| 主权项 |
1. A robot structure for minimally invasive surgery, comprising:
a first robot element and a second robot element that can be moved relative to the first robot element, said second robot element having two grasping and cutting elements which can be uniformly moved with respect to each other and which are connected to the first robot element via a hinge axis, a force transmitting device for moving the grasping and cutting elements of the second robot element and at least one sensor element comprising a sensitive end for receiving forces and moments that occur on the second robot element and comprising a base element that is fixed to the first robot element, wherein the hinge axis is supported in a support element in order to receive the forces and moments that are caused by grasping and contact forces on the grasping and cutting elements, and the support element is connected to the sensitive end of the at least one sensor element, and the force-transmitting device is connected to each of the grasping and cutting elements via a driving element, respectively, in order to initiate the movement, with the driving elements being disposed opposed to each other and in a substantially orthogonal manner with respect to a central axis of the robot structure and maintaining the substantially orthogonal manner with respect to the central axis during an entire moving process of the grasping and cutting elements, wherein a respective guiding element guides each of the driving elements such that the driving elements maintain the substantial orthogonal manner with respect to the central axis during the entire moving process of the grasping and cutting elements, wherein the guiding elements are each designed as guiding levers. |
