| 摘要 |
A medical instrument assembly and robotic medical system are provided. The assembly comprises an insert including a shaft, a coupler carried on a proximal end of the shaft, a distal tool carried on a distal end of the shaft for performing a medical procedure on a patient, and at least one cable extending within the shaft. The coupler has at least one wheel that engages the cable(s) to effect movement of the insert within at least one degree of freedom, and each instrument wheel has a half-moon portion. The assembly further comprises an adapter including a base piece for receiving the shaft, and a coupler having at least one adapter wheel having a complementary half-moon portion configured for respectively engaging the half-moon portion of the instrument wheel(s). The system comprises the previously described assembly, and a drive unit coupled to the adapter wheel(s) to move the insert within the degree(s)-of-freedom.
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