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MASTER CONTROLLER ASSEMBLY FOR A ROBOTIC SURGERY SYSTEM, PARTICULARLY FOR MICROSURGERY
MASTER CONTROLLER ASSEMBLY FOR A ROBOTIC SURGERY SYSTEM, PARTICULARLY FOR MICROSURGERY
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机译:用于机器人外科系统的主控制器组件,特别是对于显微外科
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摘要
A master controller assembly for a robotic surgery system has a slave robot assembly, a slave surgical instrument and a control unit. The master controller assembly has a master input tool and a convex manipulandum surface to be hand-held by surgeon's fingers. The master input tool is mechanically unconstrained from the slave robot assembly, naturally movable, rotatable and spinnable by the surgeon. The master input tool includes first and second elongated elements having respectively a first element elongated body and a second element elongated body. A tool joint connects and articulates the first and second element elongated bodies. A sensing assembly detects mutual position of the first and second element elongated bodies, so that a gripping pressure action exerted by the surgeon's fingers on the master input tool moves the first and second element elongated bodies closer and determines a paired grip motion of a surgical grip device.
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