| 摘要 |
Instruments employed in minimal invasive surgery are inserted through openings in the patient's body on the end of a rod, and are then redirected towards the location at which the instrument is required. The instrument shaft is linked to a shaft extension resting in the surgeon's hand. The linkage is formed by an articulated frame whose two main axes I and II (7,8) are not parallel to each other and do not rest in the same plane. The two end-parts (1,3) are joined by a single drive linkage (2). |
