THE EUROPEAN ATOMIC ENERGY COMMUNITY (EURATOM); REPRESENTED BY THE EUROPEAN COMMISSION
发明人:
RUIZ MORALES, EMILIO
申请号：
CA2635136
公开号：
CA2635136C
申请日:
2007.02.02
申请国别(地区):
CA
年份:
2014
代理人:
摘要：
A robotic surgical system (10) for performing minimally invasive medicalprocedures comprises a robot manipulator (14) for a laparoscopic instrument(18) . The manipulator lias a manipulator arm (26) , a manipulator wrist (28)supported by the arm and an effector unit (30) supported by the wrist. Themanipulator arm provides three degrees-of-freedom (DOF) for positioning thewrist. The wrist provides two DOF. The effector unit (30) comprises alaparoscopic instrument actuator (LIA: 120； 1120) and provides one degree-of-freedom by means of a revolute sixth joint (J6) for setting the roll angle ofthe LIA. The LIA comprises a seat (130； 1130) for mounting an instrument stemadaptor (300, 1300) to the effector unit, and an actuation mechanism (400；1400) cooperating with the instrument stem adaptor for actuating alaparoscopic instrument connected to the adaptor. The effector unit comprisesa 6 DOF force/torque sensor and a 6 DOF accelerometer.
