Surgical tools for use in minimally invasive telesurgical applications
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United States of America Patent
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May 28, 2002
Grant Date -
N/A
app pub date -
Sep 17, 1999
filing date -
Jan 22, 1999
priority date (Note) -
In Force
status (Latency Note)
Importance
Abstract
This invention provides surgical tools or instruments for use in minimally invasive telesurgical applications. The instruments typically include a base whereby the instrument is removably mountable on a robotically controlled articulated arm. An elongate shaft extends from the base. A working end of the shaft is disposed at an end of the shaft remote from the base. A wrist member is pivotally mounted on the working end. At least one end effector element mounting formation is pivotally mounted on an opposed end of the wrist member. A plurality of elongate elements, e.g., cables, extend from the end effector element mounting formation and the wrist member to cause selective angular displacement of the wrist member and end effector mounting formation in response to selective pulling of the elongate elements.
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