A minimally invasive surgical instrument includes a U-turn mechanism that transmits actuating forces around a U-turn. The U-turn mechanism is coupled between segments of the instrument and has a bend radius that is smaller than flexible arms having a similar cross section diameter. The actuating forces transmitted by the U-turn mechanism are used to move distal components of the instrument, such as an end effector and a wrist mechanism.
申请公布号
US8551076(B2)
申请公布日期
2013.10.08
申请号
US20100902971
申请日期
2010.10.12
申请人
DUVAL EUGENE F.;SCHENA BRUCE MICHAEL;INTUITIVE SURGICAL OPERATIONS, INC.