The manipulator of offset remote center

The manipulator of offset remote center

  • CN 101,912,307 A
  • Filed: 09/09/2005
  • Published: 12/15/2010
  • Est. Priority Date: 09/30/2004
  • Status: Active Application
First Claim
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1. remote center manipulator, it is used for the pivoting action with the coupled operating theater instruments of devices hold in the minimally invasive robotic surgery process, described operating theater instruments comprises the prolongation axle, this axle has near-end and far-end operational terminal, thereby it is configured the body cavity that inserts patient by the otch of body wall, and described remote center manipulator comprises:

  • Linkage base;

    By first linkage that described linkage base pivotally supports, first linkage has first shell;

    WithBe suspended between proximal pivotal joint and the distal pivotal joint and constitute second linkage of the second linkage axis betwixt, described proximal pivotal joint is with described second linkage and the coupling of described first linkage, described distal pivotal joint is with described second linkage and the coupling of described devices hold, described first and second linkages are restricted to pivoting action around center of rotation to the described transverse movement that prolongs axle, described center of rotation is arranged along described prolongation axle, described second linkage has second shell, described second shell has recess, described recess is disposed between first joint and second joint and with first joint and second joint and is separated, thereby when the described near-end that prolongs axle during to described linkage base motion, first shell of described first linkage can stretch into recess and stride across the described second linkage axis.

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