Simi, Massimiliano,Prisco, Giuseppe Maria,Stefanini, Cesare
申请号：
AU2018253449
公开号：
AU2018253449A1
申请日:
2018.04.16
申请国别(地区):
AU
年份:
2019
代理人:
摘要：
Robotic surgical assembly (1) comprising a slave manipulator (3) comprising an actuator (25)； pushing device (53), connected to said actuator (25) a sensor (71, 72) detecting a contact force on said pushing device (53)； a position sensing system； a sterile barrier (55)； at least one control unit (4) configured to receive information about said sensor to control said actuator (25)； a surgical instrument (70) operated on by said slave manipulator (3) and detachably attached to said slave manipulator and separated from said slave manipulator (3) by said sterile barrier (55)； said surgical instrument (70) further comprising: a frame (52)； a link (6； 7； 8； 43) articulating in a joint (14, 17) with respect to said frame (52)； a tendon (19), associated to said actuator (25), having a tendon proximal portion (26), and a tendon distal portion (27), secured to said link (6； 7； 8； 43)； transmission device (54), in contact with said tendon proximal portion (26), in order to exert a traction action on said tendon (19)； said transmission device (54) being constrained by coupling device to have a single degree of freedom of motion with respect to said frame (52)； elastic device (56) attached to said transmission device (54)； and wherein, whenever said surgical instrument (70) is attached to said slave manipulator: said pushing device (53) being releasably and selectively connected with said transmission device (54) to transmit a pushing action to said transmission device (54) through said sterile barrier (55)； said sensor (71, 72) detects a contact force between said pushing device (53) and said transmission device (54)； said elastic device (53) bias said transmission device (54) away from said pushing device (53), so as to exert a traction action on said tendon (19).
