A robotic surgical system for performing minimally invasive medical procedures comprises a robot manipulator for robotically assisted handling of a laparoscopic instrument. The manipulator has a manipulator arm, a manipulator wrist supported by the arm and an effector unit supported by the wrist. The manipulator arm provides three degrees-of-freedom by means of a first joint, a second joint and a third joint, each having an associated actuator, for robotically positioning the wrist. The wrist provides two degrees-of-freedom by means of a fourth joint and a fifth revolute joint having an associated actuator for robotically setting the yaw angle and the pitch angle of the effector unit respectively. The effector unit comprises a laparoscopic instrument actuator (LIA) and provides one degree-of-freedom by means of a revolute sixth joint having an associated actuator for robotically setting the roll angle of the LIA. The LIA comprises a seat, with an associated locking mechanism for mounting an instrument stem adaptor to the effector unit, and a linear actuation mechanism cooperating with the instrument stem adaptor for actuating a laparoscopic instrument connected to the adaptor. The effector unit is configured such that the rotation axis of the revolute sixth joint coincides with the longitudinal axis of a laparoscopic instrument mounted to the effector unit and the effector unit comprises a sensor assembly including a 6 degree-of-freedom (DOF) force/torque sensor and a 6 DOF accelerometer. The sensor assembly connects the LIA to the sixth revolute joint.본 발명은 복강경 기구(18)를 위한 로봇 매니퓰레이터(18)를 포함하여 최소 침습 의료 절차(minimally invasive medical procedures)를 수행하는 수술 로봇 시스템에 관한 것이다. 상기 매니퓰레이터는 매니퓰레이터 암(26), 상기 매니퓰레이터 암(26)에 의해 지지되는 매니퓰레이터 손목(wrist, 28), 및 상기 매니퓰레이터 손목(28)에 의해 지지되는 작동 유닛(30)을 포함한다. 상기 매니퓰레이터 암은 손목을 위치 설정하기 위해 3 자유도를 제공한다. 상기 작동 유닛(30)은 복강경 기구 액추에이터(120； 1120)를 포함하고, 상기 복강경 기구 액추에이터의 구름 각(roll angle)을 로봇식으로 설정하기 위한 연관된 액추에이터(141)를 갖는 회전식(revolute) 제6 조인트(J6)에 의해 1
