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| 국가/구분 | United States(US) Patent 등록 |
|---|---|
| 국제특허분류(IPC7판) |
|
| 출원번호 | US-0857655 (1997-05-16) |
| 발명자 / 주소 |
|
| 출원인 / 주소 |
|
| 대리인 / 주소 |
|
| 인용정보 | 피인용 횟수 : 346 인용 특허 : 0 |
An articulated surgical instrument for enhancing the performance of minimally invasive surgical procedures. The instrument has a high degree of dexterity, low friction, low inertia and good force reflection. A unique cable and pulley drive system operates to reduce friction and enhance force reflect
An articulated surgical instrument for enhancing the performance of minimally invasive surgical procedures. The instrument has a high degree of dexterity, low friction, low inertia and good force reflection. A unique cable and pulley drive system operates to reduce friction and enhance force reflection. A unique wrist mechanism operates to enhance surgical dexterity compared to standard laparoscopic instruments. The system is optimized to reduce the number of actuators required and thus produce a fully functional articulated surgical instrument of minimum size.
[ What is claimed is:] [1.] An articulated surgical instrument for minimally invasive surgery comprising an elongate support member, a wrist member, first and second capstans, first and second work members; first, second, third and fourth intermediate idler pulleys; and first, second, third and four
[ What is claimed is:] [1.] An articulated surgical instrument for minimally invasive surgery comprising an elongate support member, a wrist member, first and second capstans, first and second work members; first, second, third and fourth intermediate idler pulleys; and first, second, third and fourth cables wherein:the elongate support member has a proximal end and a distal end and a support axis running longitudinally along the elongate support member from the proximal end to the distal end;the wrist member has a proximal end and a distal end and a wrist axis running longitudinally along the wrist member from the proximal end to the distal end;the proximal end of the wrist member is attached to the distal end of the support member by a wrist joint such that the wrist member can pivot about a joint axis perpendicular to the support axis and perpendicular to the wrist axis;the first and second capstans are rotatably mounted to the distal portion of the wrist member by respective first and second capstan joints such that the axis of rotation of each of the first and second capstan joints is perpendicular to the wrist axis and perpendicular to the joint axis;the first and second opposed work members are coupled to the respective first and second capstans;the first, second, third and fourth intermediate idler pulleys are rotatably mounted to the wrist member about the wrist joint;each intermediate idler pulley is engaged by one of the first, second, third and fourth cables; andeach capstan is drivingly engaged by two of the first, second, third and fourth cables;whereby selective actuation of the cables operates to pivot the wrist member about the joint axis and pivot the work members independently of each other about the capstan joints.
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