WRIST CONTROLLER FOR USE IN OPERATOR'S ROBOT-SURGERY SYSTEM CONTROLLER Russian patent published in 2020 - IPC A61B34/37 B25J9/18 B25J13/08 B25J15/08 

FIELD: medicine.

SUBSTANCE: invention relates to medical equipment. Wrist controller (200) for the robot-surgical complex operator control controller includes a rotation mechanism unit (220) and a movable cantilever unit (210). Turning mechanism unit has upper and lower parts, ergonomic shape housing and is configured to be connected to an element which is part of operator controller, to provide a control function of movement of the manipulator with the surgical instrument on three mutually orthogonal axes and independent rotation about a predetermined center, repeating rotation of the radial bone together with the hand around the ulnar bone relative to the longitudinal axis of the operator's hand, to provide function of manipulator rotation with surgical tool around one axis. Movable cantilever block is a flat non-closed mechanism of parallel rigid structure, consists of three links and three kinematic pairs and is configured for attachment on one side to upper part of rotation mechanism unit, and on the other hand to the upper part of the handle, which is part of the operator's controller, and a rotation that repeats the operator's wrist turn in the frontal plane around the anterior-posterior axis lying in the sagittal plane, to provide the function of turning the surgical instrument around one axis. Inside the body of the rotation mechanism unit there is a wrist controller control unit, turn sensor (225) of the movable cantilever unit, which provides electrical signals and transmits them to the wrist controller control unit, and a movable cantilever unit drive element (223). On the outer side of the housing of the rotation mechanism unit there is turn sensor (226) of the turning mechanism unit, which provides electric signals and transmits them to the wrist controller control unit, and drive mechanism (224) of the rotation mechanism unit. Rotation sensor of rotation mechanism unit is located on rotation axis of rotation element drive unit. Wrist controller control unit is configured to transmit movement of rotation mechanism unit and / or movable cantilever block into corresponding independent movement of manipulator with surgical instrument and / or surgical instrument and for transfer of manipulator movement to surgical instrument and / or surgical instrument into corresponding independent movement of said blocks.

EFFECT: improved, more manoeuvrable and accurate control of an element of a robotic process complex with a larger, ergonomically comfortable working area owing to use of the disclosed wrist controller architecture with reduction of static and dynamic load on wrist of operator during operation and providing minimum weight load on wrist during control.

5 cl, 9 dwg