| 摘要 |
A surgical instrument (10) comprising:
a housing (12) having a longitudinal axis;
a wrist pivotally coupled to the housing;
an end effector (50) coupled to the wrist;
a first rod (20) that causes the wrist to rotate about a first axis perpendicular to the longitudinal axis of the housing when the first rod is moved along the longitudinal axis;
a second rod (30) that causes the end effector to rotate about a second axis perpendicular to both the first axis and the longitudinal axis when the second rod is moved along the longitudinal axis;
a wrist driver (70) engaged with the end effector through the wrist, longitudinal movement of the second rod causing the wrist driver to pivot the end effector about the second axis; the second rod coupled to a transverse pin, the wrist driver comprising an arcuate channel, the transverse pin confined to movement within the arcuate channel. |
