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Flexible wrist for surgical tool

  • US 9,585,641 B2
  • Filed: 07/06/2015
  • Issued: 03/07/2017
  • Est. Priority Date: 12/06/2002
  • Status: Expired due to Term
First Claim
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1. An apparatus comprising:

  • a tube having a distal end, a proximal end, a hollow center, and holes distributed around a circumference of the tube;

    a distal termination disk coupled to the distal end of the tube;

    a plurality of actuation cables fittingly received by said holes and coupled to the distal termination disk and to the proximal end, wherein the tube is bendable in pitch and yaw in response to selective pulling of the plurality of actuation cables at the proximal end;

    an end effector coupled to the distal termination disk; and

    at least one end effector cable extending from the proximal end through the hollow center to the end effector.

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