Flexible wrist for surgical tool
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United States of America Patent
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Dec 25, 2012
Issued Date -
N/A
app pub date -
Nov 17, 2010
filing date -
Dec 6, 2002
priority date (Note) -
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status (Latency Note)
Importance
Abstract
The present invention is directed to 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 includes an elongate shaft having a working end, a proximal end, 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 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.
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