ENDOSCOPE FOR MINIMALLY INVASIVE SURGERY AND SURGICAL ROBOTIC SYSTEM Russian patent published in 2018 - IPC A61B34/00 A61B34/30 A61B34/35 A61B90/11 B25J9/02 

FIELD: medicine.

SUBSTANCE: retaining and positioning device of the instrument for minimally invasive surgery for use within the surgical robotic system contains: a tool drive assembly; a telescopic device, on which a surgical instrument is fixed by means of the tool drive unit; a drive assembly that has a first axis of rotation around which a retaining member is rotatably arranged. Due to the telescopic device, the surgical instrument is linearly movable along its longitudinal axis of the instrument into the body by means of a guide device. The first axis of rotation is constantly intersected with the longitudinal axis of the surgical instrument at the point of rotation. A linear actuator is located on the retaining member, and the telescopic device is located on the connecting leash formed as a connecting hinge. The linear actuator is made to apply force on the point of linear actuator fastening made on the connecting leash in the form of a turning point. The tool drive unit on the telescopic device is rotatably mounted by the turning point of the tool. The connecting leash has a connecting turning point that is rigidly connected to the retaining member and defines the second axis of rotation that is perpendicular to the first axis of rotation and spaced apart from it so that, by bringing forces through the linear actuator onto the connecting leash, connecting leash turning around the second axis of rotation can be implemented, whereby the longitudinal axis of the surgical instrument is variable adjustable depending on the linear actuator relative to the telescopic longitudinal axis of the telescopic device and the tool drive unit is rotatable around an axis orthogonal to the first axis of rotation about the rotation point. The surgical robotic system contains several retaining and positioning devices. At least two retaining and positioning devices are located on a fastening system extending substantially transversely relative to the retaining and positioning device. The fastening system is made of a connecting platform for each retaining and positioning device, respectively. The connecting platforms are connected to each other, respectively, rigidly or by means of hinges.

EFFECT: extension of the pre-positioning adjustment range for the mechanical arm fastening device, reduction of the installation space and greater compactness and weight of the structure.

13 cl, 22 dwg