ATTACHMENT APPARATUS FOR REMOTE ACCESS TOOLS

摘要

Apparatuses and methods for attaching a minimal access tool to a user's boy (e.g., wrist or forearm) so that movements of the user's forearm, wrist, hand and fingers can control movements at a distal end of the minimal access tool. In particular, described herein are forearm attachment devices (which may be used with or integrated into) a minimal access tool including a cuff configured to secure to the user's forearm and a coupling joint configured to connect the cuff to the frame so that the cuff may move relative to the frame with between 1 and 4 degrees of freedom.

主权项

1. A minimal access tool that mounts to a user so that the tool may roll about the user's forearm, the tool comprising:
a frame comprising an elongate tool shaft having a tool axis; a cuff having a passage therethrough that is configured to hold a wrist or forearm of the user; a first gimbal rotationally coupled between the frame and the cuff so that there is a first rotational degree of freedom between the frame and the cuff about a first axis; a bearing between the frame and the cuff and configured to slide or roll so that there is a roll rotational degree of freedom between the frame and the cuff about the tool axis; wherein, when the cuff is attached to the user's wrist or forearm, the tool axis and the first axis intersect within the passage through the cuff.