FIELD: medicine.
SUBSTANCE: invention relates to medicine, namely to surgical robots for tracking and compensating for bone movement. The surgical robot consists of a robot arm and a tracking device. The robot arm consists of a working body. The robot manipulator has a tool pointing device on the working body. The tracking device consists of a base, a distal end, a block of articulated segments and code sensors. The base of the tracking device is fixed to the working body of the robot arm. The distal end of the tracking device is made to be connected to the clamp. The articulated segment assembly forms a kinematic chain that connects the base to the distal end. The encoders are associated with the articulated segments to track the movement of those articulated segments. The movement of the tracking device is provided and controlled with at least six degrees of freedom.
EFFECT: reduction of errors in positioning and orientation of the working body of the robot manipulator.
10 cl, 8 dwg
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