represented by the European Commission;The European Atomic Energy Community (EURATOM)
发明人:
RUIZ MORALES, Emilio
申请号：
ES07704331
公开号：
ES2689093T3
申请日:
2007.02.02
申请国别(地区):
ES
年份:
2018
代理人:
摘要：
Medical robotic system for carrying out medical procedures, comprising a robot manipulator (14) for robot-assisted manipulation of a medical instrument (18), wherein said robot manipulator comprises: a base (24)； a manipulator arm (26), which has an essentially vertical part (27) supported by said base and an essentially horizontal part (29) supported by said vertical part； a manipulator wrist (28), supported by said manipulator arm； and an effector unit (30), supported by said wrist of the manipulator and configured to hold a medical instrument； said arm (26) of the manipulator has a cylindrical PRP kinematic configuration, which has, in sequence and only the following three joints, a first prismatic joint (P) (J1) to vary the height of said vertical part providing a degree of freedom in translation along an essentially vertical axis, a second rotating joint (R) (J2) to vary the angle of rotation between said vertical part and said horizontal part providing a degree of freedom rotation on an essentially vertical axis, and a third prismatic joint (P) (J3) to vary the reach of said horizontal part by providing a degree of freedom of translation along an essentially horizontal axis, and characterized in that said wrist (28) of the manipulator comprises, in sequence after said third joint (J3), a fourth joint (R) (J4) rotating and a fifth joint (R) (J5) rotating to orient the effector unit (30), the axes of rotation of said fourth joint (R) (J4) and said second joint (R) (J2) being parallel.Sistema robótico médico para llevar a cabo procedimientos médicos, que comprende un manipulador de robot (14) para la manipulación asistida por robot de un instrumento médico (18), en el que dicho manipulador de robot comprende: una base (24)； un brazo (26) de manipulador, que tiene una parte esencialmente vertical (27) soportada por dicha base y una parte esencialmente horizontal (29) soportada por dicha parte vertical； una muñeca (28) de manipulador, soportada por dicho brazo del
