Positioning device for an active surgical tool for use in a robotic arm and a robotic surgical system for the implementation of surgery in human body.

摘要

Summary "active positioning device of a surgical tool for use in a robotic arm and a robotic surgical system for the implementation of surgery in human body, the present invention relates to an arrangement for positioning a surgical instrument to use active Will be in a robotic arm, which comprises a support plate (3, 33), which may be connected to a robotic arm (1, 31).A device for door (4, 34), which is arranged in the support plate (3, 33) and which is provided for access to the interior of a body, at least one guide device (6, 36, 59) for guiding a surgical tool (8, 38, 61) inside. The body, stem of the surgical tool (8, 38, 6 1) that extends through the guide device (6, 36, 59) and the guide device (6, 36)59) variable connected to the door of the device (4, 34) by means of a compensation element (5, 35), and a setting device (9, 10, 11, 12, 13, 14, 39, 40, 41, 42, 43, 44, 62, 63, 64, 65, 66, 67) to the guide device (6, 36, 59) with respect to the device of door (4, 34), which is m. Ontado in the support plate (3, 33) and / or device door (4),34) and at the other end in the guide device (6, 36, 59) such that the rod of a surgical tool (8, 38, 6 1) can be displaced in relation to the initial position, in which the longitudinal extent of the surgical tool is parallel to the longitudinal extent of the device of door. (4, 34), in the direction X and in the direction Y. 1 / 1