| 摘要 |
Robotic surgical utensil, comprising a shaft (1) bearing a distal part (101), to which is connected an articulated wrist (301), on which an end effector (2) provided with mobile elements (102, 202) is mounted, and provided with a proximal part (201), which is connected to an interface support (3) that can be connected to a robotic command and control system of the utensil; a transmission assembly (11) is positioned in said articulated wrist (301), said assembly comprising a plurality of flexible, elongate activation elements (C1, C2, C3, C3'), for example cables, which can allow the movement of the wrist (301) and/or of at least one of said mobile elements (102, 202) according to at least one degree of freedom with respect to said shaft (2), each of said flexible, elongate activation elements (C1, C2, C3, C3') cooperating, downstream of said transmission assembly (11), with said articulated wrist (301) and with the relative mobile elements (102, 202), and being provided, upstream of said assembly (11), with at least one pair of free ends, to each of which is connected at least one actuator (23, 24), which can activate each of said flexible, elongate elements (C1, C2, C3, C3') independently of one another and agonistically/antagonistically, such that said movement according to at least one degree of freedom is carried out by means of at least two actuators (23, 24). |
