MANIPULATOR OF A ROBOTIC SURGICAL COMPLEX Russian patent published in 2021 - IPC B25J9/10 A61B34/00 

FIELD: medical equipment.

SUBSTANCE: invention relates to the field of medical equipment, in particular to manipulators of surgical robotic systems for minimal invasive intervention. The manipulator contains a drive mechanism including a drive shaft with the first axis of rotation for turning the manipulator around the longitudinal axis, and a drive mechanism connected by means of a transfer mechanism to the second axis of rotation made below the first axis of rotation and connected to a lever mechanism including support, driving and driven links. The driving link installed on the second axis of rotation is connected to the transfer mechanism, and the driven link is connected to a surgical instrument having a remote center of rotation. The driving and driven links are connected by two intermediate links made according to a pipe-in-pipe type. The driving link is connected to the transfer mechanism by means of a system of pulleys and belt gears. On the second axis of rotation, rigidly connected to the support link, there are two pulleys connected by the belt gear to pulleys rigidly installed on the external intermediate link and one pulley rigidly fixed on the second axis, connected to the pulley rigidly installed on the internal intermediate link.

EFFECT: invention provides a high rigidity of the structure and the necessary freedom of movement of the surgical instrument to ensure the dynamic accuracy of its positioning.

4 cl, 4 dwg