PLATFORM LINK WRIST MECHANISM

摘要

The present invention provides a robotic surgical tool (50) for use in a robotic surgical system. The robotic surgical tool (50) includes a wrist mechanism (10) disposed near the distal end of a shaft (52) that connects with an end effector (66). The wrist mechanism (10) includes a distal member (12) configured to support the end effector (66), and a plurality of rods (14) extending generally along an axial direction within the shaft (52) and moveable generally along this axial direction to adjust the orientation of the distal member (12) with respect to the shaft (52). The distal member (12) has a base to which the rods are rotatably connected by orthogonal linkage assemblies (16). This configuration allows for movement of the end effector (66) in pitch, yaw, and roll directions.