ASSISTING SURGICAL COMPLEX Russian patent published in 2020 - IPC A61B34/37 B25J9/18 B25J13/06 B25J13/08 B25J15/02 G05B19/19 G05B19/402 G05B19/404 G05B19/414 

FIELD: medicine.

SUBSTANCE: invention refers to medical equipment, namely to assisting surgical complexes (2000) for high-precision minimally invasive surgical operations. Complex comprises an actuating console of the patient, an operator input console and a numerical program control system (2200). Executive console comprises combined manipulator (2310) with a surgical instrument mounted thereon, camera manipulator (2320) with a camera mounted thereon for viewing the surgical site, manipulator positioning system (2340) and apparatus for calculating and evaluating forces acting on a surgical instrument. Input console includes an operator's controller (2110) for controlling movement of the surgical instrument with possibility of switching to the camera control mode using the control pedal and digital control unit (2150). Combined manipulator comprises a mechanism with driving elements and a portal mechanism in the form of modules of transverse and longitudinal movement, respectively. Mechanism with drive elements is installed on module of transverse displacement with possibility of movement along it in transverse direction. Module of transverse movement is installed on module of longitudinal movement with possibility of movement along it in longitudinal direction. Tools for calculating and evaluating forces include top and bottom three-axis strain gauges and made in form of a current sensor for the electric motor of the tool drive a sensor for capturing the force of the tool and surgical instrument rotation moment sensor. Operator controller comprises delta robot and strain platform arranged between movable platform and fixed support platform of delta robot. Control handle is attached to the movable platform to be covered by the operator's hand and configured to control and convert the operator's hand motion digital signal into three rotational degrees of freedom and force action on the strain platform by three linear degrees of freedom.

EFFECT: higher accuracy of control, a more complete set of robot-surgical functions with the possibility of controlled rotation of the camera during operation on any permissible angle of rotation with simultaneous correction taking into account this rotation of the coordinate system of instruments and controller, as well as reducing preparatory-final operation time.

6 cl, 15 dwg