| 摘要 |
A surgical robot comprises an articulated arm 10 having a terminal/wrist portion comprising: (i) a distal segment 21 having an attachment 13 for a surgical instrument 11; (ii) an intermediate segment 20, (iii) a basal segment 19, (iv) a first articulation 18 between the distal segment and the intermediate segment, permitting relative rotation of the distal segment and the intermediate segment about a first axis 25 (v) a second articulation 15 between the intermediate segment and the basal segment, permitting relative rotation of the intermediate segment and the basal segment about a second axis 22 and (vii) a third articulation 16/17 forming part of the intermediate segment and permitting relative rotation of the distal segment and the basal segment about third 23 and fourth 24 axes, wherein the first, second and third articulations are arranged such that in at least one configuration of the third articulation the first and second axes are parallel and the third and fourth axes are transverse to the first axis. |
