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SURGICAL INSTRUMENT

  • US 20120330287A1
  • Filed: 03/15/2010
  • Published: 12/27/2012
  • Est. Priority Date: 03/15/2010
  • Status: Abandoned Application
First Claim
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1. A surgical instrument, comprising:

  • a shaft;

    a wrist member comprising a guide member, a wrist body connected to the guide member and formed with a plurality of installation holes, and a plurality of protruding members each disposed to face the wrist body and having an insertion groove, and connected to the shaft;

    a plurality of effectors each comprising a capstan, a protruding member integrally formed with the capstan and formed with an insertion hole, a fixing member inserted into the insertion hole of the protruding member, and an end effector formed on the capstan to perform a pitch motion by rotation of the capstan, and connected to the wrist member by a pin;

    a support driving unit having first through fourth rotation members inserted into pins that are mounted on the wrist member, respectively, and each comprising a pair of idler pulleys, and first and second wires connected to the plurality of effectors and the first through fourth rotation members, respectively;

    a main driving unit connected to the support driving unit by wire and having at least one driving unit,wherein the main driving unit enables the entire wrist member to perform a yaw motion by rotating the entire wrist member, and enables the plurality of effectors to perform a pitch motion by simultaneously rotating the plurality of effectors into a single direction, and enables the plurality of effectors to perform a forceps motion of rotating into a direction increasing or decreasing a distance between the plurality of effectors.

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