| 摘要 |
PROBLEM TO BE SOLVED: To provide an improved minimally invasive surgical tool.SOLUTION: Surgical tools having a two degree-of-freedom wrist 70, wrist articulation by linked tension members, mechanisms for transmitting torque through an angle, and minimally invasive surgical tools incorporating these features are disclosed. An elongate intermediate wrist member 80 is pivotally coupled with a distal end of an instrument shaft 74 so as to rotate about a first axis perpendicular to the shaft, and an end effector body 72 is pivotally coupled with the intermediate member so as to rotate about a second axis that is perpendicular to the first axis. Linked tension members interact with attachment features to articulate the wrist. A torque-transmitting mechanism includes a coupling member, coupling pins, a drive shaft, and a driven shaft. |
