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Roll-pitch-roll-yaw surgical tool

  • US 6,676,684 B1
  • Filed: 09/04/2001
  • Issued: 01/13/2004
  • Est. Priority Date: 09/04/2001
  • Status: Expired due to Term
First Claim
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1. A minimally invasive surgical instrument comprising:

  • an elongate shaft having a working end and a shaft axis;

    a wrist member having a proximal portion pivotally connected to the working end to rotate relative to the working end around a pitch axis which is nonparallel to the shaft axis; and

    an end effector pivotally mounted on a distal portion of the wrist member to rotate around a wrist roll axis of the wrist member, the wrist roll axis extending between the proximal portion and the distal portion of the wrist member.

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