发明名称 |
SURGICAL TOOL HAVING POSITIVELY POSITIONABLE TENDON-ACTUATED MULTI-DISK WRIST JOINT |
摘要 |
The present invention is directed to a tool having a wrist mechanism that provides pitch and yaw rotation in such a way that the tool has no singularity in roll, pitch, and yaw. A positively positionable multi-disk wrist mechanism includes a plurality of disks or vertebrae stacked in series. Each vertebra is configured to rotate in pitch or in yaw with respect to each neighboring vertebra. Actuation cables are used to manipulate and control movement of the vertebrae. In specific embodiments, some of the cables are distal cables that extend from a proximal vertebra through one or more intermediate vertebrae to a distal vertebra, while the remaining cables are medial cables that extend from the proximal vertebra to one or more of the intermediate vertebrae. The cables are actuated by a pivoted plate cable actuator mechanism.
|
申请公布号 |
US2012220831(A1) |
申请公布日期 |
2012.08.30 |
申请号 |
US201213414445 |
申请日期 |
2012.03.07 |
申请人 |
COOPER THOMAS G.;WALLACE DANIEL T.;CHANG STACEY;ANDERSON S. CHRISTOPHER;WILLIAMS DUSTIN;MANZO SCOTT;INTUITITVE SURGICAL OPERATIONS, INC. |
发明人 |
COOPER THOMAS G.;WALLACE DANIEL T.;CHANG STACEY;ANDERSON S. CHRISTOPHER;WILLIAMS DUSTIN;MANZO SCOTT |
分类号 |
A61B1/005;A61B1/00;A61B1/008;A61B17/00;A61B17/28;A61B17/32;A61B19/00 |
主分类号 |
A61B1/005 |
代理机构 |
|
代理人 |
|
主权项 |
|
地址 |
|