Drape unit
To keep a clean area separated from an unclean area, a drape unit for separating the manipulator that has a treatment section at a distal end of an elongated section and that has at a proximal end a proximal-end drive unit from the base including, on a substantially horizontal top surface, a drive source to which the proximal-end drive unit is detachably connected, the drape unit includes: a drape main body that has an opening from which the drive source is exposed; and an adaptor that is interposed between the drive source and the proximal-end drive unit, that is disposed with a gap vertically above the opening, and that covers the entire opening, the adaptor includes a force transmission unit for transmitting the driving force from the drive source to the proximal-end drive unit.
1. A manipulator system comprising:
a manipulator having:
an elongated portion;
a proximal portion coupled to a proximal end of the elongated portion; and
an end effector coupled to a distal end of the elongated portion;
a console detachably coupled to the manipulator, the console having a motor configured to generate a driving force so as to drive the end effector;
a drape configured to separate the manipulator and the console, the drape having:
a main body configured to cover a top surface of the console, the main body having an opening so as to expose a connecting portion; and
an adapter detachably coupled to a top surface of the motor, the adapter being configured to cover the opening;
wherein the motor is detachably coupled to the proximal portion via the adapter, and the adapter is configured to transmit the driving force from the motor to the proximal portion;
the console further having a linear-motion mechanism configured to move the motor in a horizontal direction relative to the console; and
the adapter is configured to be movable relative to the main body in response to a movement of the motor.
2. The manipulator system according to claim 1 , wherein the opening has a range such that the motor can be movable by the linear-motion mechanism.
3. The manipulator system according to claim 1 , wherein the main body has a flange configured to protrude upwardly all around the opening.
4. The manipulator system according to claim 3 , wherein an upper end of the flange is provided with an outer collar extending substantially parallel to a surface of the main body towards an outside position of the opening, and a claw configured to prevent the adaptor from being detached from the main body is provided on the adaptor.
5. The manipulator system according to claim 1 , wherein the adapter has a positioning pin configured to be fixed to the adapter and the motor.
6. The manipulator system according to claim 1 , wherein the main body has a recess configured to store fluid which becomes adhered to a surface of the main body.
7. The manipulator system according to claim 1 , wherein the adaptor has:
a flat-plate-shaped main body having a hole; and
a shaft provided to pass the hole, the shaft is configured to be rotatable relative to the flat-plate-shaped main body so as to transmit the driving force from the motor to the proximal portion.
8. The manipulator system according to claim 7 , wherein the adaptor further has a water-proofing mechanism configured to prevent fluid from flowing through a gap between the hole and the shaft.
9. The manipulator system according to claim 1 , wherein the console further has an operation input unit configured to operate the manipulator by an operator, and the main body of the drape is configured to cover the top surface of the console except the operation input unit.