Yunhui LIU,Chi-Fai Michael TONG,Fangxun ZHONG,Zerui WANG,Hiu-man YIP
申请号：
US16533866
公开号：
US20200046441A1
申请日:
2019.08.07
申请国别(地区):
US
年份:
2020
代理人:
摘要：
An endoscope manipulator for performing robot-assisted endoscope manipulation comprises a movable robot base with a hollow trunk and a vertical lifting joint； a passive joint set with one end mounted to an upper end of the vertical lifting joint, for manually setting an initial pose of the endoscope； an active joint set mounted to another end of the passive joint set, for adjusting pose control of the endoscope intra-operatively； and a compliant endoscope holder mountable to an end-effector of the active joint set, which passively changes to a compliant state upon an external force exceeding a threshold being applied to an endoscopic lens held by the compliant endoscope holder.
