INSTRUMENT HOLDING DEVICE FOR MANIPULATOR OF A ROBOTIC SURGICAL SYSTEM Russian patent published in 2021 - IPC A61B34/30 A61B90/50 

FIELD: medicine.

SUBSTANCE: invention relates to medicine, namely to devices for holding instruments for the manipulator of a robotic surgical system. The device includes: a three-link lever as the end element of an open kinematic chain with the first, second and third lever links; a coupling device for connecting the first lever link to the manipulator by means of a mating swivel joint; torsion joint that connects the first lever link to the second lever link; the first active pivot joint that connects the second lever link to the third lever link; a sliding joint that connects the third lever link to the instrument holder to accommodate the surgical instrument with the longitudinal axis of the instrument; control system with actuators for the torsion joint, the first swivel joint and the sliding joint for moving the lever links and the tool holder relative to each other. The tool holder is connected to the third lever link by means of a second passive swivel joint and is freely rotatable around its axis of rotation. The axes of rotation of the first swivel joint and the second swivel joint are parallel to each other, as a result, the longitudinal axis of the tool is directed through the pivot point with possibility of free rotation in it, located on the axis of rotation of the torsion joint, continuing outward of the second lever link.

EFFECT: increased mobility and, when connecting with other manipulators, minimized risk of collision when moving manipulators.

6 cl, 12 dwg