| 摘要 |
FIELD: machine building. ^ SUBSTANCE: invention refers to manipulators, particularly to robotised surgical systems for minimal invasions. The system consists of robot-manipulator (14) for manipulating laparoscopic tool (18). The robot-manipulator has arm (26) with joint (26) supported with this arm and actuating block (30). Arm (26) facilitates three degrees of freedom by means of first (J1), second (J2) and third (J3) of joints. Each joint has drive (51, 61, 71) for transfer of a wrist joint. The wrist joint ensures two degrees of freedom by means of fourth and fifth (J5) joints. Joints (J4) and (J5) are rotary and have drive (81, 101) for setting incline angles of actuator (30) in cross and lengthwise directions. Actuator (30) has drive of laparoscopic tool (LTD) (120, 1120) and provides one degree of freedom by means of rotary sixth joint (J6) having drive (141) for setting angle of LTD turn. LTD has seat (130, IZO) with mechanism (406, 1423) of engagement for attaching adaptor (300, 1300) of a tool shank end to the actuating unit and a drive mechanism (400, 1400) for actuating the laparoscopic tool with the adaptor. The actuator contains a force sensor with six degrees of freedom and an accelerometer with six degrees of freedom. ^ EFFECT: robotised implementation of available standard tools developed for normal not-automated procedures, manoeuvrability without excessive joints comparable with manipulations of surgeon hands. ^ 24 cl, 30 dwg |
