Patent RU-2720841-C1 (RU)
Title: Robot-surgery complex manipulator positioning system
Inventor: Pushkar Dmitrij Yurevich
IPC: A61G13/10
Filed: 2019-12-12
Granted: 2020-05-13
Abstract: FIELD: medicine. 
     SUBSTANCE: invention refers to medicine, namely to a system for positioning manipulators of a robot-surgical complex. Proposed system comprises apron (7) and displacement system. Apron arranged on one side of surgical table comprises attachment device to standard attachment points of additional equipment of surgical table and is equipped with guides (11). Displacement system is made in form of horizontal element (6) installed on apron, vertical column (8) installed on horizontal element, and positioning mechanism (1) of manipulator with surgical tool made with possibility of arrangement in upper part of vertical column. Horizontal element is made with possibility of vertical movement relative to surgical table along guides of apron by means of two carriages (23) fixed on them and moving along them. Horizontal element is equipped with guides (12). Vertical column is made in the form of two-component telescopic rack and is equipped with guides (24) on the inner side and guides (16) from the front side. Column is made with possibility of horizontal movement along horizontal element along its guides by means of two carriages (10) fixed on them and moving along them. At that, the column is made with possibility of vertical movement relative to the horizontal element along the guides by means of two carriages (14) placed on connecting module (15). Connection module is installed on carriages of horizontal element. Column is made with possibility of vertical movement relative to horizontal element in such range that positioning mechanism of manipulator moved above level of surgical table in working position and below level of surgical table in idle position. Positioning mechanism of manipulator is fixed on connecting element (4) and includes rotary cantilevers (2, 5) made with possibility of rotation in horizontal plane. Connecting element together with the positioning mechanism of the manipulator is made with possibility of vertical movement relative to the horizontal element along the column along guides of the front side of the column by means of two carriages fixed on them and moving along them. Rotary cantilevers are made with possibility of rotation in horizontal plane so that console, being above surface of surgical table in working position, made complete revolution by 360º and had the possibility of limited turn under table surface in non-operating condition. Console is made with possibility of attachment on it of attachment and positioning (3) of manipulator with surgical instrument. Unit is made with possibility of rotation around its axis to bring the manipulator into the working position. All elements of the system are equipped with servo drives and controllers configured to receive and transmit control commands from the central control unit of the robot-surgical complex to perform coordinated motions of the system elements. 
     EFFECT: invention provides higher rigidity of attachment of manipulators with simultaneous increase of possible positions of manipulators relative to patient, as well as reduced time of manipulators transfer into working position and back to storage zone. 
     5 cl, 4 dwg