| 摘要 |
The present invention relates to an active positioning arrangement of a surgical instrument for use on a robotic arm, comprising a support plate (3, 33), which can be connected to a robotic arm (1, 31), a port device (4, 34), which is arranged on the support plate (3, 33) and which is provided for access to the interior of a body, at least one guiding device (6, 36, 59) for guiding a surgical instrument (8, 38, 61) into the body, the shank of the surgical instrument (8, 38, 61) extending through the guiding device (6, 36, 59), and the guiding device (6, 36, 59) being variably connected to the port device (4, 34) via a compensating element (5, 35), and an adjustment device (9, 10, 11, 12, 13, 14, 39, 40, 41, 42, 43, 44, 62, 63, 64, 65, 66, 67) for the guiding device (6, 36, 59) with respect to the port device (4, 34) which is mounted on the support plate (3, 33) and/or the port device (4, 34) and on the other end on the guiding device (6, 36, 59) such that the shank of the surgical instrument (8, 38, 61) can be moved relative to the initial position, in which the longitudinal extent of the surgical instrument runs parallel to the longitudinal extent of the port device (4, 34), in the x direction as well as in the y direction. |
