Mechanisches Führungssystem für die endoskopische Chirurgie

摘要

The control system proposed permits a surgical instrument whose shank is held in the system, or a trocar cannula, to be moved directly to any location within a double pyramid and held in that location, maintaining the point of intersection of the pyramids, the so-called invariant point, which lies on the axis of the shank, at all times. The distal end of the instrument held in the control system can therefore reach any point on the surface of its associated pyramid. When the instrument or cannula is simply moved within the double pyramid, no rotation of the shank about its axis occurs. The rotation occurs separately.