| 摘要 |
PROBLEM TO BE SOLVED: To provide robotic surgical systems and methods of coupling a surgical instrument to a manipulator arm.SOLUTION: A robotic surgical system includes: a base (208); a setup link (222, 218) operably coupled to the base, the setup link locating a remote center of motion for the robotic surgical system; a proximal link (226) operably coupled to the setup link; and a distal link (238) operably coupled to the proximal link. A plurality of instrument manipulators (242a) are rotatably coupled to a distal end of the distal link, each of the instrument manipulators including a plurality of actuator outputs (442b, c, d, e) distally protruding from a distal end of a frame.SELECTED DRAWING: Figure 3 |
