A manipulator of a medical device

摘要

The invention relates to a medical device manipulator which is a motion controller of a surgical device. The manipulator comprises a fixed platform (4) mounted on an extension arm and a mobile platform (11) connected to the fixed platform (4) by means of three connecting assemblies, wherein on the fixed platform (4) there are three motors with encoders (5). Lines comprising rotational axes of shafts (6) of the motors (5) intersect at one point at an angle of 120 degrees, and each connecting assembly comprises a first arch connector (7) with an angle range of 90 degrees, first end thereof is directly rigidly connected to the rotational shaft (6) of the respective motor (5), and a second end thereof is connected by means of a joint (8) with three degrees of freedom to a first end of a second arch connector (9). Second end of the second arch connector (9) has at its end a transverse arch arm and is connected by means of a joint (10) to the mobile platform (11), on which an auxiliary motor with an encoder (12) is mounted and on a shaft (13) of said motor (12) there is an indirectly or directly mounted gripping part (14). The rotational axes of the second ends of the second arch connectors (9) intersect at one point on the line comprising an axis of rotation of the shaft (13) of the auxiliary motor (12) mounted on the mobile platform (11).