ROBOTIC SYSTEM FOR HOLDING AND MOVING SURGICAL INSTRUMENT DURING LAPAROSCOPIC OPERATIONS Russian patent published in 2021 - IPC A61B34/30 

FIELD: medicine.

SUBSTANCE: invention relates to medicine, namely to robotic systems for holding and moving an instrument during an operation. The system contains a robot made with the possibility to hold and move a surgical instrument inside the anatomical area. The robot includes a unit for capture and retention of the instrument, as well as a structure that ensures the movement of the unit for capture and retention of the instrument. The specified structure includes the first link and the second link, which are made with the possibility of rotation relatively to the axes of rotation of the first and second links, respectively. The structure is made in such a way that the axes of rotation of the first and second links intersect at the point of entry of the instrument into the patient's body. The unit for capture and retention of the instrument is attached to the structure that ensures the movement of the unit for capture and retention of the instrument by means of the first and second cylindrical hinge joints. The axes of rotation of the first and second cylindrical hinge joints are mutually perpendicular and intersect at the intersection point of the axes of rotation of the first and second cylindrical hinge joints. The intersection point of the rotation axes of the first and second cylindrical hinge joints, together with the intersection point of the rotation axes of the first and second links, are located along the axis of the surgical instrument. The deviation of the intersection point of the rotation axes of the first and second links from the point of entry of the instrument into the patient's body leads to a change in the rotation angles of the first and second cylindrical hinge joints.

EFFECT: the patient is not injured when he is displaced relatively to the initial position.

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