COMBINED MANIPULATOR OF ROBOTOSURGICAL COMPLEX Russian patent published in 2020 - IPC A61B34/30 B25J9/08 B25J9/12 

FIELD: medicine.

SUBSTANCE: invention refers to medicine, namely to combined manipulators of a robot-surgical complex. Manipulator includes mechanism equipped with drive elements, and portal mechanism. Mechanism equipped with drive elements is made in the form of a fixed support platform and a movable platform interconnected by means of three rods. Movable platform is configured to receive a surgical instrument thereon. Portal mechanism is made in the form of module of transverse displacement and module of longitudinal movement, each of which is equipped with drive unit. Module of transverse movement is installed on module of longitudinal movement with possibility of movement along it in longitudinal direction. Each of said portal mechanism modules is made in the form of support frame of four racks arranged in pairs perpendicular to each other. Rails in pairs are arranged parallel, at that one pair of racks is equipped with linear guides. Carriages with stationary support platform fixed on them are arranged on linear guides of first transverse displacement module. On linear guide rails of the first pair of the module of longitudinal displacement there are two carriages with a mounting pad fixed on each of them, which is fixed on the mounting plane of the inner surface of the racks from the second pair of rails of the module of transverse displacement.

EFFECT: small dimensions and weight of the manipulator are achieved with sufficient rigidity of the structure, dynamic accuracy of positioning, sufficient mobility and freedom of the output link, on which the surgical instrument is installed.

7 cl, 7 dwg