Surgical instrument

摘要

The invention relates to a surgical instrument (100; 200) comprising:
an elongated arm (111; 207) according to a longitudinal axis and having a distal end (105; 204) mounted with a pivot joint on the elongated arm according to an axis substantially orthogonal to the longitudinal axis;a drive shaft (103; 3), substantially coaxial with the elongated arm, comprising means forming a universal joint (104; 206) facing the pivot joint; and,distal tool (9) securely fastened on the drive shaft and rotatively mounted on and in the extension of the distal end of the elongated arm, such that the distal tool has two rotational degrees of freedom, distinct and independent of each other, one being around an axis substantially perpendicular to the longitudinal axis of the elongated arm and the other being around an axis substantially collinear to an own axis of the distal tool, characterized in that the means forming a universal joint comprise a flexible drive sleeve (104; 206).

主权项

1. A surgical instrument comprising:
an elongated arm extending along a longitudinal axis and having a base element and a distal end coupled to said base element via a pivot joint structure around an axis orthogonal to the longitudinal axis, said pivot joint structure including several linking elements coupled to series, wherein said linking elements comprise at least one intermediate linking element interposed between a base linking element and a distal linking element formed by the base element and the distal end respectively; a drive shaft, coaxial with the elongated arm, comprising a universal joint structure facing the pivot joint structure; and a distal tool coupled to the drive shaft via the universal joint structure and rotationally coupled to the distal end of the elongated arm, such that the distal tool has two rotational degrees of freedom, distinct and independent of each other, one being around an axis perpendicular to the longitudinal axis of the elongated arm and the other being around an axis collinear with a longitudinal axis of the distal tool, wherein the universal joint structure includes a flexible drive sleeve coaxial with said pivot joint structure, said flexible drive sleeve having one end coupled to an end of the drive shaft and the other end of the flexible drive sleeve being coupled to the distal tool, so that the flexible drive sleeve transmits a rotational movement of the drive shaft around its longitudinal axis to a rotational movement of the distal tool around its longitudinal axis, in any angular position of the distal tool relative to the drive shaft, said flexible drive sleeve configured to be rigid with respect to torsional force along its longitudinal axis and deformable with respect to torsional force along any axis perpendicular to its longitudinal axis; said surgical instrument further comprising a cable coupled to the distal end along the linking elements, said cable being configured to control an orientation of said pivot joint structure.