SURGICAL MANIPULATOR WITH RIGHT-ANGLE PULLEY DRIVE MECHANISMS

摘要

A surgical manipulator including a base (404) with a first right-angle drive mechanism (406), a lower robotic arm (408) connected on one end to the first right-angle drive mechanism and on the other end to a second right-angle drive mechanism (410), a robotic forearm (412) connected on one end to the second right-angle drive mechanism and on the other end to a third right-angle drive mechanism (416), a robotic wrist (420) including an actuation mechanism coupled to a wrist output shaft, and an end effector (428) including gripping means for releasably gripping a surgical tool (430), where the right-angle drive mechanisms each include a harmonic drive means (56), a bi-directional coupling mechanism, and an input and an output pulley (54, 20) which are mounted substantially perpendicular relative to each other The end effector may be rotated by the actuator on an output shaft of the robotic wrist.