Articulate and swapable endoscope for a surgical robot
摘要
The instrument has a flexible wrist (40) that includes a flexible tube (42) and an inner spring (47). The inner spring is disposed inside the interior cavity of the flexible tube, and has an axis parallel to the axis of the flexible tube. Actuation cables (44) are used for bending the wrist in pitch rotation and yaw rotation. The actuation cables have distal portions connected to an end effector, and extend from the distal portion through the wrist towards an elongated shaft to the proximal portion. The proximal portion of the wrist is connected to the working end of the elongated shaft. The distal portion of the wrist is connected to the end effector.
申请公布号
EP2735278(A3)
申请公布日期
2014.08.27
申请号
EP20140150662
申请日期
2006.12.20
申请人
INTUITIVE SURGICAL OPERATIONS, INC.
发明人
HASSER, CHRISTOPHER;SWARUP, NITISH;COOPER, THOMAS;ANDERSON, CHRISTOPHER S