| 摘要 |
The invention relates to a robot device that is used to guide surgical instruments for treating bone matter. The inventive device is of the type that comprises a robotic arm (1) with at least five degrees of freedom which can support a surgical instrument (3) at the end thereof. Moreover, said system comprises a control system consisting of an articulated arm (2) with at least six degrees of freedom, the free end (21) of which is intended to be manoeuvred manually by the surgeon. The aforementioned articulated arm (2) is equipped with means (20) which, together with the motor means (10, 11, 12, 14) of the robotic arm (1), enable said robotic arm to reproduce all the movements of the articulated arm (2). The aforementioned motor means (10, 11, 12, 14) are connected to means of registering the authorised limit positions which are pre-determined by the pre-positioning of the surgical instrument (3) on the contour of the desired work envelope. |
