MEDICAL ROBOTISED SYSTEM Russian patent published in 2011 - IPC B25J9/00 

FIELD: machine building.

SUBSTANCE: invention refers to manipulators, particularly, to medical robotised systems (MRS). MRS consists of robot-manipulator (14) for manipulating medical tool (18). Robot-manipulator (14) consists of base (24), arm (26) of the manipulator having in essence vertical part (27), of in essence horizontal part (29) of wrist joint (28) of the manipulator and of actuator (30) for a medical tool. Manipulator arm (26) has a cylinder (PRP) kinematic configuration for coordinate transfer of wrist joint (28) of the manipulator. PRP configuration has prismatic (P) first joint (J1) for change height of vertical part due to progressive degree of freedom along vertical axis, rotary (R) second joint (J2) for change of angle of turn between the vertical part and horizontal part due to rotary degree of freedom around vertical axis and prismatic (P) third joint (J3) for change of accessibility of the horizontal part due to progressive degree of freedom along horizontal part.

EFFECT: improved kinematic configuration of robot-manipulator.

25 cl, 30 dwg