SURGICAL MANIPULATOR

摘要

The present invention provides a surgical manipulator including a manipulator arm, an end-effector held by the robotic arm, surgical tools held by the end-effector and manipulator joints, particularly right-angle drive devices for transmitting rotational motion in one axis to a perpendicular axis. The surgical manipulator may have up to seven (7) degrees of freedom by using up to four (4) right-angle drive mechanisms.