ARTICULATED SURGICAL INSTRUMENT FOR PERFORMING MINIMALLY INVASIVE SURGERY WITH ENHANCED DEXTERITY AND SENSITIVITY

摘要

PROBLEM TO BE SOLVED: To provide an articulated surgical instrument for minimally invasive surgical procedures.SOLUTION: The articulated surgical instrument (12) is for enhancing the performance of minimally invasive surgical procedures. The instrument (12) has a high degree of dexterity, low friction, low inertia, and good force reflection. A unique cable and pulley drive system operates to reduce friction and enhance force reflection. A unique wrist mechanism operates to enhance surgical dexterity compared to standard laparoscopic instruments (12). The system is optimized to reduce the number of actuators required and thus produce a fully functional articulated surgical instrument of minimum size.