END EFFECTOR WITH AN ARTICULATED JOINT AND ACTUATOR OF AN ENDOSCOPIC SURGICAL DEVICE

The group of inventions relates to medical technology, and more particularly to an endoscopic surgical device capable of manipulating a surgical instrument in a robotic surgical system, and to an actuator of said surgical device. An endoscopic surgical device comprises: an end effector consisting of a housing having a pusher disposed therein which is attached to a surgical instrument; a mechanism for controlling the end effector, having a flexible shaft, an articulated section consisting of links, and cables; and an actuator having a cable control mechanism and a flexible shaft actuator assembly. The cable control mechanism transmits a pulling force to at least one cable, and, via an actuator shaft, the flexible shaft actuator assembly transmits rotational motion to the flexible shaft and/or transmits reciprocating motion to the flexible shaft and to the pusher. The flexible shaft actuator assembly has independent mechanisms, powered by electric motors, for enabling the opening and closing of the working parts of a surgical instrument of the end effector and for enabling the rotational movement of the end effector together with the surgical instrument, respectively. The flexible shaft actuator assembly further has a device that provides for the individual or simultaneous functioning of both mechanisms. The cable control mechanism has cable tensioning assemblies for inclining the end effector in two mutually perpendicular planes, said assemblies being powered by electric motors. A first assembly of the cable control mechanism comprises a roller drum, in which the cables run counter to one another, and guide rollers, the roller drum and the guide rollers being connected by the cables. A second assembly of the cable control mechanism comprises, guide rollers, a distributing roller and a roller drum, which are connected in succession by the cables. Use of the group of inventions enables more accurate positioning of an end effector in a restricted surgical site. Ce groupe d'inventions se rapporte au domaine des techniques médicales et concerne notamment un appareil chirurgical endoscopique capable de manipuler un instrument chirurgical dans un système de télérobotique, ainsi qu'un actionneur pour ledit appareil chirurgical. L'appareil chirurgical endoscopique comprend un effecteur d'extrémité comprenant un corps dans lequel est disposé un poussoir connecté à l'instrument chirurgical; un mécanisme de commande de l'effecteur d'extrémité comprenant un arbre flexib