OPERATOR CONTROL UNIT FOR ROBOTIC SURGICAL COMPLEX Russian patent published in 2020 - IPC A61B34/37 B25J13/06 

FIELD: medicine.

SUBSTANCE: invention refers to medicine, namely to monitoring and controlling robotic surgical complexes for conducting minimally invasive surgical operations. Operator control system for the robot-surgical complex comprises a fixed support platform, a movable platform, an actuating mechanism of the actuator and a tensoplatform. Movable platform is located parallel to fixed support platform and is connected to it by means of actuator of parallel structure. Actuator of the parallel structure represents three kinematic chains connected by their one ends to the corresponding bearing units fixed on the fixed support platform, and by other ends – to the movable platform. Each link of drive mechanism is made in the form of crank-and-rod mechanism actuated by servo drive with ball-screw transmission. Tensoplatform is installed between movable platform and fixed support platform and is connected to the latter by means of cylindrical guides. On tensoplatform, strain gages are arranged adjacent to platform due ball-screw transmission. To the movable platform the control handle is attached with the possibility of its coverage by the operator's hand and configured for control and conversion into digital signal of operator's hand movement in at least three rotational degrees of freedom and force action on tensoplatform by three linear degrees of freedom. Signal generated on the strain gauges is transmitted to a digital control unit of the controller which calculates and transmits a weight compensation command to the servo drive of the corresponding link of the drive mechanism of said actuator.

EFFECT: invention provides reduced load on hands of surgeon and higher accuracy of determining position and range of movement of hands.

8 cl, 11 dwg