Flexible wrist for surgical tool
First Claim
1. An apparatus comprising:
- a plurality of flexible axial members connected to each other, wherein each axial member forms a longitudinal segment of a tube, and wherein the axial members are longitudinally slidable relative to each other, the plurality of flexible axial members comprising a first member and a second member contacting each other, each of the plurality of axial members comprising a proximal end and a distal end; and
an actuation mechanism coupled to the proximal ends of the plurality of axial members, the actuation mechanism configured to longitudinally slide the first member relative to the second member to change a radius of curvature of the first member relative to a radius of curvature of the second member;
wherein changing the radius of curvature of the first member relative to the radius of curvature of the second member causes the tube to bend in pitch and yaw.
2 Assignments
0 Petitions
Accused Products
Abstract
A tool having a wrist mechanism that provides pitch and yaw rotation in such a way that the tool has no singularity in roll, pitch, and yaw. In one embodiment, a minimally invasive surgical instrument comprises an elongate shaft having a working end, a proximal end, and a shaft axis between the working end and the proximal end; and an end effector. A wrist member has a flexible tube including an axis extending through an interior surrounded by a wall. The wall of the flexible tube includes a plurality of lumens through which actuation cables extend, the lumens oriented generally parallel to the axis of the flexible tube. The wrist member has a proximal portion connected to the working end of the elongate shaft and a distal portion connected to the end effector.
298 Citations
16 Claims
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1. An apparatus comprising:
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a plurality of flexible axial members connected to each other, wherein each axial member forms a longitudinal segment of a tube, and wherein the axial members are longitudinally slidable relative to each other, the plurality of flexible axial members comprising a first member and a second member contacting each other, each of the plurality of axial members comprising a proximal end and a distal end; and an actuation mechanism coupled to the proximal ends of the plurality of axial members, the actuation mechanism configured to longitudinally slide the first member relative to the second member to change a radius of curvature of the first member relative to a radius of curvature of the second member; wherein changing the radius of curvature of the first member relative to the radius of curvature of the second member causes the tube to bend in pitch and yaw. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16)
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Specification