Surgical instrument, robotic surgical system, and method of detaching surgical instrument attached to robot arm of robotic surgical system through adaptor

A robotic surgical system, comprising:

• a robot arm;
• an adaptor that is attached to the robot arm;
• and
• a surgical instrument that is attached to the adaptor, wherein
• the adaptor includes
• a first surface that is attached to the robot arm, a second surface to which the surgical instrument is mounted, and a first guide rail and a second guide rail that are provided on the second surface,
• the surgical instrument includes
• a base body that includes an attachment surface attached to the second surface of the adaptor,
• a surgical tool,
• an elongated shaft in which one end is connected to the base body and the other end is connected to the surgical tool,
• driven members that are rotatably provided on the base body and connected with end portions of elongated elements operating the surgical tool;
• a housing that is provided to cover the driven members;
• and
• a first movable member and a second movable member that are provided movably with respect to the housing and the base body,
• the attachment surface of the base body includes a first guide groove and a second guide groove that slidably receive the first guide rail and the second guide rail provided on the adaptor respectively, and
• the first and second guide grooves are defined by the base body and the first and second movable members such that groove widths of the first and second guide grooves are variable by moving the first and second movable members with respect to the base body.