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WRIST ARTICULATION BY LINKED TENSION MEMBERS

  • US 20110118707A1
  • Filed: 11/12/2010
  • Published: 05/19/2011
  • Est. Priority Date: 11/13/2009
  • Status: Active Grant
First Claim
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1. A surgical tool comprising:

  • a first link having a distal end, a proximal end, and a first link axis defined there between;

    a second link pivotally coupled with the distal end of the first link so as to orient the second link about a first axis and a second axis, the first and second axes being nonparallel to the first link axis, the first axis being nonparallel to the second axis;

    four attachment features disposed on the second link; and

    four tension members extending distally from the first link to the attachment features so that opposed axial movement of the tension members angularly orients the second link relative to the first link about the first and second axes, interface surfaces between the tension members and the attachment features varying positions of the tension members relative to the second link in correlation with angular orientations of the second link relative to the first link so as to inhibit changes in tension of the tension members.

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