| 摘要 |
<P>PROBLEM TO BE SOLVED: To provide a minimally invasive surgical instrument. <P>SOLUTION: The minimally invasive surgical instrument includes an elongate shaft (14) having a working end, a proximal end, a shaft axis between the working end and the proximal end, and an end effector (12). A wrist member (10) has a flexible tube (26) including an axis extending through an interior surrounded by a wall. The wall of the flexible tube includes a plurality of lumens oriented parallel to the axis of the flexible tube. The wrist member (10) has a proximal portion connected to the working end of the elongate shaft and a distal portion connected to the end effector (12). A plurality of working cables (24) have distal portions connected to the end effector. <P>COPYRIGHT: (C)2013,JPO&INPIT |
