THE EUROPEAN ATOMIC ENERGY COMMUNITY (EURATOM); REPRESENTED BY THE EUREAN COMMISSION
发明人:
RUIZ MORALES, EMILIO
申请号：
CA2635135
公开号：
CA2635135C
申请日:
2007.02.02
申请国别(地区):
CA
年份:
2014
代理人:
摘要：
A medical robotic system (10) for performing medical procedures comprises arobot manipulator (14) for robotically assisted handling of a medicalinstrument, in particular a laparoscopic surgery instrument (18). The robotmanipulator (14) comprises a base (24)； a manipulator arm (26) with anessentially vertical part (27) supported by the base and with an essentiallyhorizontal part (29) supported by the vertical part (27)； a manipulator wrist(28) supported by the manipulator arm (26)； and an effector unit (30)supported by the manipulator wrist and configured for holding a medicalinstrument. The manipulator arm (26) has a cylindrical PRP kinematicconfiguration for positioning the manipulator wrist. More particularly, thePRP kinematic configuration has the following joint sequence: a prismatic (P)first joint (J1) for varying the height of the vertical part (27) by providinga translational degree of freedom along an essentially vertical axis, arevolute (R) second joint (J2) for varying the rotational angle between thevertical part (27) and the horizontal part (29) by providing a rotationaldegree of freedom about an essentially vertical axis, and a prismatic (P)third joint (J3) for varying the reach of the horizontal part by providing atranslational degree of freedom along an essentially horizontal axis.
