| 摘要 |
A medical robot (10) according to the invention comprises a base (11.0), an instrument flange (12) for attaching a minimally invasive instrument (20), which instrument flange is connected to the base in such a way that the instrument flange can be moved by means of an actuated kinematic system (11.1 - 11.7), and a tube flange (3.1) for attaching a tube (3.2), wherein the tube flange is connected to the kinematic system by means of a movable joint assembly (30), which has at least one actuated, in particular electrically actuated, and/or at least one elastically bound passive joint and/or at least one lockable joint (31 - 37). |
