| 摘要 |
A medical robotic system for performing medical procedures comprises a robot manipulator for robotically assisted handling of a medical instrument, in particular a laparoscopic surgery instrument. The robot manipulator comprises a base (24); a manipulator arm with an essentially vertical part supported by the base and with an essentially horizontal part supported by the vertical part; a manipulator wrist (28) supported by the manipulator arm (26); and an effector unit (30) supported by the manipulator wrist (28) and configured for holding a medical instrument (18). The manipulator arm (26) has a cylindrical PRP kinematic configuration for positioning the manipulator wrist (28). More particularly, the PRP kinematic configuration includes a prismatic (P) first joint for varying the height of the vertical part by providing a translational degree of freedom along an essentially vertical axis, a revolute (R) second joint for varying the rotational angle between the vertical part and the horizontal part by providing a rotational degree of freedom about an essentially vertical axis, and a prismatic (P) third joint for varying the reach of the horizontal part by providing a translational degree of freedom along an essentially horizontal axis. |
