Robotic devices and systems for performing single incision procedures and natural orifice translumenal endoscopic surgical procedures, and methods of configuring robotic devices and systems
Chung Kwong Yeung,Wing Fai Lam,Wai Leung William Cheng
申请号：
US15605864
公开号：
US09895200B2
申请日:
2017.05.25
申请国别(地区):
US
年份:
2018
代理人:
摘要：
Example embodiments relate to surgical systems having end-effector assembly, first and second arm assemblies, and elbow joint assembly. End-effector assembly includes instrument assembly and wrist assembly. Instrument assembly includes a first instrument. First arm assembly includes a body, first and second instrument drive assemblies, wrist drive assembly, and first arm drive assembly. First instrument drive assembly is configurable to move first instrument relative to first axis. Wrist drive assembly is configurable to move instrument assembly relative second axis. First arm drive assembly is configurable to rotate end-effector assembly relative to third axis. Elbow joint assembly includes elbow pitch joint portion configurable to be driven to move first arm assembly relative to fourth axis. Elbow joint assembly also includes elbow sway joint portion configurable to be driven to move first arm assembly relative to fifth axis.
