公开(公告)号：US20100185211A1

公开(公告)日：2010-07-22

申请号：US12665504

申请日：2008-06-12

申请人： Benoit Herman ,  Benoit Raucent ,  Khanh Tran Duy ,  Jacques Donnez ,  Roland Polet

发明人： Benoit Herman ,  Benoit Raucent ,  Khanh Tran Duy ,  Jacques Donnez ,  Roland Polet

IPC分类号： A61B19/00

CPC分类号： B25J9/1065 ,  A61B34/30 ,  A61B90/11 ,  A61B90/50 ,  A61B2090/506 ,  B25J17/0266

摘要： The present invention concerns hybrid manual-robotic system for supporting and moving a surgical instrument having active main structure (100) that comprises: a) a base (2) for attachment to an operating table having an operating surface (150); b) a hexahedral-shape frame (3), which shape is formed from a first (5, 5′) and second (4, 4′) pair of opposing parallelograms and opposing proximal (6′) and distal (6) rectangles, which frame (3) is formed by at least seven links (7, 8, 9, 10, 11, 12, 13, 22, 23) connected by revolute joints (14, 15, 16, 17, 18, 19, 20, 26, 27, 109), whereby a) a pair of parallel base links (7, 13) of the proximal rectangle (6′) is coupled to the base (2) by two revolute joints (116, 117), and are configured to lie and remain essentially perpendicular to the plane of the 10 operating surface (150) and to revolve around their longitudinal axes that coincide with the axes of revolution of joints (116, 117), whereby b) said revolute joints are configured to allow the hexahedral frame (3) to freely adopt a cube, or parallelepiped restricted by said perpendicular coupling; and whereby c) the distal rectangle (6) is coupled through a transmission means (200) to said instrument.

摘要翻译： 本发明涉及用于支撑和移动具有活动主体结构（100）的手术器械的混合手动机器人系统，其包括：a）用于附接到具有操作表面（150）的操作台的基座（2）; b）六面体形框架（3），其形状由第一（5,5'）和第二（4,4''）对相对平行四边形和相对的近端（6'）和远端（6）矩形形成， 所述框架（3）由至少七个通过旋转接头（14,15,16,17,18,19,20）连接的连杆（7,8,9,10,11,12,13,22,23）形成， 26，27，109），其中a）所述近侧矩形（6'）的一对平行基座连接件（7,13）通过两个旋转接头（116,117）联接到所述基座（2）上，并被配置 基本上垂直于10操作表面（150）的平面并且围绕其与接头（116,117）的旋转轴线重合的纵向轴线旋转，由此b）所述旋转接头被配置为允许 六面体框架（3）自由地采用立方体，或由所述垂直耦合限制的平行六面体; 并且由此c）所述远侧矩形（6）通过传动装置（200）联接到所述仪器。