| 摘要 |
Robotic system for assisting in minimally-invasive surgery, which can position a surgical instrument in response to orders from a surgeon, is not attached to the operating table and does not require pre-calibration of the insertion point. The system includes: a manipulator robot having three active degrees of freedom, which is provided with an end actuator having two passive degrees of freedom, said actuator being used to attach a surgical instrument; a robot controller built into the structure thereof, which can perform a method for calculating the movement to be imparted to the carried surgical instrument so that it reaches the desired location without requiring pre-calibration and without the assembly having to be attached to the operating table; and an interface system for ordering the system to perform the desired actions. The assembly comprising the robot, the controller and the interface system is battery operated.
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