ARTICULATED SURGICAL INSTRUMENT FOR PERFORMING MINIMALLY INVASIVE SURGERY WITH ENHANCED DEXTERITY AND SENSITIVITY

摘要

PROBLEM TO BE SOLVED: To provide an articulated surgical instrument for minimally invasive surgery.SOLUTION: The present invention is an articulated surgical instrument (12) for enhancing the performance of minimally invasive surgical procedures. The instrument (12) has a high degree of dexterity, low friction, low inertia and good force reflection. A unique cable and pulley drive system reduces friction and enhances force reflection. A unique wrist mechanism enhances surgical dexterity compared to standard laparoscopic instruments (12). The system is optimized to reduce the number of actuators required and thus produce a fully functional articulated surgical instrument of minimum size.