ACTIVE POSITIONING ARRANGEMENT OF SURGICAL INSTRUMENT AND ROBOTIC SURGICAL SYSTEM COMPRISING SAME Russian patent published in 2018 - IPC A61B34/00 A61B34/30 A61B34/35 A61B90/11 A61B17/34 B25J9/02 

FIELD: medicine.

SUBSTANCE: group of inventions relates to medicine. Active positioning arrangement of a surgical instrument for use on a robotic arm, comprising a support plate, a port device, at least one guiding device for guiding a surgical instrument into the body and an adjustment device for the guiding device with respect to the port device. Support plate can be connected to the robotic arm. Port device is arranged on the support plate and is provided for access to the interior of a body. Shank of the surgical instrument extends through the guiding device. Guiding device is variably connected to the port device via a compensating element. Adjustment device is mounted, on one end, on the support plate and/or the port device and, on the other end, on the guiding device such that the shank of the surgical instrument can be moved around the point of rotation in both the x-direction, and in the y-direction with respect to the initial position, in which the longitudinal extent of the surgical instrument runs parallel to the longitudinal extent of the port device. Adjustment device has two controllable drives, which are made in the form of actuators arranged orthogonally to each other. Between the guiding device and the support plate or port device, a lever mechanism on a ball bearing is provided, such that through the actuators, by means of the lever mechanism on a ball bearing, the guiding device is positioned with respect to the initial position independently in the x-direction and in the y-direction. Surgical robotic system for performing operations in the human body comprises a control device, which is arranged to be serviced by a user for carrying out an operation, and a support structure, on which two or more robotic arms are located. Robotic arms are movable by means of the control device, wherein at least one robotic arm is provided with an active positioning device of the surgical instrument.

EFFECT: invention enables to shift the patient during the operation without the need to limit the freedom of movement of the surgical instrument after shifting, and also reduces the installation space of the robotic system.

16 cl, 10 dwg