CPC A61B 34/70 (2016.02) [A61B 90/06 (2016.02); B25J 13/085 (2013.01); A61B 2090/065 (2016.02)] | 12 Claims |
1. A medical device, comprising:
an adaptor configured to hold a surgical tool, wherein the adaptor includes:
a body; and
a receiving shaft rotatably supported by the body;
a parallel manipulator, including:
an end platform;
a base platform; and
a plurality of limbs operably coupled between the end platform and the base platform;
a shaft motor attached to the base platform and configured to generate a mechanical force for manipulating movement of the surgical tool;
a transmission shaft rotatably supported by the end platform, wherein the transmission shaft is configured to transfer the mechanical force to the receiving shaft; and
a force transducer disposed between the adapter and the end platform and having a through hole, wherein the receiving shaft meets the transmission shaft in the through hole to receive the mechanical force from the transmission shaft to manipulate movement of the surgical tool.
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