COMPACT ROBOTIC WRIST

摘要

A surgical tool includes a tool shaft, and end effector and a wrist that couples the end effector to the tool shaft. The tool includes a drive mechanism configured to effect movement of one or both of the wrist and the end effector in yaw and pitch via independent actuation of four independent cable ends of two or more independent cables that extend between the drive mechanism and the wrist.

主权项

1. A minimally-invasive surgical tool, comprising:
a tool shaft; an end effector; a multi-axial wrist disposed between the tool shaft and the end effector, the wrist comprising three or more sets of pulleys arranged in two orthogonal directions; and a drive mechanism comprising four electric motors configured to effect movement of one or both of the wrist and the end effector, each of the four electric motors configured to independently control one of four independent cables that wind at least partially around one or more of the three or more sets of pulleys, the motors configured to vary relative tension between the four independent cables to effect a yaw or pitch motion.