SELF-CONTAINED MOBILE MODULE OF ROBOTIC SURGICAL INSTRUMENT Russian patent published in 2020 - IPC A61B34/30 

FIELD: medicine.

SUBSTANCE: group of inventions relates to medicine. Manipulator of the surgical instrument as a part of the autonomous mobile module of the robotic surgical instrument includes a fixed platform, a movable platform, a mechanism of parallel kinematics, a drive and a unit of conjugation of a drive with a hexapod. Mechanism of parallel kinematics is made in form of hexapod, which connects fixed platform and movable platform and is made with possibility of controlled manoeuvring by movable platform. Drive is configured to attach a removable surgical instrument thereto and bring said surgical instrument into motion. Interface unit of said drive with hexapod is located inside hexapod and fixed on movable platform. Coupling unit is configured to linearly move the drive with a replaceable surgical tool in a reciprocating direction through a movable platform. Replaceable surgical working tool for use with the manipulator drive includes a body and a surgical end effector. Housing is made in form of mounting part and elongated hollow tubular housing. Mounting part has access surface, in which mechanism of quick-detachable installation or removal of detachable surgical instrument is provided for connection with drive housing. Elongated hollow tubular housing is made with possibility of functional interaction with drive. Surgical end effector is in form of a hinge section with a rotatable body and a fork body. Fork body is rigidly connected to distal end of elongated hollow tubular housing. Turning housing is installed on the fork body axis. First branch and second branch are installed on rotary case axis. Inside the mounting part there is a rope mechanism, which comprises three rotary elements configured to receive rotary movement from the drive, and ropes fixed on rotary elements and passing through elongated hollow tubular housing for connection with elements of hinged section of end effector. Ropes of two rotary elements transfer traction force to each branch for angular movement of the corresponding first branch and the second branch relative to longitudinal axis of swivel body of end effector. Cable of third rotary element transmits traction force to rotary case of end effector for its angular movement relative to axis of elongated hollow tubular case of surgical instrument. End effector turning mechanism comprises a gear mechanism to rotate the fork body of the end effector around the axis of the elongated hollow tubular body of the surgical instrument, configured to receive a rotary motion from the drive. Fork body of end effector of surgical working tool is made with two guide rollers. Rotary case is made together with guide channel. Guide channel of the rotary case and the guide rollers of the fork body, which are located on both sides of the guide channel, are installed on the axis of the fork body. Each of the branches has a lower roller part and is installed on the axis of the rotary housing perpendicular to the housing axis. Corresponding rope is fixed in the lower roller part of the corresponding branch so that each of the rope branches is laid opposite to its groove on the branch, by bending it on both sides of the lower roller part and passing corresponding guide rollers of rotary housing, guide rollers of fork body through elongated hollow tubular housing to rotary elements of cable mechanism for angular movement of branches. Third cable wraps the guide channel of the rotary case and, via the elongated hollow tubular case, is connected to the rotary element of the rope mechanism for angular displacement of the rotary body of the end effector relative to the axis of the elongated hollow tubular body.

EFFECT: invention provides higher accuracy of positioning and higher manipulation capabilities of the surgical instrument.

16 cl, 12 dwg