ROBOTIC SURGICAL COMPLEX MANIPULATOR CONTROL DEVICE Russian patent published in 2021 - IPC A61B34/37 B25J13/06 

FIELD: medicine.

SUBSTANCE: invention relates to medicine, namely to control devices for manipulators of a robotic surgical complex. The device contains a lever mechanism, a control handle and a digital control unit. The linkage mechanism includes two levers connected to each other with the possibility of movement. The first of the levers is connected through the first intermediate insert and the axis of rotation with the shaft, made with the possibility of rotation relative to the fixed support, and by means of the first intermediate insert, bracket, the first intermediate lever with the first pulley-balancer mounted on the common axis of rotation. The second lever at one end is connected to the control handle, and at the other end through the second intermediate insert, cable transmission and the second intermediate lever with the second pulley-balancer. Balance pulleys are connected by means of a cable and tension rollers to drums mounted on the shafts of the servomotors. The control handle includes a frame consisting of two arcs located in perpendicular planes and connected to the second lever with the possibility of rotation about the axis connecting them. The control handle includes an arcuate base, fixed on the axis of intersection of the arcs of the frame with the possibility of rotation relative to the axis connecting them, and a handle made with the possibility of rotation and compression-release of the levers with petals fixed on it.

EFFECT: increased maneuverability of the manipulator control device while ensuring smooth and natural movements of the surgeon's hands.

6 cl, 5 dwg