LEADING MANIPULATOR OF THE ROBOTIC SURGICAL COMPLEX Russian patent published in 2023 - IPC A61B34/30 B25J13/02 

FIELD: medical equipment.

SUBSTANCE: invention relates to control devices for manipulators of surgical robotic systems for minimally invasive intervention. The master manipulator comprises a digital control unit configured to receive and process data from encoders of the device assemblies, a lever mechanism rotatable around a vertical axis and including a shoulder and an elbow link movable relative to each other, connected to the respective drives. The ulnar link is connected to the wrist, containing serially connected hinge links and a movable handle with petals. The shoulder and the elbow link are connected to pulleys configured to be moved by separate drives. The articulating wrist links are configured to be moved by drives, including a servomotor and a planetary gearbox. The handle is connected to the output link of the wrist adapted for rotation relative to it and comprises an electric motor with an absolute encoder placed in the body and petals fixed on the body by means of axes. On the motor shaft there is a central lever connected through a system of levers with petals to transfer resistance to the surgeon's hand.

EFFECT: high manoeuvrability of the leading manipulator and provision of tactile feedback to the surgeon to improve the operation safety.

6 cl, 8 dwg