THE EUROPEAN ATOMIC ENERGY ( EURATOM ); REPRESENTADA POR; THE EUROPEAN COMMISSION
发明人:
Emilio Ruiz Morales
申请号：
BRPI0707438
公开号：
BRPI0707438B1
申请日:
2007.02.02
申请国别(地区):
BR
年份:
2019
代理人:
摘要：
Medical Robotic System The present invention relates to a medical robotic system (10) for performing medical procedures, comprising a manipulative robot (14) for the robotically assisted handling of a medical instrument, in particular a laparoscopic surgery instrument (18). the manipulating robot (14) comprises a base (24)； a manipulator arm (26) with an essentially vertical part (27) supported by the base and an essentially horizontal part (29) supported by the vertical part (27)； a manipulator wrist (28) supported by the manipulator arm (26)； and an executing unit (30) supported by the manipulator wrist (28) and configured to hold a medical instrument. the manipulator arm (26) has a cylindrical kinematic configuration for positioning the manipulator pulse (28). more particularly, the kinematic configuration prp has the following sequence of joints: a first prismatic joint (jl) for varying the height of the vertical part (27) by providing a degree of transitional freedom along an essentially vertical axis； second revolution joint (j2) for varying the rotational angle between the vertical part (27) and the horizontal part (29) by providing a degree of rotational freedom about an essentially vertical axis, and a third joint (j3) ) prismatic (p) to vary the range of the horizontal part (29) by providing a degree of transitional freedom along an essentially horizontal axis.sistema robótico médico a presente invenção se refere a um sistema robótico médico (10) para a realização de procedimentos médicos, compreendendo um robô manipulador (14) para o manuseio roboticamente assistido de uminstrumento médico, em particular um instrumento de cirurgia laparoscópica (18). o robô manipulador (14) compreende uma base (24)； um braço de manipulador (26) com uma parte essencialmente vertical (27) suportada pela base e com uma parte essencialmente horizontal (29) suportada pela parte vertical (27)； um pulso de manipulador (28) suportado pelo braço de manipulador (26)； e uma unidade
