Robotic surgical system, master controller assembly for microsurgery

摘要

A master controller assembly is provided for a robotic surgical system comprising a slave robot assembly and a control unit having a slave surgical instrument.The master controller assembly comprises a master input tool having a manipulating surface which is a convex surface designed to be gripped by the surgeon's fingers.The master input tool is not mechanically restrained by a slave robot assembly and is capable of moving, rotating, swiveling by a surgeon and comprising first and second elongated elements that include first and second bodies which are rigid bodies, and A tool joint is provided for connecting the first and second bodies to make the joint motion.The master controller assembly comprises a sensing assembly for detecting relative positions of the first and second bodies.The clamping pressure action, which is applied to the master input tool by the surgeon's fingers, and moves the first and second bodies closer to each other, determines a pair of gripping motions of the operative gripping device.