| 主权项 |
1. A surgical tool for use with a manipulator, comprising:
a shaft assembly comprising an articulation section; a tool mounting portion comprising a tool mounting housing, a tool mounting plate, and a coupler to couple the shaft assembly to the tool mounting portion; an articulation mechanism configured to receive a proximal end of the shaft assembly to articulate the articulation section of the shaft assembly, wherein the articulation mechanism comprises:
a first pinion gear;a first rack gear meshed with the first pinion gear, wherein the first rack gear comprises a proximal wall, a distal wall, and a first arcuate rack;a second pinion gear; anda second rack gear meshed with the second pinion gear, said second rack gear comprising:
a distal sleeve comprising a proximal wall and a distal wall, wherein the distal sleeve defines a longitudinal aperture; anda second arcuate rack, wherein the first rack gear is slidably received within the second rack gear so that, upon rotation of the first pinion gear, the first rack gear is movable longitudinally relative to the second rack gear, and wherein a longitudinal gap is defined between the distal wall of the first rack gear and the proximal wall of the distal sleeve of the second rack gear; a first articulation band and a second articulation band positioned through the aperture of the distal sleeve; and an interface to mechanically and electrically couple the tool mounting portion to the manipulator. |
