Robotic surgical system for performing minimally invasive medical procedures

Robotic surgical system for performing minimally invasive medical procedures comprising a robot manipulator for robotically assisted handling of a laparoscopic instrument, said robot manipulator having a manipulator arm, a manipulator wrist supported by said manipulator arm and an effector unit supported by said manipulator wrist, wherein:

• said manipulator arm provides three degrees-of-freedom by means of a first joint, a second joint and a third joint, each having an associated actuator, for robotically positioning said wrist;
• said manipulator wrist provides two degrees-of-freedom by means of a fourth joint and a fifth joint, said fourth and fifth joints being revolute joints and each having an associated actuator, for robotically setting a yaw angle and a pitch angle of said effector unit respectively;
• said effector unit comprises a laparoscopic instrument actuator and provides one degree-of-freedom by means of a revolute sixth joint having an associated actuator for robotically setting a roll angle of said laparoscopic instrument actuator;
• said laparoscopic instrument actuator comprises a seat, with an associated coupling mechanism for mounting an instrument stem adaptor to said effector unit, and an actuation mechanism cooperating with said instrument stem adaptor for actuating a laparoscopic instrument connected to said adaptor;
• said effector unit is configured such that the rotation axis of said revolute sixth joint coincides with the longitudinal axis of a laparoscopic instrument when mounted to said effector unit by means of said instrument stem adaptor;
• and
• said effector unit comprises a sensor assembly including a six degree-of-freedom force/torque sensor and a six degree-of-freedom accelerometer, said sensor assembly connecting said laparoscopic instrument actuator to said sixth revolute joint;
• wherein said seat comprises an elongated essentially semi-cylindrical recess arranged essentially coaxial to the rotation axis of said sixth joint, in an access surface of said laparoscopic instrument actuator, said seat and said coupling mechanism being configured for mounting removing an instrument stem adaptor perpendicularly to the axis of rotation of said sixth joint.