| 摘要 |
PROBLEM TO BE SOLVED: To provide a manipulator assembly that is adapted to be robotically-actuated by a controller for manipulating surgical instruments of a kind having a shaft with a distal end and a base end.SOLUTION: A manipulator assembly 2 includes: a support base 6 fixable to a surface; an instrument holder 4 movably mounted on the base, and having a mount for releasably mounting the surgical instrument; a drive assembly 7 operatively coupled to the instrument holder for providing the instrument with two degrees of freedom, a sleeve 50 mounted on the drive assembly and the distal support base of the instrument holder, and having an axial direction passage for receiving a shaft of the instrument; and a force sensing element 52 coupled to the sleeve, and for detecting lateral forces transmitted to the sleeve from the distal end of the instrument shaft, the force sensing element operably connected to a controller for transmitting lateral force signals to a controller. |
