| 摘要 |
The invention relates to a manipulator (1) for minimally invasive surgery, having a main arm (2) with: • a proximal end (3) equipped with a control interface (3a) and • a distal end (3b) insertable into the body of the patient (4), the distal end (3b) carrying a controlled manipulation head (6), of which the movements are controlled by way of the control interface (3a), the controlled manipulation head (6) comprising: - a base (17) articulated in such a way as to pivot about a pivot axis (P) perpendicular to the longitudinal axis (I-I) of the main arm (2), - a gripping clamp (7) comprising a first and a second gripping end (8, 9) with respective gripping surfaces (8a, 9a), the gripping ends (8, 9) being articulated on an articulation axis (10) between an open position and at least one gripping position, the gripping clamp (7) being mounted rotatably on the base (17) about an axis of rotation (R). The gripping surface (9a) of the first gripping end (9) of the gripping clamp (7) defines at least two support lines (L1, L2), and the gripping surface (8a) of the second gripping end defines at least one opposite support line (L3) which is arranged in a plane (H) perpendicular to the axis of articulation of the gripping clamp (7), said perpendicular plane (H) with the opposite support line (L3) being situated between said two support lines (L1, L2) of the first gripping end, and at least one gripping end has at least one relief for angled positioning a suture needle with respect to the axis of rotation. |
