US 12,167,942 B2
Surgery assisting device
Kotaro Tadano, Tokyo (JP); and Masataka Suzuki, Tokyo (JP)
Assigned to RIVERFIELD INC., Tokyo (JP)
Appl. No. 17/425,878
Filed by RIVERFIELD INC., Tokyo (JP)
PCT Filed Dec. 19, 2019, PCT No. PCT/JP2019/049857
§ 371(c)(1), (2) Date Jul. 26, 2021,
PCT Pub. No. WO2020/158232, PCT Pub. Date Aug. 6, 2020.
Claims priority of application No. 2019-013248 (JP), filed on Jan. 29, 2019.
Prior Publication US 2022/0160458 A1, May 26, 2022
Int. Cl. A61B 34/37 (2016.01); A61B 34/30 (2016.01); A61B 90/50 (2016.01)
CPC A61B 90/50 (2016.02) [A61B 34/37 (2016.02); A61B 2034/301 (2016.02); A61B 2034/302 (2016.02); A61B 2090/506 (2016.02)] 21 Claims
OG exemplary drawing
 
1. A surgery assisting device configured to hold a surgical instrument having an end to be inserted into a body cavity of a patient, and configured to control at least one of a position or an orientation of the surgical instrument, the surgery assisting device comprising:
a first arm that has a first end supported by a base and comprises a first movable part having movement with at least one degree of freedom; and
second arms arranged at a second end of the first arm and configured to each hold the surgical instrument, the second arms each comprising second movable parts having movement with at least five degrees of freedom in total,
wherein the second movable parts comprise a rotating part, a first link part, a second link part, and a gimbal part, the rotating part being arranged at a portion in which the second arm is secured to the first arm, the first link part being arranged between the rotating part and the second link part, and the second link part being arranged between the first link part and the gimbal part,
wherein the rotating part is configured to rotate about a rotation axis extending in a vertical direction with one degree of freedom, and
wherein each of the first link part and the second link part comprises a plurality of parallel links, each of the first link part and the second link part being configured to rotate about a rotation axis extending in a direction orthogonal to the vertical directions with a degree of freedom of rotation parallel to the other of the first link part or the second link part in the vertical direction.