Improved remote center-of-motion robot for surgery

摘要

An apparatus used to assist a surgeon in surgery is divided into two parts, proximal and distal. The apparatus has a number of rigid links (1 - 4) which rotate about pivots (A - L) to position and re-position an instrument (11), like a surgical instrument, at a work point (Cmot) proximal to a patient but remote from the apparatus. The links cooperate in a way to move the manipulator about a center-of-motion (Cmot) with orthogonally decoupled degrees of freedom resolved at the work point. The proximal part (26) of the apparatus is adjustably fixed to a stationary object, like an operating table (22), while the distal part (25) of the apparatus holds the instrument (11). Certain links which can be adjusted in length, move the distal part with respect to the proximal part of the apparatus. In this manner, the work point of the manipulator and the working radius of the apparatus are changed without moving the proximal part. Actuators, manual or remotely (computer) controlled, both rotate the links about their pivots and adjust the length of the adjustable links. All the actuators can be mounted on the proximal part of the apparatus and electrically isolated from the manipulator in order to reduce the shock hazard to the patient. IMAGE