| 摘要 |
The present invention is a device having a rigidly linked jaw (50) that is decoupled from an articulating wrist. The device provides for articulating motion as well as actuation that may be used in grasping, cutting, suturing or the like as follows: An elongated housing (12) having a proximal end (14), and a distal end (16); an articulation rod extending interior the housing, the articulation rod (20) having a proximal end (22), and a distal end (24); an actuation rod extending interior the housing, the actuation rod having a proximal end, and a distal end; a rack driver (170) in communication with the actuation rod at the distal end thereof, the rack driver engaged with a cylindrical rack for translating the motion of the actuation rod substantially about 90 degrees; and a jaw in communication with the cylindrical rack, whereby movement of the cylindrical rack actuates the jaw, the jaw further in pivotal communication with the articulation rod such that linear movement of the articulation rod produces rotational movement of the jaw. |
