High Precision Surgical Robotic Platform for Cooperative and Teleoperated Minimal Invasive Surgeries

Described herein is a robotic surgical system (100) for performing minimally invasive surgery (MIS). The system (100) includes a robot manipulator for the robotically assisted handling of a surgical tool (406). The robot manipulator having a manipulator arm, a manipulator wrist supported by said manipulator arm and a surgical tool holder (112) supported by said manipulator wrist. The manipulator arm is to provide first and second rotational degrees of freedom about X and Z axes using a first linear assembly (104) and a second linear assembly (106), wherein each of the first and second linear assemblies (104, 106) is comprised of a direct-drive actuator (104-1, 106-1) and a compliant remote-center-of-motion (RCM) mechanism (CRCMM) (104-2, 106-2); provide a third rotational degrees of freedom about Y-axis using a tool adapter (408) fitted on top of the surgical tool holder (112); and provide a fourth translation degree of freedom along Y-axis using a motorized linear stage guide (110-1) and a complaint single parallelogram mechanism (CSPM) (110-2).