An operating head for a medically - surgical manipulator and medically - chirugischer manipulator with such a working head

摘要

The present invention relates to a working head (1) for, as well as a manual or motorized medically - surgical manipulator, wherein the work head (1) a base part (2), a relative to and on this base part (2) by a first pin (3) turnably movable tilting member (4) and a on the tilting member (4) and arranged with respect to the tilting member (4) by a second pin (5), which is orthogonal to the first pin (3) is arranged, so as to be designed in the form of a tool (6) and the tool (6) from a first tool part (7) and a second tool part (8), this tool parts (7, 8) in each case have an operating roller (9), the pivoting movements of the tool (6) as well as the tilting member (4) by means of traction means (10, 11, 12, 13) is carried out, the work head (1) further comprising guide rollers (14) is provided, via which the traction means (10, 11, 12, 13) are guided, and the tilting member (4) of the work head (1) is designed so that it guides (15) with sliding surfaces (16) and in this case these slideways (15) on the tilting member (4) formed in such a manner and the guide rollers (14) of the work head (1) in the region of the pivotably movable connection of the base part (2) and the tilting member (4) as well as the traction means (10, 11, 12, 13) are disposed so that the traction means (10, 11, 12, 13) in a mutually relative angular position of the base element (2) and the tilting member (4) with a relative angle (α) between the base part (2) and the tilting member (4) the traction means (10, 11, 12, 13) independently of this angular position is always a contact region with the sliding surfaces (16) of the sliding guides (15) as well as a function of the relative angle (α) a contact region with the guide rollers (14) and the traction means (10, 11, 12, 13) thus always by means of the sliding guides (15) and in a manner, in addition, by means of the guide rollers (14) are guided.