Surgical instruments and robotic surgical assemblies for robotic surgery

摘要

Problem to be solved: to provide a surgical robot assembly capable of performing an accurate operation in the anatomical area of a patient and controlling the medical instrument of the wrist joint easily.In a surgical instrument for surgical purposes having a frame and a joint deviceThe joint device includes a first joint member 71 adapted to connect to the second joint member 72 of the frame;The first joint member is connected to the second joint member by a rotary jointMedical instrumentsA pair of tendon190 moreA pair of tendonsIt is adapted to move the second joint member to the first joint member by pulling tendonEach of the first joint member and the second joint member isOne or more convex contact surfaces 40 formed in a single componentContains a main structure with 80Each of the convex contact surfacesEverything is parallel to each otherJoint movement axisA wire surface 40 formed by a plurality of straight portions substantially parallel to Y-Y80.Fig.15 C