- Publication date
- 2 June 2016
One of the objects of the invention is to provide a robotic surgical system for performing minimally invasive medical procedures comprising a robot manipulator, which is configured such that it allows the use of available standard laparoscopic instruments that were designed for conventional manual procedures. In order to achieve this object, a robotic surgical system for performing minimally invasive medical procedures comprising a robot manipulator for robotically assisted handling of a laparoscopic instrument, the robot manipulator having a manipulator arm, a manipulator wrist supported by the manipulator arm and an effector unit supported by the manipulator 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 manipulator wrist provides two degrees-of-freedom by means of a fourth joint and a fifth joint, the fourth and fifth joints being revolute joints and having an associated actuator, for robotically setting, with respect to the manipulator arm, the yaw angle and the pitch angle of the effector unit respectively. The effector unit comprises a laparoscopic instrument actuator 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 laparoscopic instrument actuator. In other words, the actuated sixth revolute joint allows rotating not only the instrument but also the whole instrument actuator part of the effector unit.
THE MAIN APPLICATION AREAS
The claimed invention relates to the field of medical equipment and more particularly to a robotic surgical system for performing minimally invasive medical procedures, in particular laparoscopic procedures.
THE MAIN INNOVATIVE ASPECTS AND ADVANTAGES
- The system provides the required manoeuvrability with a minimum number of joints
- The invention enables force measurement and constraint restriction not only at the instrument tip level but also at the level of the trocar.
- The wrist and effector unit joints are all rotary (i.e. no prismatic joints are provided on these parts)