Roll-pitch-roll-yaw surgical tool
First Claim
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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Accused Products
Abstract
A robotic surgical tool includes an elongate shaft having a working end and a shaft axis. A wrist member has 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. An end effector is 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 extends between the proximal portion and the distal portion of the wrist member. The end effector is pivotally mounted to rotate relative to the wrist member around a yaw axis which is nonparallel to the wrist roll axis. A torsion tube is coupled with the end effector base and is rotatable to turn the end effector base around the wrist roll axis of the wrist member. The torsion tube extends through an interior of the elongate shaft to a proximal end opposite from the working end of the elongate shaft. The torsion tube is bendable around the pitch axis with rotation of the wrist member around the pitch axis relative to the working end.
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Citations
24 Claims
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1. A minimally invasive surgical instrument comprising:
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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. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11)
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12. A minimally invasive surgical instrument comprising:
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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;
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; and
a torsion tube coupled with the end effector and being rotatable to turn the end effector around the wrist roll axis of the wrist member. - View Dependent Claims (13, 14, 15, 16, 17)
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18. A method of performing minimally invasive endoscopic surgery in a body cavity of a patient, the method comprising:
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introducing an elongate shaft having a working end into the cavity, the elongate shaft having a proximal end and a shaft axis between the working end and the proximal end;
rotating a wrist member pivotally coupled with the working end relative to the working end, the wrist member having a wrist roll axis; and
rotating an end effector pivotally mounted on the wrist member around the wrist roll axis to position the end effector at a desired location inside the cavity, by turning a torsion tube extending through an interior of the elongate shaft to the proximal end of the elongate shaft and being coupled with the end effector. - View Dependent Claims (19, 20, 21, 22, 23, 24)
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Specification