providing the driven side holes <NUM> and the driven portions <NUM> so as to correspond to at least a part of the transmission side holes <NUM> and the transmitters <NUM>, it is possible to transmit different driving forces to the forceps <NUM> using a plurality of combinations of the transmitters <NUM> and the driven portions <NUM>. Accordingly, it is possible to control a plurality of actions of the forceps <NUM>.

By providing the recessed portion <NUM> to the transmitter <NUM>, it is possible to engage the projection <NUM> of the driven portion <NUM> with the recessed portion <NUM> of the transmitter <NUM> when the surgical tool <NUM> is attached to the adapter <NUM>. Also, it is possible to transmit a driving force from the transmitter <NUM> to the driven portion <NUM> based on the engagement of the projection <NUM> with the recessed portion <NUM>.

It is to be noted that the technical scope of the present disclosure is not limited to the aforementioned embodiment, and various modifications may be made without departing from the subject matter of the present disclosure. For example, although the aforementioned embodiment is described employing a configuration where the surgical tool <NUM> may be attached from the positive direction side of the X-axis or may be attached from the negative direction side of the X-axis, it may be possible to employ a configuration where the surgical tool <NUM> is attachable only from the positive direction side of the X-axis, or only from the negative direction side of the X-axis.

Also, although the transmitter <NUM> is moved to the specified position using the actuator <NUM> in the present embodiment, a biasing member, such as a spring, may be used in place of the actuator <NUM> when moving the transmitter <NUM> to the specified position.

Claim 1:
An attachment portion (<NUM>) of a medical robot (<NUM>), to which a surgical tool (<NUM>) is attached, the surgical tool (<NUM>) at least comprising a main body (<NUM>) that comprises a driven portion (<NUM>) configured to transmit a driving force to a treatment portion for performing a medical treatment; and a driven side hole (<NUM>) in which the driven portion (<NUM>) is housed and the driven portion (<NUM>) is arranged so as to be relatively linearly movable,
the attachment portion (<NUM>) at least comprising:
an attachment surface (<NUM>) configured to face a surface of the main body (<NUM>) in which the driven side hole (<NUM>) is provided;
a transmission side hole (<NUM>) in which a transmitter (<NUM>) to transmit a driving force in a linear motion direction to the driven portion (<NUM>) is arranged;
an attachment engagement portion (<NUM>, <NUM>) configured to attach the surgical tool (<NUM>) to the attachment portion (<NUM>) by relative movement of the surgical tool (<NUM>) and the attachment portion (<NUM>) in a direction along the attachment surface (<NUM>) and intersecting the linear motion direction; characterized by
a guide groove (<NUM>) provided in the attachment surface (<NUM>) and extending in a direction in which the surgical tool (<NUM>) relatively moves with respect to the attachment portion (<NUM>), and configured to engage with a projection (<NUM>) projecting from the driven portion (<NUM>) when attaching the surgical tool (<NUM>) to the attachment portion (<NUM>), thereby guiding the driven portion (<NUM>) to a specified position of the transmission side hole (<NUM>); and
an introducer (<NUM>) provided at least at one end of the guide groove (<NUM>) along a relative movement direction of the surgical tool (<NUM>) and the attachment portion (<NUM>), the introducer (<NUM>) being recessed from the attachment surface (<NUM>) and continuous to the guide groove (<NUM>), the introducer (<NUM>) having a greater groove width in a direction away from the transmission side hole (<NUM>).