| abstract |
A surgical robotic system (1) comprising: robotic units, each one being independent from the others, each comprising a support (11) and a robotic arm assembly (12); said support (11) comprising motion means and configured to change position and orientation of the support (11) with respect to the table (3); said robotic arm assembly (12) comprising: a robotic arm (15), a surgical tool (18) coupled thereto and a force sensor (16) configured to receive measurement of forces and torques applied by the tool (18). The system also comprises a control console (7) configured to remotely operate said robotic units, comprising: computing means (42); haptic devices (8) configured to control the movement, spatial orientation and aperture/ closure of the distal end of the tool (18), each haptic device (8) being configured to control one robotic arm (15); selection means (51) configured to activate/deactivate the robotic arms (15); a monitor (701) configured to show a 3D image. |