| 摘要 |
<P>PROBLEM TO BE SOLVED: To provide a manipulator assembly which is adapted to be telerobotically driven by a controller to operate a surgical instrument having a shaft with end portions at distal and base portions. <P>SOLUTION: The manipulator assembly 2 includes: a support base 6 fixable to the surface; an instrument holder 4 coupled movably to the base and having a mount for openably holding the surgical instrument; a drive assembly 7 operably coupled to the instrument holder for providing the instrument with two degrees of freedom; a sleeve 50 which is attached to the support bases of the instrument holder and the drive assembly, and which has an axial path for accepting the shaft of the instrument; and a force sensing element 52 which is coupled to the sleeve and detects a lateral force transmitted to the sleeve by the distal end of the instrument shaft, which is operably coupled to the controller to transmit a signal indicating the lateral force to the controller. <P>COPYRIGHT: (C)2013,JPO&INPIT |
