A robotic surgical
system for performing minimally invasive medical procedures includes a
robot manipulator for robotically assisted handling of a laparoscopic instrument having a
manipulator arm, a
manipulator wrist supported by the arm and an
effector unit supported by the
wrist, wherein the 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 the
wrist, the wrist providing two degrees-of-freedom by means of a fourth joint and a fifth
revolute joint having an associated
actuator, for robotically setting the
yaw angle and the
pitch angle of the
effector unit respectively; the
effector unit includes a laparoscopic instrument
actuator and provides one degree-of-freedom by means of a revolute sixth joint having an associated actuator for robotically setting the roll angle of the LIAs which includes a seat with an associated
coupling mechanism for mounting an instrument stem adaptor to the effector unit, and an actuation mechanisms cooperating with the instrument stem adaptor for actuating a laparoscopic instrument connected to the adaptor. The effector unit is configured such that the rotation axis of the revolute sixth joint coincides with the longitudinal axis of a laparoscopic instrument mounted to the effector unit and the effector unit includes a sensor
assembly having a 6 degree-of-freedom (DOF) force /
torque sensor and a 6 DOF
accelerometer. The sensor
assembly connects the LIA to the sixth
revolute joint.