ROBOTIC SURGICAL SYSTEM Russian patent published in 2021 - IPC A61B34/37 

FIELD: medical equipment.

SUBSTANCE: invention relates to medicine, namely to robotic surgical systems. The system comprises a first instrumental arm equipped with a first surgical instrument, a second instrumental arm equipped with a second surgical instrument, a drive apparatus, and a control unit connected with the drive apparatus with a possibility for communication. The first instrumental arm and the first surgical instrument are configured to pull tissues and organs. The second instrumental arm and the second surgical instrument are configured to perform a surgical operation on tissues and organs. The control unit is configured to receive the value of the Cartesian force applied by the tissues and organs to the first surgical instrument and compare the value of the Cartesian force with a preset value of the force. If the value of the Cartesian force is less than the preset value of the force, the control unit controls the drive apparatus to drive the first instrumental arm and the first surgical instrument in accordance with the preset force value in order to increase the pulling force applied by the first surgical instrument to tissues and organs to the preset force value, so as to provide a state of the outward-directed tension of tissues and organs wherein the second surgical instrument applies force.

EFFECT: reduction in the bleeding during surgery and smoothing of the the incision of the tissue are achieved.

14 cl, 4 dwg