Robotic system for laparoscopic surgery
It comprises a supporting structure in which at least one arm is slidably attached. Each arm comprises first and second members hinged to each other. The first member is rotatably hinged to the supporting structure and it can be rotated about a longitudinal axis and the second member may receive a joint having at least two degrees of freedom for attaching a tool. The longitudinal axis of the first member is substantially perpendicular to an axis joining the first member and the second member to each other. A simplified architecture is obtained allowing for accurate and efficient spatial movement of the tool holding arm.
1. A robotic system for laparoscopic surgery comprising:
a supporting structure comprising a vertical column having a longitudinal axis extending therethrough; and,
a number of arms that can be rotated independently of each other around the longitudinal axis of the column, said arms being slidably attached to the column; said arms comprising:
a first member and
a second member;
the first and second members being hingedly joined to each other, and,
the first member being rotatably hinged on the supporting structure, and,
the first member being adapted to be rotated around a longitudinal axis of the first member and
the second member being adapted to receive a joint having at least two degrees of freedom for attaching a tool; and
first and second upper sections rotatably mounted to each other and to the supporting structure and arranged at different heights to each other,
wherein
the arms are respectively associated with the first and second upper sections so that the arms can be rotated independently of each other a full turn around a longitudinal axis of the supporting structure without interfering with each other; and
the first and second upper sections are configured for sliding in order to independently adjust the height of the arms.
2. A robotic system as claimed in claim 1 , wherein said longitudinal axis of the first member is at least substantially perpendicular to a joint axis for the hinged joining of the first member and the second member to each other.
3. A robotic system as claimed in claim 1 , wherein the joint having at least two degrees of freedom for attaching a tool is a gimbal-type joint.
4. A robotic system as claimed in claim 1 , wherein the second member of each of the arms consists of two parts to which the first member of each of the arms is hinged.
5. A robotic system as claimed in claim 1 wherein at least two of said number of arms are hinged on said supporting structure.
6. A robotic system as claimed in claim 1 , wherein the first member is rotatably mounted on an extension integral with the supporting structure.