| 摘要 |
FIELD: medicine.SUBSTANCE: invention refers to medicine, and is applicable for the purpose of endosurgical procedures. A robotic system comprises a remote control and 3-5 manipulators with an instrument platform comprising a driven instrument assembly. Each manipulator comprises a support, four step motors each of which having a lever on its shaft; the support finishes from both sides with upper hinged handpieces attached to rods with their other ends coupled with lower hinged handpieces. The lower hinged handpieces are attached to a tray whereon a bronze weight is vertically pressed; the weight is rotatable about an X axis of a jaw with end holes to thread joint-pins of the instrument platform to enable it moving along the Y axis. The instrument platform is supplied with two step motors with their shafts having cog-wheels fixed to enable the engage of wheel holes in the instrument assembly and mechanical transmission of the step motor rotation to the rotation of instrument branches or shank about the axis. One step motor enables controlling the instrument branches or shank, while another one controls the instrument turn-round. By means of the holes formed in the supports the manipulators are rigidly fixed on a carrying frame winged to the operating theatre ceiling.EFFECT: using the invention provides higher ergonomics of the robotic system, its mobility, reliability and safety.4 dwg |
