Roll-pitch-roll surgical tool
AssigneeIntuitive Surgical Operations, Inc.
InventorsTracey A. Morley, Daniel T. Wallace
Life of this patent
Estimating the term…
Abstract
A robotic surgical tool includes an elongate shaft having a working end and a shaft axis. The proximal end of a wrist member is pivotally mounted on the working end of the shaft to rotate around a first pitch axis to produce rotation in first pitch. An end effector is pivotally mounted on a distal portion of the wrist member to rotate around a wrist axis of the wrist member to produce rotation in distal roll. The wrist axis extends between the proximal portion and the distal portion of the wrist member. The elongate shaft is rotatable around the shaft axis to produce rotation in proximal roll.
Claims12
1-11. (canceled)
A minimally invasive surgical instrument comprising:
- an elongate shaft having a working end and a shaft axis;
- a wrist member having a proximal portion connected with the working end of the elongate shaft, the wrist member being rotatable relative to the working end of the elongate shaft about a pitch axis perpendicular to the shaft axis;
- and
- an end effector coupled to a distal portion of the wrist member, the end effector being rotatable relative to the wrist member about a wrist axis extending between the proximal portion and the distal portion of the wrist member, the end effector being further movable relative to the wrist member in at least one additional degree of freedom including rotation around a yaw axis perpendicular to the wrist axis.
Dependencies are inferred from the claim text.