Surgical tool, medical treatment instrument, and surgical system
AssigneeMedicaroid Corporation
InventorsTetsushi ITO, Kazutoshi KAN
Life of this patent
Estimating the term…
Abstract
A surgical tool according to one or more embodiments may include: an end effector; a shaft that includes a proximal end portion and a distal end portion which is coupled to the end effector; driving pulleys that are provided on the proximal end portion side of the shaft and rotatable to drive the end effector; and rotatable transmission-counterpart members that rotate the driving pulleys. The transmission-counterpart members include a first transmission-counterpart member and a second transmission-counterpart member. A rotation axis of the first transmission-counterpart member and a rotation axis of the second transmission-counterpart member intersect with each other.
Claims20
A surgical tool operable with at least 3 degrees of freedom, comprising:
- an end effector;
- a shaft that includes a proximal end portion and a distal end portion which is coupled to the end effector;
- driving pulleys that are provided on the proximal end portion side of the shaft and rotatable to drive the end effector;
- and
- rotatable transmission-counterpart members that rotate the driving pulleys, wherein
- the transmission-counterpart members include a first transmission-counterpart member and a second transmission-counterpart member, and
- a rotation axis of the first transmission-counterpart member and a rotation axis of the second transmission-counterpart member intersect with each other.
A medical treatment instrument comprising:
- surgical tools each including an end effector and a flexible shaft;
- driving devices to which the surgical tools are attached respectively;
- and
- an outer tube that holds the shafts of the surgical tools, wherein each of the surgical tools includes
- driving pulleys that are provided on a proximal end portion side of the shaft and rotatable to drive the end effector, and
- rotatable transmission-counterpart members that rotate the driving pulleys,
- the transmission-counterpart members including a first transmission-counterpart member and a second transmission-counterpart member,
- a rotation axis of the first transmission-counterpart member and a rotation axis of the second transmission-counterpart member intersecting with each other.
A surgical system comprising:
- surgical tools each including an end effector and a flexible shaft;
- driving devices to which the surgical tools are attached respectively;
- an outer tube that holds the shafts of the surgical tools;
- and
- a supporting device including holding portions that hold the respective driving devices and a grasping portion that grasps the outer tube, wherein
- each of the surgical tools includes
- driving pulleys that are provided on a proximal end portion side of the shaft and rotatable to drive the end effector, and
- rotatable transmission-counterpart members that rotate the driving pulleys,
- the transmission-counterpart members including a first transmission-counterpart member and a second transmission-counterpart member,
- a rotation axis of the first transmission-counterpart member and a rotation axis of the second transmission-counterpart member intersecting with each other.
Dependencies are inferred from the claim text.