| 主权项 |
1. A minimally invasive surgical instrument comprising:
an elongate shaft having a working end and a shaft axis; a wrist member having a proximal portion connected with the working end of the elongate shaft, the wrist member being rotatable relative to the working end of the elongate shaft about a pitch axis perpendicular to the shaft axis; an end effector coupled to a distal portion of the wrist member, the end effector being rotatable relative to the wrist member about a wrist axis extending between the proximal portion and the distal portion of the wrist member; a base coupled to the distal portion of the wrist member, the base supporting the end effector, the base further comprising first and second tangent surfaces each rotatable about the wrist axis; a pitch pulley, a first pulley, and a second pulley, said pulleys coaxially positioned on the pitch axis; a pitch elongate element engaging the pitch pulley, the pitch elongate element running through the elongate shaft, wherein pulling the pitch elongate element rotates the wrist member about the pitch axis; a first elongate element engaging the first tangent surface and the first pulley, and a second elongate element engaging the second tangent surface and the second pulley, the first and second elongate elements running through the tool shaft, wherein pulling the first and second elongate elements rotates the end effector relative to the wrist member about the wrist axis; and the end effector being further movable relative to the wrist member about a yaw axis perpendicular to the wrist axis. |
