A surgical instrument may include: a wrist joint connected to a shaft and including first and second joints; an end effector connected to the wrist joint; an elongate element connected to the end effector; at least four drive shafts; and a lever configured to move the elongate element. The at least four drive shafts comprise a first drive shaft configured to roll the shaft, second and third drive shafts configured to pitch the first joint and yaw the second joint, and a fourth drive shaft configured to move the elongate element, and the lever includes an arm, an engagement portion provided to one side of the arm and engaged with the elongate element, and a shaft portion that is provided to the other side of the arm and is rotatably arranged on the base so as to move the engagement portion by a driving force from the fourth drive shaft.
A surgical instrument according to an embodiment may include: an end effector including first and second jaw members movable between an open position and a closed position; a wrist joint portion connected to a proximal end of the end effector; and a shaft connected to a proximal end of the wrist joint portion. At least one of the first and second jaw members is rotatably provided about a rotation axis. A diameter D1 of the end effector at a portion where the rotation axis is provided is smaller than a diameter D2 of a central portion in a longitudinal direction of the wrist joint portion and a diameter D3 of a central portion in the longitudinal direction of the shaft.
A61B 18/00 - Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body
A61B 18/08 - Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body by heating by means of electrically-heated probes
A61B 34/00 - Computer-aided surgeryManipulators or robots specially adapted for use in surgery
3.
ROBOTIC SURGICAL SYSTEM, OPERATION APPARATUS AND ROBOTIC-SURGICAL-SYSTEM CONTROL METHOD
A robotic surgical system according to this disclosure includes a controller configured to control a driver(s) to apply a force in a direction opposite to a direction of operation of an operation unit in a three-axis Cartesian coordinate system having three axes orthogonal to each other.
37 - Construction and mining; installation and repair services
Goods & Services
Surgical robots; Endoscopic surgical robots; Laparoscopic surgery robots; Thoracoscopic surgical robots; Operation tables; Parts and fittings for the aforesaid goods Installation, maintenance and repair of medical or veterinary apparatus and instruments; Remote maintenance and repair of medical or veterinary apparatus and instruments; Providing information relating to installation, maintenance and repair of medical or veterinary apparatus and instruments; Installation, maintenance and repair of surgical robots, and parts and accessories therefor; Remote maintenance and repair of surgical robots, and parts and accessories therefor; Providing information relating to installation, maintenance and repair of surgical robots, and parts and accessories therefor
5.
SURGICAL INSTRUMENT ADAPTOR AND SURGICAL ASSISTANCE ROBOT
In this surgical instrument adaptor (300), a first driven part (320) includes: a lever part (321) made to rotate by a first driving force; and a roller part (322) that is connected to the lever part (321) and is in contact with an operation handle (402), and that moves while rotating along the surface (402a) of the operation handle (402).
One or more embodiments of the disclosure may be a surgical system that may include: a surgical robot; an operating device configured to be operated by a doctor to operate the surgical robot; and a controller. The operating device includes a component for which a setting is adjustable, and an information reader configured to acquire user information from a storage medium that stores the user information including user identification information and setting information of the component. The controller is configured control the component to adjust the setting of the component based on the setting information acquired from the storage medium by the information reader.
An embodiment of the disclosure may be a mentor-side operating device placed in a second facility different from a first facility in which a surgical system is placed, the surgical system of the first facility including first and second manipulator arms holding first and second surgical instruments; a third manipulator arm holding an endoscope; and a doctor-side operating device that includes a first display to display an endoscopic image acquired by the endoscope. The mentor-side operating device is configured to operate, via an external network from the second facility, the first to third manipulator arms of the surgical system in the first facility. The mentor-side operating device includes a second display configured to display the endoscopic image transmitted through the external network with the endoscopic image being superimposed with a graphical user interface including information about a state of communication between the mentor-side operating device and the surgical system.
A61B 1/00 - Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopesIlluminating arrangements therefor
A61B 34/00 - Computer-aided surgeryManipulators or robots specially adapted for use in surgery
G06F 3/0488 - Interaction techniques based on graphical user interfaces [GUI] using specific features provided by the input device, e.g. functions controlled by the rotation of a mouse with dual sensing arrangements, or of the nature of the input device, e.g. tap gestures based on pressure sensed by a digitiser using a touch-screen or digitiser, e.g. input of commands through traced gestures
A remote surgery support system according to one or more embodiments may include: a doctor-side operating device in a first facility to operate manipulator arms in the first facility; a mentor-side operating device in a second facility to operate the manipulator arms via an external network; and one or more controllers. The doctor-side operating device includes a first display to display an endoscopic image and a first voice communication device. The mentor-side operating device includes: a second display to display the endoscopic image; a second voice communication device; a touch panel display to display the endoscopic image and receive an instruction input for generating an annotation image; and a third voice communication device. The one or more controllers is configured to display on the first display the annotation image based on the instruction input received by the touch panel display with the annotation image superimposed with the endoscopic image.
A61B 1/00 - Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopesIlluminating arrangements therefor
A61B 34/00 - Computer-aided surgeryManipulators or robots specially adapted for use in surgery
G06T 11/60 - Editing figures and textCombining figures or text
A surgical instrument according to one or more embodiments may include: a base to be attached to a robot arm; a shaft including one end connected to the base; and a pair of jaw members provided to the other end of the shaft and provided to be rotatable about a first rotation axis so as to be opened and closed to each other, wherein opposing surfaces of the pair of jaw members include groove-shaped recesses, respectively, to hold a clip, and the recess of each of the jaw members includes a first section provided on a side of a distal end of the jaw member and having a first depth and a second section provided on a side of a first rotation axis of the jaw member with respect to the first section and having a second depth greater than the first depth.
A61B 17/10 - Surgical instruments, devices or methods for closing wounds or holding wounds closedAccessories for use therewith for applying or removing wound clampsWound clamp magazines
In this surgery support system (100), an operating device (2) includes a display unit (24) that rotates so as to incline relative to a horizontal plane, and a tilt detection sensor (29a) that detects tilting of the display unit (24) relative to the horizontal plane. A control device (130) corrects translational movement of a prescribed surgical instrument (4) on the basis of the tilt detected by the tilt detection sensor (29a).
In this surgical system (100), a control device (8b, 31) acquires the position of a tip of a surgical instrument (4), also acquires a second imaging region (A2) that reflects dislocation associated with the position of the tip of the surgical instrument (4) with respect to a first imaging region (A1) corresponding to the angle of view of an endoscope (6) and the diameter of a shaft of the surgical instrument, and determines as to whether or not the position of the tip of the surgical instrument (4) is positioned in the second imaging region (A2).
A surgical system according to an embodiment may include: manipulators supporting an endoscope and surgical instruments, respectively; a remote control apparatus including: a first display device including a first display to display an endoscope image captured by the endoscope; and two operation handles to operate two of the surgical instruments; a controller configured to display, on the first display, a graphical user interface superimposed on the endoscope image; and an input device provided to at least one of the manipulators to receive a predetermined input from a user, wherein the controller is configured to display, in response to the predetermined input through the input device when a distal end of at least one of the surgical instruments is located outside a field of view of the endoscope, a mark indicating the surgical instrument outside the field of view of the endoscope in the graphical user interface.
A61B 34/00 - Computer-aided surgeryManipulators or robots specially adapted for use in surgery
A61B 1/00 - Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopesIlluminating arrangements therefor
In this surgery support system (100), a variable control parameter (h) can be changed within a predetermined range by operation of an operation unit (33b), and a control device (130) performs control to shift a robot body (1) from a current posture to a first posture after adjustment of the variable control parameter (h) according to the operation of the operation unit (33b).
A remote control apparatus to remotely control a patient-side system including medical equipment and an endoscope to capture an image of a surgery site according to an embodiment includes: an operation handle with which an operator controls the medical equipment; and an operation pedal section. The operation pedal section includes: plural pedals configured to be pressed down to execute functions concerning the medial equipment; and a base on which the plural pedals are arranged, the plural pedals being arranged at locations not overlapping each other in a planar view. The plural pedals include first height pedals with upper ends thereof located at a first height position and second height pedals with upper ends thereof located at a second height position, which is different from the first height position. The first height pedals are arranged alternately with the second height pedals.
A61B 1/313 - Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopesIlluminating arrangements therefor for introducing through surgical openings, e.g. laparoscopes
A61B 1/00 - Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopesIlluminating arrangements therefor
This operation pedal device (22) is used for a remote control device (2) of a surgical system (100), the operation pedal device (22) comprising: a pedal tray (221); and pedals (22aR, 22aL, 22bR, 22bL) disposed on the pedal tray (221), the pedals (22aR, 22aL, 22bR, 22bL) being formed to a substantial L-shape in plan view or front view.
In the surgery assistance system (100), a surgical instrument operation unit (120) comprises a first circuit board (140) into which signals received by the surgical instrument operation unit (120) are input, and a first wiring (141) connects the control unit (110) to the first circuit board (140) by means of serial communication.
37 - Construction and mining; installation and repair services
42 - Scientific, technological and industrial services, research and design
44 - Medical, veterinary, hygienic and cosmetic services; agriculture, horticulture and forestry services
Goods & Services
Computerized database management; compilation of information
into computer databases; updating and maintenance of data in
computer databases; database management in the field of
surgery; compilation of information into computer databases
in the field of surgery; updating and maintenance of data in
computer databases in the field of surgery; management and
compilation of computer databases for sharing medical
information; collecting technical information about
operation status of medical apparatus and instruments via
computer networks; computerized information processing for
analysis or evaluation of information about medical workers'
work and motion in operating room for surgery collected by a
computer network; computerized information processing for
analysis or evaluation of information about medical workers'
work and motion collected by a computer network;
computerized information processing for analysis or
evaluation of motion information of medical equipment and
medical workers and installation information of surgical
robots, through digital twin. Installation, maintenance and repair of medical or
veterinary apparatus and instruments; remotely operated
maintenance and repair of medical or veterinary apparatus
and instruments; providing information relating to
installation, maintenance and repair of medical or
veterinary apparatus and instruments; installation,
maintenance and repair of medical or veterinary robots, and
parts and accessories therefor; remotely operated
maintenance and repair of medical or veterinary robots, and
parts and accessories therefor; providing information
relating to installation, maintenance and repair of medical
or veterinary robots, and parts and accessories therefor;
installation, maintenance and repair of computers and
computer peripheral devices; remotely operated maintenance
and repair of computers and computer peripheral devices;
providing information relating to installation, maintenance
and repair of computers and computer peripheral devices;
maintenance and repair by remote monitoring of operation
and/or operating conditions of medical or veterinary
apparatus and instruments; maintenance and repair by remote
monitoring of operation and/or operating conditions of
medical or veterinary robots, and parts and accessories
therefor; maintenance and repair by remote monitoring of
operation and/or operating conditions of computers and
computer peripheral devices; remote monitoring of the
operating status of medical apparatus and instruments by
digital twin; maintenance and repair of medical or
veterinary apparatus and instruments by digital twin. Maintenance of computer software and computer program;
remotely operated maintenance of computer software and
computer program; providing information relating to
maintenance of computer software and computer program;
monitoring of computer systems by remote access; remote
monitoring to grasp and collect the operation status and
operating data of medical apparatus and instruments via
computer networks for facilitating realtime support and
troubleshooting of software and hardware problems therefor;
remote monitoring to grasp and collect the operation status
and operating data of medical apparatus and instruments by
computer systems for troubleshooting or technical support
services for computer software and hardware problems;
troubleshooting of computer software problems relating to
medical apparatus and instruments; remote monitoring to
grasp and collect the operation status and operating data of
surgical apparatus and instruments via computer networks for
facilitating realtime support and troubleshooting of
software and hardware problems therefor; remote monitoring
to grasp and collect the operation status and operating data
of surgical apparatus and instruments by computer systems
for troubleshooting or technical support services for
computer software and hardware problems; troubleshooting of
computer software problems relating to surgical apparatus
and instruments; analysis of technical data on operation
status of medical apparatus and instruments via computer
networks; providing information about scientific technology
by means of communication using computer terminals,
including those provided through the internet; providing
information about scientific technology via network
communication; research and development of medical and
surgical apparatus and instruments; analysis, research or
evaluation of surgical robots and provision of information
thereof by digital twin. Rental of medical or veterinary apparatus and instruments,
and parts and accessories therefor; medical testing, medical
diagnosis, surgery, and medical treatment by remote
monitoring or remote operating with medical or veterinary
apparatus and instruments; medical testing, medical
diagnosis, surgery, and medical treatment by remote
monitoring or remote operating with medical or veterinary
robots, and parts and accessories therefor; telemedicine
services; medical assistance services; surgical assistance
services; surgical support services; providing medical or
therapeutic information, and advisory and consultancy
services relating to these services; medical diagnostic
testing or clinical laboratory testing; technical advice
relating to operation of medical equipment by replicating
data of surgeon's operation technique of medical equipment
during surgery, through digital twin.
19.
SURGERY ASSISTANCE SYSTEM, SURGERY ASSISTANCE ROBOT, AND CONTROL METHOD FOR SURGERY ASSISTANCE SYSTEM
A surgery assistance system (100) has a control device (130) that detects the position and orientation of a trocar (T) on the basis of detection results from detection units (51, 52) and moves a surgical instrument attachment unit (73) toward the trocar (T) on the basis of the detected position and orientation of the trocar (T).
This surgery assisting system (100) comprises: a board (140) which is disposed on a robot arm (60) or an arm manipulation unit (80) and to which a signal received by the arm manipulation unit (80) is inputted; and a control unit (31a). The control unit (31a) and the board (140) are connected to each other by first wiring (141) for serial communication.
In this surgical support system (100), if a pivot position setting unit (85) has been manipulated after a surgical tool (4) has been moved by a manipulating unit (80) in a pivot position changing mode, a control device (140) stores the position after the surgical tool (4) has been moved as a second pivot position (PP2) in a storage unit (35).
A surgical robot includes: a plurality of manipulator arms; a platform to which the plurality of manipulator arms are coupled; a positioner configured to change the position and posture of the platform; a controller configured to control the positioner; and a user interface. The user interface includes: first manipulation tools each configured to receive an input of manipulation which selects one of a plurality of operating modes for changing the position and posture of the platform; and a single second manipulation tool configured to receive an input of manipulation information regarding the position and posture. The controller generates a command regarding the position and posture of the platform based on the acquired manipulation information and the selected operating mode and operates the positioner based on the generated command.
G06F 3/04847 - Interaction techniques to control parameter settings, e.g. interaction with sliders or dials
B25J 9/10 - Programme-controlled manipulators characterised by positioning means for manipulator elements
G06F 3/0488 - Interaction techniques based on graphical user interfaces [GUI] using specific features provided by the input device, e.g. functions controlled by the rotation of a mouse with dual sensing arrangements, or of the nature of the input device, e.g. tap gestures based on pressure sensed by a digitiser using a touch-screen or digitiser, e.g. input of commands through traced gestures
B25J 13/08 - Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
G06F 3/0482 - Interaction with lists of selectable items, e.g. menus
23.
Medical manipulator and method of controlling the same
A surgery system that includes a multiple-degree freedom slave arm, which is able to be mounted with a surgical instrument and includes a plurality of joints and a plurality of motors corresponding the respective joints of the plurality of joints; a first input device configured to operate the multiple-degree freedom slave arm; a second input device configured to operate the multiple-degree freedom slave arm and different from the first input device; and a controller configured to control the multiple-degree freedom slave arm so that the multiple-degree freedom slave arm is operated by one of the first input device and the second input device.
Medical apparatus and instruments; veterinary apparatus and
instruments; surgical apparatus and instruments; surgical
robots, machines and instruments and their parts and
fittings; internal medicine assistive robots, machines and
instruments and their parts and fittings; laparoscopic
surgical robots, machines and instruments and their parts
and fittings.
09 - Scientific and electric apparatus and instruments
10 - Medical apparatus and instruments
Goods & Services
Robotic surgery training simulators; training simulators;
software for use in robotic surgery training simulators. Medical apparatus and instruments; veterinary apparatus and
instruments; surgical apparatus and instruments; surgical
robots, machines and instruments therefor; internal medicine
assistive robots, and machines and instruments therefor;
laparoscopic surgical robots, and machines and instruments
therefor.
26.
OPERATOR-SIDE DEVICE AND SURGERY ASSISTANCE SYSTEM
An operator-side device (2) comprises a first lever member (21bb) that is attached in a pivotable manner with respect to a support member (21ba), and a first switch (21bf) that is attached to the first lever member (21bb) and that performs a predetermined function.
A surgical system according to one or more embodiments may include: manipulators respectively supporting an endoscope and first and second surgical instruments; a remote control apparatus including a display device, a first operation handle for right hand to operate the first surgical instrument, and a second operation handle for left hand to operate the second surgical instrument; and a control apparatus. The control apparatus may display, on the display device, a graphical user interface, overlapped with the image captured by the endoscope, the graphical user interface including a first area that displays information on the first surgical instrument to be operated by the first operation handle, a second area that displays information on the second surgical instrument to be operated by the second operation handle, and a third area that displays information on the endoscope, which are arranged side by side in order from right to left.
A61B 18/12 - Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body by heating by passing a current through the tissue to be heated, e.g. high-frequency current
A61B 34/00 - Computer-aided surgeryManipulators or robots specially adapted for use in surgery
A61B 1/05 - Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopesIlluminating arrangements therefor combined with photographic or television appliances characterised by the image sensor, e.g. camera, being in the distal end portion
A61B 90/00 - Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups , e.g. for luxation treatment or for protecting wound edges
A61B 1/00 - Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopesIlluminating arrangements therefor
28.
SURGERY ASSISTANCE SYSTEM AND OPERATOR-SIDE DEVICE
This operator-side device (2) comprises an operation manipulator (21) that includes an operation part (21b) for receiving an operation on a medical instrument (4) and that causes a robot arm (60) to operate. The operation part (21b) includes a customization switch (321bh), the function executed by the customization switch being customized by the operator setting a function.
A training device according to an embodiment may be used for training for surgery using a surgical system that includes: a patient side apparatus including first and second robot arms; and a doctor side control apparatus including first and second input devices configured to operate the first and second robot arms respectively and a display. The training device may include: a training control unit configured to display, on the display, a first virtual surgical instrument that moves in response to operation on the first input device, and a second virtual surgical instrument that moves in response to operation on the second input device; and a storage storing therein a surgical video. The training control unit is configured to display on the display the surgical video stored in the storage with overlaying the first virtual surgical instrument and the second virtual surgical instrument on the surgical video.
A sterile drape for covering a robot arm of a surgical robot according to an embodiment may include: a bag-shaped drape body formed with an opening at an end portion on one side of the drape body; and a mount cover provided at the other side of the drape body and configured to cover a mount section of the robot arm to which a surgical instrument is to be mounted via an adaptor. The mount cover includes one or more through holes. A protective film that is configured to be peelable from the mount cover is attached to the mount cover so as to cover the one or more through holes.
A surgical instrument adaptor according to one or more embodiments for connecting a manual surgical instrument to a robot arm to operate the manual surgical instrument may include: an interface portion including a rotation member to be driven to rotate by a driving force transmitted from a driving part provided at the robot arm; a driven part including a pressing portion configured to press an operation portion of the manual surgical instrument; an elongate element comprising a wire or a cable connecting the rotation member and the driven part and configured to transmit the driving force from the rotation member to the driven part; and a guide tube that guides the elongate element.
A surgical system according to one or more embodiment may be configured such that, upon receiving a command to rotate first and second rotation members by predetermined rotation angles for closing first and second jaw members to each other, a controller is configured, when a path length of a first elongate element between the first jaw member and the first rotation member changes, to control a first actuator to rotate the first rotation member by a first rotation angle corrected according to change in the path length of the first elongate element, and when a path length of a second elongate element between the second jaw member and the second rotation member changes, to control a second actuator to rotate the second rotation member by a second rotation angle corrected according to change in the path length of the second elongate element.
In this surgery assistance system (100), when a second arm (60b) approaches the inside of the range (A) of an approach prohibition range with respect to a first arm (60c), a control unit performs arm interference avoidance control of moving the second arm (60b) relative to the first arm (60c) so that a reference line (L1) moves along the outer edge of the approach prohibition range.
This surgery assistance robot comprises: an arm that has a medical instrument attached thereto at the tip end side; a control unit that performs control to operate the arm to which the medical instrument is attached; and a teaching unit that is for teaching a teaching point in the space in which the arm operates. The control unit sets a virtual contact-prohibited space for the space surrounding a contact-prohibited object, on the basis of the teaching point taught by the teaching unit.
Endoscopic surgical robots, and machines and instruments
therefor; laparoscopic surgical robots, and machines and
instruments therefor; thoracoscopic surgical robots, and
machines and instruments therefor; computerized surgical
manipulation system comprised of surgeon's console, a
patient side-cart with manipulator slave arms and
vision-cart; computerized surgical manipulation system
comprised of surgeon's console, a patient side-cart with
manipulator slave arms, vision-cart, generator and operation
tables.
36.
SURGERY ASSISTANCE ROBOT, SURGERY ASSISTANCE SYSTEM, AND METHOD FOR CONTROLLING SURGERY ASSISTANCE ROBOT
This surgery assistance robot (1) comprises a control unit (31) that performs control to move a medical trolley (3) so as to align the position of an arm (60) with a position corresponding to a port (PT) or a trocar (T) placed through a body surface (S), on the basis of an image captured by an imaging unit (51).
A61B 90/00 - Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups , e.g. for luxation treatment or for protecting wound edges
A robotic surgical system according to one or more embodiments may include: an endoscope; a manipulator configured to support a surgical instrument; a remote control apparatus including a display device and an operation handle configured to operate the surgical instrument; and a control device configured to display, on the display device, a graphical user interface on an image captured by the endoscope. The graphical user interface includes: a first area that displays a first graphical display indicating a movable range of the manipulator and an operable range of the operation handle in the movable range of the manipulator; and a second area that displays a second graphical display indicating a required operation of the operation handle to return the operation handle to an inside of the operable range of the operation handle and/or to return the manipulator to an inside of the movable range of the manipulator.
A61B 1/00 - Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopesIlluminating arrangements therefor
An adaptor according one or more embodiments may include a base body and an arm engagement part including an engagement portion to be engaged with the robot arm at an engagement position and a contact portion with which a release tool comes in contact. The arm engagement part may be configured such that the contact portion comes in contact with the release tool when the release tool is inserted through the tool insertion hole, a part of the arm engagement part is moved into an escape space in the base body when the contact portion is moved in a direction orthogonal to an insertion direction of the release tool, and the engagement portion of the arm engagement part is moved, when the release tool is further inserted, from the engagement position to the disengagement position, which disengages the engagement portion of the arm engagement part from the robot arm.
A61B 90/00 - Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups , e.g. for luxation treatment or for protecting wound edges
A robotic surgical system includes a controller configured or programmed to change a length between a first axis and a second axis in a direction in which a shaft extends, the length serving as a control parameter, according to a rotation speed of the shaft with respect to an amount of operation to control operation of a surgical instrument.
A surgical instrument according to an embodiment may include a conductive distal support member, a conductive proximal support member, a sealing mechanism being in contact with the proximal support member and including at least a part thereof having conductivity, and an electric wire. The electric wire includes an end effector-side end portion thereof being connected to the sealing mechanism to supply electrical energy to the end effector through the sealing mechanism, the proximal support body, and the distal support body.
A61B 18/12 - Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body by heating by passing a current through the tissue to be heated, e.g. high-frequency current
A medical cart according to an embodiment may include: a base holding a positioner configured to move a multiple degree-of-freedom manipulator arm including a tip end portion holding a medical device; a base mount holding the base; a plurality of wheels including a pair of front wheels and a pair of rear wheels which move the base mount; and a plurality of stabilizers provided at the base mount and including respective ground contact portions which contact a ground surface when the stabilizers are extended by pneumatic pressure.
A sterile drape according to an embodiment may include: a flexible film member including a first opening and a second opening and configured to cover the robot arm received through the second opening; and a resin molded member configured to close the first opening of the flexible film member. The resin molded member includes: an upper surface portion having a shape and a size fitted to an attachment surface of an attachment portion of the robot arm; a side surface portion extending downward from the upper surface portion; and a projection which projects outward from a lower edge of the side surface portion and to which the flexible film member is welded.
A61B 46/13 - Surgical drapes specially adapted for instruments the drapes entering the patient's body
A61B 90/50 - Supports for surgical instruments, e.g. articulated arms
A61B 90/00 - Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups , e.g. for luxation treatment or for protecting wound edges
37 - Construction and mining; installation and repair services
42 - Scientific, technological and industrial services, research and design
44 - Medical, veterinary, hygienic and cosmetic services; agriculture, horticulture and forestry services
Goods & Services
Surgical robots; Computerized surgical manipulation system; Internal medicine support robots, namely, robots for internal medicines of cardiovascular system, digestive system, respiratory system, gynecologic system and urinary system; Laparoscopic operation robots; Robotic catheters; Robotic x-ray CT scanners; Rehabilitation robots; Galvanic or hyperthermic therapy robots; Manipulators for medical or veterinary robots; Knives and scalpels for medical purposes; Beds, specially made for medical purposes; Operation tables; Patient examination and/or treatment tables; Prescription tables for hospital use; and Replacement parts and fittings for the aforesaid goods. Database management in the field of surgery; Compilation of information into computer databases in the field of surgery; Updating and maintenance of data in computer databases in the field of surgery; and Management and compilation of computer databases for sharing medical information; Computerized data processing for analysis or evaluation of information about medical workers' work and motion in operating room for surgery collected by a computer network; Computerized data processing for analysis or evaluation of information about medical workers' work and motion collected by a computer network; Computerized processing of data for analysis and evaluation of motion information of surgical robots and medical workers and installation information of surgical robots, through digital twins. Installation, maintenance and repair of medical or veterinary apparatus and instruments; Remotely operated maintenance and repair of medical or veterinary apparatus and instruments; Providing information relating to installation, maintenance and repair of medical or veterinary apparatus and instruments; Installation, maintenance and repair of medical or veterinary robots, and parts and accessories therefor; Remotely operated maintenance and repair of medical or veterinary robots, and parts and accessories therefor; Providing information relating to installation, maintenance and repair of medical or veterinary robots, and parts and accessories therefor; Installation, maintenance and repair of computers and computer peripheral devices of surgical robots; Remotely operated maintenance and repair of computers and computer peripheral devices of surgical robots; Providing information relating to installation, maintenance and repair of computers and computer peripheral devices; Maintenance and repair by remote monitoring of operation and/or operating conditions of medical or veterinary apparatus and instruments; Maintenance and repair by remote monitoring of operation and/or operating conditions of medical or veterinary robots, and parts and accessories therefor; Maintenance and repair by remote monitoring of operation and/or operating conditions of computers and computer peripheral devices of surgical robots; and Maintenance and repair of medical or veterinary apparatus and instruments by digital twin. Remote monitoring of the operating status of medical apparatus and instruments by digital twin; Installation, maintenance and repair of computer software and computer program of surgical robots; Remotely operated maintenance and repair of computer software and computer program of surgical robots; Providing information relating to installation, maintenance and repair of computer software and computer program; Monitoring of computer systems by remote access; Remote monitoring of medical apparatus and instruments via computer networks; Remote monitoring for repair or maintenance of medical apparatus and instruments by computer systems; Troubleshooting of computer software problems relating to medical apparatus and instruments; Remote monitoring of surgical apparatus and instruments via computer networks; Remote monitoring for repair or maintenance of surgical apparatus and instruments by computer systems; Troubleshooting of computer software problems relating to surgical apparatus and instruments; Collecting information and analysis about operation status of medical apparatus and instruments via computer networks; Providing information about scientific technology by means of communication using computer terminals, including those provided through the Internet; Providing information about scientific technology via network communication; Research and development of medical and surgical apparatus and instruments; Research, technical analysis or evaluation of surgical robots and provision of information thereof by digital twins; Technical advice relating to operation of surgical robots by replicating data of doctor's technique of surgical robots during surgery, through digital twin; Clinical laboratory testing. Rental of medical or veterinary apparatus and instruments, and parts and accessories therefor; Medical testing, medical diagnosis, surgery, and medical treatment by remote monitoring or remote operating with medical or veterinary apparatus and instruments; Medical testing, medical diagnosis, surgery, and medical treatment by remote monitoring or remote operating with medical or veterinary robots, and parts and accessories therefor; Telemedicine services; Medical assistance services; Surgical assistance services; Surgical support services; Preparation and dispensing of medications; Providing medical or therapeutic information, and advisory and consultancy services relating to these services.
37 - Construction and mining; installation and repair services
Goods & Services
Database management in the field of robotic assisted surgery; Compilation of information into computer databases in the field of robotic assisted surgery; Updating and maintenance of data in computer databases in the field of robotic assisted surgery; Management and compilation of computer databases for sharing surgical technique and surgical technology information in the field of robotic assisted surgery; collecting and analyzing technical data via computer networks about the operation status of surgical robots for business purposes Installation, maintenance and repair of medical or veterinary apparatus and instruments; Remotely operated maintenance and repair via computer software of medical or veterinary apparatus and instruments; Providing information relating to installation, maintenance and repair of medical or veterinary apparatus and instruments; Installation, maintenance and repair of medical or veterinary robots, and parts and accessories therefor; Remotely operated maintenance and repair via computer software of medical or veterinary robots, and parts and accessories therefor; Providing information relating to installation, maintenance and repair of medical or veterinary robots, and parts and accessories therefor; Remote monitoring of operation and operating conditions of medical or veterinary apparatus and instruments to ensure proper functioning in the nature of maintenance of medical and veterinary apparatus and instruments; Remote monitoring of operation and operating conditions of surgical robots, and parts and accessories therefor to ensure proper functioning in the nature of maintenance of surgical robots; Remote monitoring of the operating status of surgical robots by digital twin in the nature of maintenance of surgical robots; Maintenance and repair of surgical robots by digital twin
A surgical instrument according to an embodiment may include: a shaft; an end effector provided on a side of one end of the shaft; a housing provided on a side of the other end of the shaft and including a base including an attachment surface to be attached to a robot arm, a lid portion covering the base, and cleaning liquid supply holes to supply a cleaning liquid; and a cleaning tube to supply the cleaning liquid into the shaft. The cleaning liquid supply holes include: a first cleaning liquid supply hole to which the cleaning tube is attached; a second cleaning liquid supply hole communicating with an inside of the housing; and a third cleaning liquid supply hole opening in a direction substantially orthogonal to an opening direction of the second cleaning liquid supply hole and communicating with the inside of the housing.
A robotically-assisted surgical system that assists robotic surgery by a surgical robot having a robot main body includes one or more processors. The one or more processors are configured to plan a position of a port to be perforated on a body surface of a subject which is a target of the robotic surgery, acquire a captured image obtained by capturing the subject including at least a part of the subject by an overview camera included in the robot main body, recognize a planned position of the port in the captured image based on the captured image and the planned position of the port, and show the captured image and port position information indicating the planned position of the port in the subject illustrated in the captured image, on a display unit.
A remote control apparatus (a doctor-side control apparatus) according to an embodiment is provided at a position away from a medical manipulator including an arm to which a medical instrument is attached and is configured to remotely operate the medical manipulator. Each of a plurality of wheels that are provided at a bottom surface of the control apparatus is configured to move a control apparatus main body in a first direction parallel to a floor surface on which the control apparatus main body is placed and in a second direction parallel to the floor surface and orthogonal to the first direction.
A61B 1/00 - Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopesIlluminating arrangements therefor
An endoscope adaptor according to an embodiment may include a base portion including a transmission mechanism configured to decelerate and transmit rotation of a driven member configured to be driven to rotate by a drive part of a robot arm to an endoscope holder. The transmission mechanism includes a drive transmission shaft that is configured to be rotated by the rotation of the driven member, a first linkage member that is configured to rotate integrally with the drive transmission shaft, and a second linkage member being rotatable with respect to the drive transmission shaft and configured to rotate with first linkage member in a linked manner. The base portion includes a stopper configured to come in contact with the second linkage member to stop rotation of the drive transmission shaft.
A61B 1/00 - Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopesIlluminating arrangements therefor
50.
ROBOTICALLY-ASSISTED SURGICAL DEVICE, ROBOTICALLY-ASSISTED SURGICAL METHOD, AND SYSTEM
A robotically-assisted surgical device assists endoscopic surgery by a surgical robot. The robotically-assisted surgical device includes a processor. The processor is configured to derive a positional relationship between the surgical robot and an access platform installed on a subject which is a surgery target and capable of inserting at least two surgical instruments.
A robotically-assisted surgical device assists robotic surgery by a surgical robot. The robotically-assisted surgical device includes a processor. The processor is configured to: acquire 3D data of a subject; acquire a contact position where a surgical instrument provided in the surgical robot is in contact with a soft tissue of the subject; acquire firmness of the contact position of the soft tissue of the subject; and perform registration of a position of the 3D data with a position of the subject recognized by the surgical robot according to deformation of the soft tissue in the 3D data, based on the contact position and the firmness.
G16H 20/40 - ICT specially adapted for therapies or health-improving plans, e.g. for handling prescriptions, for steering therapy or for monitoring patient compliance relating to mechanical, radiation or invasive therapies, e.g. surgery, laser therapy, dialysis or acupuncture
G16H 30/20 - ICT specially adapted for the handling or processing of medical images for handling medical images, e.g. DICOM, HL7 or PACS
An electrosurgical instrument according to an aspect may include a housing and an electric connection part provided to the housing to be electrically connected to a power supply. The electric connection part includes: an electrode to be electrically connected to the power supply; a plurality of divided members configured to hold the electrode therebetween; and a coupling member that couples the plurality of divided members.
An endoscope adaptor according to an embodiment may include: an endoscope holder configured to hold an endoscope to be rotatable; and a base portion including an attachment portion, a driven member, and a transmission mechanism. The base portion includes a cable holder configured to hold a cable connected to the endoscope.
A61B 1/00 - Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopesIlluminating arrangements therefor
A61B 34/00 - Computer-aided surgeryManipulators or robots specially adapted for use in surgery
54.
SURGICAL BED, ENDOSCOPIC SURGICAL DEVICE, ENDOSCOPIC SURGICAL METHOD, AND SYSTEM
A surgical bed includes: a table on which a body part of a subject is placed; a leg holder configured to hold a leg part of the subject; a support member configured to connect the table and the leg holder to each other, and configured to adjustably support a positional relationship between the leg holder and the table; and a processor configured to derive the positional relationship between the leg holder and the table.
A surgical instrument according to an embodiment may include: a housing that is to be attached to a driving unit of a robot arm and is provided with a plurality of driven members to be driven by a plurality of drive members of the driving unit; a shaft whose one end portion is connected to the housing; a plurality of end effectors; a support body that is rotatably supported by the other end portion of the shaft and rotatably supports the plurality of end effectors; and a plurality of driving elements that are respectively connected to the plurality of driven members to drive the plurality of end effectors and the support body to rotate.
A61B 17/128 - Surgical instruments, devices or methods for ligaturing or otherwise compressing tubular parts of the body, e.g. blood vessels or umbilical cord for applying or removing clamps or clips
A control unit (600) of a surgical operation system (100) sets a predetermined center point (RC), sets a reference point (RD) on an extension line of a turning axis (R1) of a base-end-side torsional joint (J31) or a reference line (RL) provided in an offset manner in a normal line direction of the extension line, and performs positioning of a plurality of joints of a manipulator arm such that a shaft (43) passes the predetermined center point (RC) and such that a reference plane (RP), intersecting a turning axis (R7) of a bending joint (J37) and including a turning axis (R9) of a leading-end-side torsional joint (J39) provided to the same axis as a center axis of the shaft (43), passes the reference point (RD).
A surgical robot (10) is provided with a plurality of robot arms (130), an arm base (120), and a control device (30). The robot arms each include a base part (138), an end part (137) capable of holding a medical tool (150), and a plurality of links (131 to 136). The link (131) adjacent to the base part is coupled to the base part via a rotary joint (JA1). For the robot arms having at least seven degrees of freedom among the plurality of robot arms, the control device operates the robot arms such that a first portion (134aa) of the first link (134) is positioned between a second portion (138a) of the base part and a third portion (JA7a) of the end part, as viewed in a direction parallel with the axial direction of a rotation axis of the rotary joint.
This surgery support robot comprises: a surgical instrument; a manipulator which has an instrument interface on which the surgical instrument is mounted, an arm containing multiple rotary joints, and a linear motion joint that connects the instrument interface to the distal end of the arm, the manipulator supporting the surgical instrument without holding a trocar; and a control device. The control device stores the remote center, which is the center of movement of the surgical instrument. When the shaft portion of the surgical instrument is passed through a trocar and the tool portion is in the patient's body cavity, if the relationship between the possible linear displacement amount T0 parallel to the axial direction from the origin position of the linear motion joint and the intrabody cavity length L of the surgical instrument from the remote center to the distal end of the surgical instrument is L ≤ T0, the control device controls the movement of the manipulator such that the relationship between the intrabody cavity length L and the linear displacement amount T1 parallel to the axial direction from the origin position to the current position of the linear motion joint is T1 ≥ L.
A surgical robot includes: a plurality of manipulator arms; a platform to which the plurality of manipulator arms are coupled; a positioner configured to change the position and posture of the platform; a controller configured to control the positioner; and a user interface. The user interface includes: first manipulation tools each configured to receive an input of manipulation which selects one of a plurality of operating modes for changing the position and posture of the platform; and a single second manipulation tool configured to receive an input of manipulation information regarding the position and posture. The controller generates a command regarding the position and posture of the platform based on the acquired manipulation information and the selected operating mode and operates the positioner based on the generated command.
G06F 3/04847 - Interaction techniques to control parameter settings, e.g. interaction with sliders or dials
B25J 9/10 - Programme-controlled manipulators characterised by positioning means for manipulator elements
G06F 3/0488 - Interaction techniques based on graphical user interfaces [GUI] using specific features provided by the input device, e.g. functions controlled by the rotation of a mouse with dual sensing arrangements, or of the nature of the input device, e.g. tap gestures based on pressure sensed by a digitiser using a touch-screen or digitiser, e.g. input of commands through traced gestures
B25J 13/08 - Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
G06F 3/0482 - Interaction with lists of selectable items, e.g. menus
A surgical instrument according to an embodiment may include: a shaft; an end effector provided on a side of one end of the shaft; a housing including a base to which the other end of the shaft is connected, and a lid portion to cover the base; and a circuit board disposed on the base. The housing includes a press portion that presses the circuit board to the base to hold the circuit board.
A patient-side apparatus according an embodiment may include a robot arm; an adaptor that is attached to the robot arm; and a surgical instrument that is attached to the adaptor by sliding the surgical instrument to the adaptor. The adaptor includes: an adaptor base including an arm attachment surface and a surgical instrument attachment surface; a drive transmission member provided being movable in a direction perpendicular to the surgical instrument attachment surface and configured to transmit a driving force from the robot arm to the surgical instrument. The surgical instrument includes a surgical instrument base including an adaptor attachment surface. The surgical instrument base includes an inclined surface configured, upon slide attachment of the surgical instrument to the adaptor, to come in contact with the drive transmission member to move the drive transmission member toward the robot arm side in a direction perpendicular to the surgical instrument attachment surface.
A61B 1/00 - Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopesIlluminating arrangements therefor
An adapter set is provided with an adapter placed between a robot arm and a surgical instrument, and a stopper mounted on the adapter. The stopper includes a rotation restricting part configured to restrict a rotation of a driving transmission member of the adapter. The driving transmission member includes a first member that includes an engaging depressed part configured to fit together with a driven member of the surgical instrument and another engaging depressed part that is provided separately from the engaging depressed part and is configured to fit together with the rotation restricting part of the stopper, and a second member that includes an engaging depressed part configured to fit together with a driving member. The stopper is configured to be removed from the adapter after the driving member fits together with the second member of the adapter.
A surgical instrument according to an embodiment may include: a shaft; a seal member disposed in a support body; and a pressing member including a pressing surface in contact with and pressing a surface of the seal member on a side of the shaft, wherein the pressing member is pressed by the shaft.
A surgical instrument according to an embodiment may include: a base body including an attachment surface to be attached to the adaptor; an elongated shaft including one end connected to the base body; a treatment tool provided on a side of the other end of the shaft, elongate elements for operating the surgical tool, driven members rotatably provided on the base body and connected with end portions of the elongate elements; a holding member provided such that one end of each driven member is rotatably held by the base body and the other end of each driven member is rotatably held by the holding member; and a movable member provided movable with respect to the holding member and the base body and engageable with an adaptor. The movable member is configured, when moved with respect to the holding member and the base body, to be disengaged from the adaptor.
Medical apparatus and instruments for use in surgery; Veterinary apparatus and instruments for use in veterinary surgery; Surgical robots; Internal medicine support robots, namely, robots for internal medicines of cardiovascular system, digestive system, respiratory system, gynecologic system and urinary system; Laparoscopic operation robots; Robotic catheters; Robotic x-ray CT scanners; Rehabilitation robots; Galvanic or hyperthermic therapy robots; Manipulators for medical or veterinary robots; Knives and scalpels for medical purposes; Beds, specially made for medical purposes; Operation tables; Patient examination and/or treatment tables; Prescription tables for hospital use; Replacement parts and fittings for the aforesaid goods
Medical apparatus and instruments; Veterinary apparatus and instruments; Surgical apparatus and instruments; Surgical robots, and machines and instruments therefor; Internal medicine support robots, and machines and instruments therefor; Laparoscopic operation robots, and machines and instruments therefor; Radiotherapy robots, and machines and instruments therefor; Catheter operation robots, and machines and instruments therefor; X-ray examination robots, and machines and instruments therefor; Rehabilitation robots, and machines and instruments therefor; Galvanic or hyperthermic therapy robots, and machines and instruments therefor; Control device for medical or veterinary robots, and machines and instruments therefor; Medical or veterinary robots, and parts and accessories therefor; Knives for surgical purposes or scalpels; Beds, specially made for medical purposes; Operation tables; Patient examination and/or treatment tables; Prescription tables for hospital use; and Parts and fittings for the aforesaid goods.
(1) Surgical instruments; Surgical robots, and parts and accessories therefor; Surgical robots for use in robotically-assisted laparoscopic surgery, and parts and accessories therefor; Hand and foot controls for the operation of surgical robots for human and veterinary use, and parts and accessories therefor; Scalpels; Beds, specially made for medical purposes; Operation tables.
68.
Manipulator arm and patient-side system for surgical system
A surgery manipulator arm according to an embodiment may include an arm body and a translation mechanism provided to a distal end portion of the arm body. The translation mechanism includes: a proximal side unit connected to the distal end portion of the arm body; a distal side unit including a tool holding part to which a surgical tool is attached; a connection unit connecting the proximal and distal side units; and an electrical wiring circuit electrically connecting the proximal and distal side units. The connection unit includes first and second pulleys; and a belt member wound around the first and second pulleys. The proximal and distal side units are attached to first and second attachment positions of the belt member such that the distal side unit moves in a direction opposite to a direction in which the proximal side unit moves in association with movements of the belt member.
A61B 1/00 - Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopesIlluminating arrangements therefor
A61B 34/00 - Computer-aided surgeryManipulators or robots specially adapted for use in surgery
An electric surgical instrument to be detachably connected to a robot arm of a robotic surgical system according to one or more embodiments may include: a shaft; an end effector provided at a distal end side of the shaft via a wrist structure; a connection part which is provided at a proximal end side of the shaft and is to be connected to the robot arm; and a cover including an elongated hollow structure to accommodate therein the wrist structure and containing therein an electrical insulation material and an X-ray contrast agent.
41 - Education, entertainment, sporting and cultural services
Goods & Services
Medical training and teaching; training and education for handling of medical apparatus and instruments; educational services relating to medical apparatus and instruments; training and education for handling of surgical apparatus and instruments; educational services relating to surgical apparatus and instruments; educational services in the field of surgery; training services provided via simulators; rental of training simulators.
71.
Medical manipulator and method of controlling the same
A remote operation-type surgery system is disclosed, which includes a multiple-degree freedom slave arm, which is able to be mounted with a medical instrument including a shaft portion and an end effector disposed at a distal end of the shaft portion; a first input device configured to receive a first input to operate the multiple-degree freedom slave arm; a second input device configured to receive a second input to operate the multiple-degree freedom slave arm and different from the first input device; a touch panel configured to set an operation mode for the multiple-degree freedom slave arm operated by the second input device; and a controller configured to control the multiple-degree freedom slave arm based on the first input or second input, wherein the controller is configured to: determine whether or not an in-operation signal is turned on.
Medical apparatus and instruments for use in surgery; Veterinary apparatus and instruments for use in veterinary surgery; Surgical robots; Internal medicine support robots, namely, robots for internal medicines of cardiovascular system, digestive system, respiratory system, gynecologic system and urinary system; Laparoscopic operation robots; Robotic catheters; Robotic x-ray CT scanners; Rehabilitation robots; Galvanic or hyperthermic therapy robots; Manipulators for medical or veterinary robots; Knives and scalpels for surgical purposes; Beds, specially made for medical purposes; Operation tables; Patient examination and/or treatment tables; Prescription tables for hospital use; Replacement parts and fittings for the aforesaid goods, namely, surgical robots, laparoscopic operation robots, radiotherapy robots, control device for medical or veterinary robots and medical or veterinary robots
37 - Construction and mining; installation and repair services
41 - Education, entertainment, sporting and cultural services
42 - Scientific, technological and industrial services, research and design
44 - Medical, veterinary, hygienic and cosmetic services; agriculture, horticulture and forestry services
Goods & Services
Medical and/or veterinary apparatus and instruments; Medical apparatus and instruments; Surgical apparatus and instruments; Surgical robots, and machines and instruments therefor; Internal medicine support robots, and machines and instruments therefor; Laparoscopic operation robots, and machines and instruments therefor; Radiotherapy robots, and machines and instruments therefor; Catheter operation robots, and machines and instruments therefor; X -ray examination robots, and machines and instruments therefor; Rehabilitation robots, and machines and instruments therefor; Galvanic or hyperthermic therapy robots, and machines and instruments therefor; Control device for medical or veterinary robots, and machines and instruments therefor; Medical or veterinary robots, and parts accessories therefor; Knives for surgical purposes or scalpels; Beds, specially made for medical purposes; Operation tables; Patient examination and/or treatment tables; Prescription tables for hospital use; and Medical procedure tables. Installation, maintenance and repair of medical or veterinary apparatus and instruments; Remotely operated maintenance and repair of medical or veterinary apparatus and instruments; Providing information relating to installation, maintenance and repair of medical or veterinary apparatus and instruments; Installation, maintenance and repair of medical or veterinary robots, and parts and accessories therefor; Remotely operated maintenance and repair of medical or veterinary robots, and parts and accessories therefor; Providing information relating to installation, maintenance and repair of medical or veterinary robots, and parts and accessories therefor; Installation, maintenance and repair of computers and computer peripheral devices; Remotely operated maintenance and repair of computers and computer peripheral devices; Providing information relating to installation, maintenance and repair of computers and computer peripheral devices; Maintenance and repair by remote monitoring of operation and/or operating conditions of medical or veterinary apparatus and instruments; Maintenance and repair by remote monitoring of operation and/or operating conditions of medical or veterinary robots, and parts and accessories therefor; and Maintenance and repair by remote monitoring of operation and/or operating conditions of computers and computer peripheral devices. Medical training and teaching; Training and education for handling of medical apparatus and instruments; Educational services relating to medical apparatus and instruments; Training and education for handling of surgical apparatus and instruments; Educational services relating to surgical apparatus and instruments; and Educational services in the field of surgery. Monitoring of computer systems by remote access; Remote monitoring of medical apparatus and instruments via computer networks; Remote monitoring for repair or maintenance of medical apparatus and instruments by computer systems; Troubleshooting of computer software problems relating to medical apparatus and instruments; Remote monitoring of surgical apparatus and instruments via computer networks; Remote monitoring for repair or maintenance of surgical apparatus and instruments by computer systems; Troubleshooting of computer software problems relating to surgical apparatus and instruments; Collecting information and analysis about operation status of surgical robots via computer networks; Providing information about scientific technology by means of communication using computer terminals, including those provided through the Internet; Providing information about scientific technology via network communication; Research and development of medical and surgical apparatus and instruments; Installation, maintenance and repair of computer software and computer program; Remotely operated maintenance and repair of computer software and computer program; and Providing information relating to installation, maintenance and repair of computer software and computer program. Rental of medical or veterinary apparatus and instruments, and parts and accessories therefor; Medical services; Medical testing, medical diagnosis, surgery, and medical treatment by remote monitoring or remote operating with medical or veterinary apparatus and instruments; Medical testing, medical diagnosis, surgery, and medical treatment by remote monitoring or remote operating with medical or veterinary robots, and parts and accessories therefor; Telemedicine services; Medical assistance services; Surgical assistance services; Surgical support services; Preparation and dispensing of medications; Providing medical or therapeutic information, and advisory and consultancy services relating to these services; and Medical diagnostic testing or clinical laboratory testing.
An adaptor according to one or more embodiments may include a drive transmission member to transmit a driving force from a driving member of a drive part to a driven member of a surgical instrument. The drive transmission member may include: a first member to be fitted to the driven member of the surgical instrument; and a second member relatively movable with respect to the first member in directions toward the surgical instrument and toward the drive part and to be fitted to the driving member. The second member may include a movement restriction part that comes in contact with the driven member to restrict a movement of the second member toward the surgical instrument in a state where the driving member of the drive part is fitted to the second member and the driven member of the surgical instrument is fitted to the first member.
A stopper according to one or more embodiments may include: a stopper body; and a rotation restriction portion provided at the stopper body and configured to restrict rotations of the drive transmission member. The stopper may be configured such that the rotation restriction portion restricts the rotations of the drive transmission member in a state where the stopper body is attached to the adaptor main body and the rotation restriction portion releases the restriction of the rotations of the drive transmission member in a state where the stopper body is detached from the adaptor main body.
B25J 5/00 - Manipulators mounted on wheels or on carriages
A61B 90/00 - Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups , e.g. for luxation treatment or for protecting wound edges
A method of fixing a surgical instrument to a robot arm according to one or more embodiment may include: attaching the surgical instrument to a drive part of the robot arm via an adaptor in a state where a first engagement portion of a drive transmission member of the adaptor is set at a second initial orientation; and rotating the first engagement portion from the second initial orientation so as to engage the first engagement portion of the drive transmission member with an engagement portion of an driven member.
medical apparatus and instruments; veterinary apparatus and instruments; parts and fittings of medical apparatus and instruments; auxiliary medical devices; diagnostic apparatus and instruments; measuring apparatus and instruments for medical purposes; testing apparatus for medical purposes; testing apparatus for medical purposes for PCR testing; medical robots; medical robots for samples collection; medical robots for PCR testing; nursing robots; remote-operated medical robots; measuring apparatus and instruments for medical purposes for PCR testing.
A surgical instrument according to one or more embodiments may include: a base; an end effector; an elongated element to drive the end effector; a flexible shaft including a distal end coupled with the end effector; a winding member provided to the base rotatably about a rotational axis orthogonal to the second surface such that the elongated element from the flexible shaft is wound around the winding member; a drive receiving member rotatable about a rotational axis orthogonal to the second surface, to receive drive for rotating the winding member; a first guide pulley; and a second guide pulley. The first guide pulley guides the elongated element drawn from the shaft toward the second guide pulley along the rotational axis of the winding member, and the second guide pulley guides the elongated element from the first guide pulley toward the winding member in a direction intersecting the rotational axis.
A surgical system according to one or more embodiments may include: a plurality of surgical instruments each including a flexible shaft and an end effector; an insertion tube to hold the plurality of flexible shafts and to be inserted into a body of a patient from one end of the insertion tube; and a support device for supporting the plurality of surgical instruments and the insertion tube. The support device includes a plurality of supports respectively supporting the plurality of surgical instruments, a support mechanism supporting the plurality of supports together, and an insertion tube holder holding the insertion tube. The plurality of supports independently and movably support the plurality of surgical instruments, respectively.
A remote control apparatus according to one or more embodiments includes a manipulator that supports surgical equipment; a display configured to display an image captured by an endoscopy; a display supporting arm that includes a joint and a locking mechanism and supports the display, the locking mechanism is configured to lock the joint; an operation handle that allows an operator to operate the manipulator; and an unlocking mechanism configured, in response to an operation by the operator, to unlock the locked joint of the display supporting arm.
A61B 90/50 - Supports for surgical instruments, e.g. articulated arms
A61B 17/00 - Surgical instruments, devices or methods
A61B 90/00 - Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups , e.g. for luxation treatment or for protecting wound edges
81.
Operation device for surgical manipulator and robotically-assisted surgical system
An operation device for a surgical manipulator includes an input device that operates the surgical manipulator. The input device includes a plurality of joints and a plurality of motors that drives the plurality of joints, and reduction ratios in power transmission paths from the plurality of motors to the plurality of joints, respectively, are 0.5 or more and 30 or less.
A61B 34/00 - Computer-aided surgeryManipulators or robots specially adapted for use in surgery
A61B 90/00 - Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups , e.g. for luxation treatment or for protecting wound edges
B25J 9/10 - Programme-controlled manipulators characterised by positioning means for manipulator elements
B25J 19/00 - Accessories fitted to manipulators, e.g. for monitoring, for viewingSafety devices combined with or specially adapted for use in connection with manipulators
A medical manipulator according to an embodiment may include an arm base including a first engagement portion and a manipulator arm including a distal end portion to support a surgical tool and a proximal end portion including a second engagement portion. One of the first and second engagement portions includes a shaft member and the other includes an engagement member engageable with the shaft member such that the engagement member engaged with the shaft member is rotatable with respect to the shaft member. The arm base includes a restriction portion to restrict rotation of the manipulator arm about the shaft member to which the engagement member is engaged. The proximal end portion of the manipulator arm is fixed to the restriction portion of the arm base with a fixing member in a state where restriction portion stops the rotation of the manipulator arm.
A control device controls non-excitation-actuated electromagnetic brake operation. The control device includes an electronic component having a characteristic that when an inter-terminal voltage of two electrodes is equal to or higher than a predetermined voltage, a resistance value is lower than when the voltage is lower than the voltage and a diode disposed such that a cathode is on a side having a higher potential than an anode. The coil in the non-excitation-actuated electromagnetic brake and the electronic component are connected in series to form a first series circuit, the first series circuit and the diode are connected in parallel, and the electronic component is connected in series with the coil provided in the non-excitation-actuated electromagnetic brake so as not to be conducted when the inter-terminal voltage is lower than the predetermined voltage, but to be conducted when the inter-terminal voltage becomes equal to or higher than the predetermined voltage.
H02K 7/102 - Structural association with clutches, brakes, gears, pulleys or mechanical starters with friction brakes
B25J 19/00 - Accessories fitted to manipulators, e.g. for monitoring, for viewingSafety devices combined with or specially adapted for use in connection with manipulators
H02P 3/16 - Arrangements for stopping or slowing electric motors, generators, or dynamo-electric converters for stopping or slowing an individual dynamo-electric motor or dynamo-electric converter for stopping or slowing a DC motor by combined electrical and mechanical braking
H02P 3/26 - Arrangements for stopping or slowing electric motors, generators, or dynamo-electric converters for stopping or slowing an individual dynamo-electric motor or dynamo-electric converter for stopping or slowing an AC motor by combined electrical and mechanical braking
H02P 15/00 - Arrangements for controlling dynamo-electric brakes or clutches
A control device of a robot system including a plurality of robots having servo motors of a plurality of axes. The control device includes a plurality of controllers each having a plurality of servo amplifiers that drives the servo motors of the plurality of axes of the robots, and a control unit that controls the plurality of servo amplifiers. The control unit determines a driving number of the servo motors of the plurality of axes in accordance with the robots connected to the controllers, and sets a parameter for the servo amplifiers that drive the axes of the servo motors of a number corresponding to the determined driving number.
B25J 3/04 - Manipulators of leader-follower type, i.e. both controlling unit and controlled unit perform corresponding spatial movements involving servo mechanisms
B25J 5/00 - Manipulators mounted on wheels or on carriages
B25J 15/04 - Gripping heads with provision for the remote detachment or exchange of the head or parts thereof
B25J 13/08 - Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
B25J 13/06 - Control stands, e.g. consoles, switchboards
A61B 17/00 - Surgical instruments, devices or methods
A surgical system according to one or more embodiments may include: manipulators respectively supporting an endoscope and first and second surgical instruments; a remote control apparatus including a display device, a first operation handle for right hand to operate the first surgical instrument, and a second operation handle for left hand to operate the second surgical instrument; and a control apparatus. The control apparatus may display, on the display device, a graphical user interface, overlapped with the image captured by the endoscope, the graphical user interface including a first area that displays information on the first surgical instrument to be operated by the first operation handle, a second area that displays information on the second surgical instrument to be operated by the second operation handle, and a third area that displays information on the endoscope, which are arranged side by side in order from right to left.
A61B 34/00 - Computer-aided surgeryManipulators or robots specially adapted for use in surgery
A61B 90/00 - Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups , e.g. for luxation treatment or for protecting wound edges
A61B 18/12 - Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body by heating by passing a current through the tissue to be heated, e.g. high-frequency current
A61B 1/05 - Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopesIlluminating arrangements therefor combined with photographic or television appliances characterised by the image sensor, e.g. camera, being in the distal end portion
Provided is a medical cart wherein anchoring due to a stabilizer can be quickly released in an emergency without the risk of oil leakage. This medical cart comprises: a base that retains a positioner moving a manipulator arm, said manipulator arm having multiple degrees of freedom and retaining a medical instrument at a distal end section thereof; a mount that retains the base; a plurality of wheels that include a pair of front wheels and a pair of rear wheels moving the mount; and a plurality of stabilizers that are provided to the mount and have ground-contacting sections contacting the ground when extended using pneumatic pressure.
A surgery manipulator arm according to an embodiment may include an arm body and a translation mechanism provided to a distal end portion of the arm body. The translation mechanism includes: a proximal side unit connected to the distal end portion of the arm body; a distal side unit including a tool holding part to which a surgical tool is attached; a connection unit connecting the proximal and distal side units; and an electrical wiring circuit electrically connecting the proximal and distal side units. The connection unit includes first and second pulleys; and a belt member wound around the first and second pulleys. The proximal and distal side units are attached to first and second attachment positions of the belt member such that the distal side unit moves in a direction opposite to a direction in which the proximal side unit moves in association with movements of the belt member.
A61B 1/00 - Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopesIlluminating arrangements therefor
A61B 34/00 - Computer-aided surgeryManipulators or robots specially adapted for use in surgery
09 - Scientific and electric apparatus and instruments
10 - Medical apparatus and instruments
37 - Construction and mining; installation and repair services
41 - Education, entertainment, sporting and cultural services
42 - Scientific, technological and industrial services, research and design
44 - Medical, veterinary, hygienic and cosmetic services; agriculture, horticulture and forestry services
Goods & Services
Computers; Computer software; Computer program; Data processing apparatus; Computer memory devices; Computer terminals; Computer servers; Computer peripheral devices; Electronic publications; Apparatus and instruments for scientific or research use; Laboratory apparatus and instruments; Training simulator; Robotic surgery training simulator; Software for use in robotic surgery training simulator; Furniture especially made for laboratories. Medical apparatus and instruments; Veterinary apparatus and instruments; Surgical apparatus and instruments; Surgical robots, and machines and instruments therefor; Internal medicine support robots, and machines and instruments therefor; Laparoscopic operation robots, and machines and instruments therefor; Thoracoscopic operation support robots, and machines and instruments therefor; Radiotherapy robots, and machines and instruments therefor; Catheter operation robots, and machines and instruments therefor; X-ray examination robots, and machines and instruments therefor; Rehabilitation robots, and machines and instruments therefor; Galvanic or hyperthermic therapy robots, and machines and instruments therefor; Control device for medical or veterinary robots, and machines and instruments therefor; Medical or veterinary robots, and parts accessories therefor; Medical devices, namely, endoscopes, laparoscopes, trocars, forceps, needle drivers, retractors, graspers, knives, clip appliers and clips, needle holders, dissectors, scissors, amputation hooks, and spatulas; Knives for surgical purposes or scalpels; Beds, specially made for medical purposes; Operation tables; Patient examination and/or treatment tables; Prescription tables for hospital use; Furniture especially made for medical purposes; Parts and fittings for the aforesaid goods. Installation, maintenance and repair of medical or veterinary apparatus and instruments; Remotely operated maintenance and repair of medical or veterinary apparatus and instruments; Providing information relating to installation, maintenance and repair of medical or veterinary apparatus and instruments; Installation, maintenance and repair of medical or veterinary robots, and parts and accessories therefor; Remotely operated maintenance and repair of medical or veterinary robots, and parts and accessories therefor; Providing information relating to installation, maintenance and repair of medical or veterinary robots, and parts and accessories therefor; Installation, maintenance and repair of scientific, research or laboratory apparatus and instruments; Providing information relating to installation, maintenance and repair of scientific, research or laboratory apparatus and instruments; Installation, maintenance and repair of computers and computer peripheral devices; Remotely operated maintenance and repair of computers and computer peripheral devices; Providing information relating to installation, maintenance and repair of computers and computer peripheral devices; Remote monitoring of operating conditions of medical or veterinary apparatus and instruments; Remote monitoring of operating conditions of medical or veterinary robots, and parts and accessories therefor; Remote monitoring of operating conditions of scientific, research or laboratory apparatus and instruments; Remote monitoring of operating conditions of computers and computer peripheral devices. Medical training and teaching; Training and education for handling of medical apparatus and instruments; Educational services relating to medical apparatus and instruments; Training and education for handling of surgical apparatus and instruments; Educational services relating to surgical apparatus and instruments; Educational services in the field of surgery. Monitoring of computer systems by remote access; Remote monitoring of medical apparatus and instruments via computer networks; Remote monitoring for repair or maintenance of medical apparatus and instruments by computer systems; Troubleshooting of computer software problems relating to medical apparatus and instruments; Remote monitoring of surgical apparatus and instruments via computer networks; Remote monitoring for repair or maintenance of surgical apparatus and instruments by computer systems; Troubleshooting of computer software problems relating to surgical apparatus and instruments; Collecting information and analysis about operation status of surgical robots via computer networks; Providing information about scientific technology by means of communication using computer terminals, including those provided through the Internet; Providing information about scientific technology via network communication; Research and development of medical and surgical apparatus and instruments; Installation, maintenance and repair of computer software and computer program; Remotely operated maintenance and repair of computer software and computer program; Providing information relating to installation, maintenance and repair of computer software and computer program. Rental of medical or veterinary apparatus and instruments, and parts and accessories therefor; Medical services; Medical testing, medical diagnosis, surgery, and medical treatment by remote monitoring or remote operating with medical or veterinary apparatus and instruments; Medical testing, medical diagnosis, surgery, and medical treatment by remote monitoring or remote operating with medical or veterinary robots, and parts and accessories therefor; Telemedicine services; Medical assistance services; Surgical assistance services; Surgical support services; Preparation and dispensing of medications; Providing medical or therapeutic information, and advisory and consultancy services relating to these services; Medical diagnostic testing or clinical laboratory testing.
89.
Robotically-assisted surgical device, robotically-assisted surgery method, and system
A robotically-assisted surgical device assists robotic surgery with a surgical robot including a robot arm, and includes a processing unit and a display unit. The processing unit acquires 3D data of a subject; acquires kinematic information of the robot arm; acquires information of a surgical procedure for operating; acquires position planning information for a plurality of ports to be pierced on a body surface of the subject; acquires measurement information obtained by measuring a position of a first port pierced on the body surface among the plurality of ports; determines a position of at least one of remaining ports other than the first port, based on the measurement information of the position of the first port, the information of the surgical procedure, the kinematic information, and the 3D data; and causes the display unit to display information indicating the determined position of the remaining port.
A61B 90/00 - Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups , e.g. for luxation treatment or for protecting wound edges
A61B 90/50 - Supports for surgical instruments, e.g. articulated arms
A61B 34/20 - Surgical navigation systemsDevices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
A robotically-assisted surgical device assists robotic surgery with a surgical robot that includes at least one robot arm holding a surgical instrument. The robotically-assisted surgical device includes a processing unit and a display unit. The processing unit is configured to: acquire 3D data of a subject; acquire kinematic information regard to the robot arm; acquire information of an surgical procedure for operating the subject; acquire information regarding a position of at least one port which is to be pierced on a body surface of the subject; derive a 2D range on the body surface where errors are allowed for the piercing of the port based on the 3D data, the kinematic information, the information of the surgical procedure, and the position of the port; and cause the display unit to display the information regarding the position of the port and information indicating the 2D range.
A medical manipulator according to one or more embodiments may include: a first manipulator arm with multi-degree of freedom that holds a medical tool at a distal end portion thereof; a second manipulator arm with multi-degree of freedom that holds a medical tool at a distal end portion thereof; an arm base that holds base end portions of the first and second manipulator arms; a movement mechanism configured to move the base end portion of the first manipulator arm with respect to the arm base to change a distance between the base end portion of the first manipulator arm and the base end portion of the second manipulator arm; and a positioner configured to move the arm base and position the arm base in place.
A surgical system according to one or more embodiments may include: manipulators respectively supporting an endoscope and surgical instruments; a remote control apparatus including a display device to display an image captured by the endoscope, operation handles to operate the surgical instruments respectively, and foot pedals; and a control apparatus. The foot pedals include first and second foot pedals for the surgical instruments, and a third foot pedal for the endoscope. The control apparatus displays a graphical user interface, overlapped with the image captured by the endoscope, on the display device, the graphical user interface including first to third areas to display information on the surgical instruments and the endoscope. The control apparatus changes, when a foot of an operator is detected at an operation preparation position of one of the foot pedals, a display form of corresponding one of the first to third areas.
A61B 34/00 - Computer-aided surgeryManipulators or robots specially adapted for use in surgery
A61B 90/00 - Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups , e.g. for luxation treatment or for protecting wound edges
A61B 18/12 - Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body by heating by passing a current through the tissue to be heated, e.g. high-frequency current
A61B 1/05 - Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopesIlluminating arrangements therefor combined with photographic or television appliances characterised by the image sensor, e.g. camera, being in the distal end portion
93.
Surgical system and method of displaying information in the same
A surgical system according to one or more embodiments may include: manipulators respectively supporting an endoscope and first and second surgical instruments; a remote control apparatus including a display device, a first operation handle for right hand to operate the first surgical instrument, and a second operation handle for left hand to operate the second surgical instrument; and a control apparatus. The control apparatus may display, on the display device, a graphical user interface, overlapped with the image captured by the endoscope, the graphical user interface including a first area that displays information on the first surgical instrument to be operated by the first operation handle, a second area that displays information on the second surgical instrument to be operated by the second operation handle, and a third area that displays information on the endoscope, which are arranged side by side in order from right to left.
A61B 90/00 - Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups , e.g. for luxation treatment or for protecting wound edges
A61B 1/05 - Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopesIlluminating arrangements therefor combined with photographic or television appliances characterised by the image sensor, e.g. camera, being in the distal end portion
A61B 18/12 - Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body by heating by passing a current through the tissue to be heated, e.g. high-frequency current
A61B 1/00 - Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopesIlluminating arrangements therefor
09 - Scientific and electric apparatus and instruments
10 - Medical apparatus and instruments
Goods & Services
Robotic surgery training simulator; training simulator; software for use in robotic surgery training simulator. Medical apparatus and instruments; veterinary apparatus and instruments; surgical apparatus and instruments; Surgical robots, and machines and instruments therefor; internal medicine support robots, and machines and instruments therefor, laparoscopic operation robots, and machines and instruments therefor.
Thoracoscopic operation support robots, and machines and instruments used for digestive surgery, cancer surgery or tumor surgery; thoracoscopic operation support robots, and machines and instruments used in the area of lung, mediastinal or esophagus; endoscopic surgical support robots, and machines and instruments used for urology, digestive surgery, gastroenterology, cancer surgery or tumor surgery; endoscopic surgical support robots, and machines and instruments used in the area of lung, mediastinal or esophagus; laparoscopic operation robots, and machines and instruments therefor; medical devices, namely, laparoscopes, trocars, forceps, needle drivers, retractors, graspers, knives, clip appliers and clips, needle holders, dissectors, scissors, amputation hooks, and spatulas; knives for surgical purposes or scalpels; parts and fittings for the aforesaid goods.
Medical apparatus and instruments; veterinary apparatus and instruments; surgical apparatus and instruments; surgical robots, machines and instruments and their parts and fittings; internal medicine support robots, machines and instruments and their parts and fittings; laparoscopic operation robots, machines and instruments and their parts and fittings.
97.
Sterile drape, instrument attachment set for attaching surgical instrument, and method for attaching surgical instrument to robot arm
A sterile drape according to an embodiment may include: a flexible film member including a first opening and a second opening and configured to cover the robot arm received through the second opening; and a resin molded member configured to close the first opening of the flexible film member. The resin molded member includes: an upper surface portion having a shape and a size fitted to an attachment surface of an attachment portion of the robot arm; a side surface portion extending downward from the upper surface portion; and a projection which projects outward from a lower edge of the side surface portion and to which the flexible film member is welded.
A61B 90/00 - Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups , e.g. for luxation treatment or for protecting wound edges
98.
Adapter, surgical instrument set, and method for connecting surgical instrument
An adapter for detachably connecting a surgical instrument to a robot arm of a robotic surgical system according to an embodiment may include: a base including a first surface to be attached to an attachment portion of the robot arm, a second surface, and a plurality of recesses formed in the first surface; an engagement member disposed in the base and movable between an advanced position where the engagement member is advanced into the plurality of recesses and a retracted position where the engagement member is retracted from inside the plurality of recesses; 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.
An adaptor for detachably connecting a surgical instrument to a robot arm of a robotic surgical system according to an embodiment may include: a base body including a first surface to be attached to the robot arm and a second surface to which an attachment surface of the surgical instrument is mounted; and drive transmission members rotatably provided on the base body. The second surface of the base body includes first and second guide rails respectively corresponding to first and second guide grooves provided on the attachment surface of the surgical instrument. The first and second guide rails of the second surface are configured to be inserted respectively into the first and second guide grooves of the attachment surface, and guide the surgical instrument to be slid to a position where the drive transmission members respectively correspond to rotation members provided on the attachment surface of the surgical instrument.
A robotic surgical instrument according to an embodiment may include: an end effector; a first support body that supports the end effector rotatably about a first shaft; a second support body that supports the first support body rotatably about a second shaft; an elongated element to rotate the first support body with respect to the second support body; and a shaft to which the second support body is connected. The elongated element includes a wire, an attachment fixed to the wire, and a protection tube fixed to the wire. The first support body includes a through-hole having a size in which the attachment and the protection tube are insertable.
