A robotic surgical system for performing minimally invasive Interventions

摘要

A robotic surgical system (10) for performing minimally invasive medical procedures comprises a robot manipulator (14) for a laparoscopic instrument (18) . The manipulator lias a manipulator arm (26) , a manipulator wrist (28) supported by the arm and an effector unit (30) supported by the wrist. The manipulator arm provides three degrees-of-freedom (DOF) for positioning the wrist. The wrist provides two DOF. The effector unit (30) comprises a laparoscopic instrument actuator (LIA: 120