| 摘要 |
A robotic surgical system (10) for performing minimally invasive medical procedures comprises a robot manipulator (14) for a laparoscopic instrument (18) . The manipulator lias a manipulator arm (26) , a manipulator wrist (28) supported by the arm and an effector unit (30) supported by the wrist. The manipulator arm provides three degrees-of-freedom (DOF) for positioning the wrist. The wrist provides two DOF. The effector unit (30) comprises a laparoscopic instrument actuator (LIA: 120; 1120) and provides one degree-of-freedom by means of a revolute sixth joint (J6) for setting the roll angle of the LIA. The LIA comprises a seat (130; 1130) for mounting an instrument stem adaptor (300, 1300) to the effector unit, and an actuation mechanism (400; 1400) cooperating with the instrument stem adaptor for actuating a laparoscopic instrument connected to the adaptor. The effector unit comprises a 6 DOF force/torque sensor and a 6 DOF accelerometer. |
