| 摘要 |
Described is a surgical instrument (10) such as an endoscopie instrument having at its distal end a working element (40) such as a dissector, scissor or grasper, a shaft that defines a longitudinal axis of the instrument (10) at a handle portion (20) at the proximal end. The shaft rotates about the handle portion (20) of the instrument (10). The endoscopie instrument (10) also provides for angulation or srticulation of the end effector (40) with respect to the longitudinal axis of the shaft. The angulation is accomplished by providing two four bar linkage assemblies (62, 63, 64, 65) connecting the handle portion (20) and the distal end portion of the instrument (10). A torsion bar (50) provides support to the four bar linkage assemblies (62, 63, 64, 65) and provides a lumen (57) for accepting a control cable for actuating the working element (40). |
