| 摘要 |
An articulated surgical manipulator is driven such that at least one longitudinal extent of the articulated section is always fully compressed so that there is no ambiguity as to the orientation of an end effector. The instrument has a shaft 102, an articulated section 103 and a distal tip 601 to which a variety of tools can be mounted. Flexible elongate drive elements 611,612,613 (cables or wires of spring steel or carbon fibre) extend from a drive mechanism to the distal tip to which they are attached. They pass through the articulated section but are not attached to any of its elements, which may be rings 603,604,605 or a helix (803, figure 8). At least one of the drive elements is maintained in tension such that the articulated elements always contact their neighbours at one point, even if they are lightly biased apart. Motor driven spools or screws may tension or compress individual drive elements. Control arrangements are disclosed. |
