| 摘要 |
A surgical robotic component comprising an articulated terminal portion 33, the terminal-portion comprises: a distal segment 61 with an attachment 63 for a surgical tool; a base segment 60 for attaching the terminal-portion to the remainder of the robotic-component; and between the distal and base segments, an intermediate compound joint 62 permitting relative rotation of the distal and base segments about first, second and third axes A1,A2,A3. The terminal-portion is arranged such that in at least one configuration of the compound-joint: (i) the axial direction of the base and distal segments are parallel; and (ii) the first, second and third axes are transverse to the axial directions of the base and distal segments. The compound-joint may comprise first, second and third revolute joints 64,65,66 allowing distal segment rotation relative to the base segment about the first, second and third axes respectively. The resolute joints may be independently driven by drive shafts. Between the distal segment and the attachment, there may be an additional revolute joint 73 allowing attachment rotation about the distal segments axial direction. The robotic component may be a surgical robot arm, where the surgical tool may be a surgical instrument which terminates in a surgical end effector. |
