摘要 |
The present invention relates to a minimally invasive surgical instrument having an improved joint. According to one aspect of the present invention, provided is a minimally invasive surgical instrument comprising a shaft, a joint which is coupled to one end of the shaft, and an end effector which is coupled to the joint and can effect joint movement thereby. The joint comprises a plurality of joint links, and a joint for pitch-direction operation and a joint for yaw direction operation, the joints being formed by interposing at least one of the plurality of joint links. |
申请人 |
MOVASU, INC.;JEONG, CHANG WOOK;SIN, CHUN CHOL;KIM, SUNG RYUL;KIM, HYUNG TAE |
发明人 |
JEONG, CHANG WOOK;SIN, CHUN CHOL;KIM, SUNG RYUL;KIM, HYUNG TAE |