Link-driven articulation device for a surgical device
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United States of America
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May 7, 2024
Grant Date -
Jan 5, 2023
app pub date -
Jun 30, 2021
filing date -
Jun 30, 2021
priority date (Note) -
In Force
status (Latency Note)
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Abstract
Disclosed is a robotic surgical tool, comprising an end effector, an elongate shaft, and an articulation joint. The articulation joint comprises a pivot plate attached to the end effector, a fixed plate attached to the elongate shaft, and a spherical joint coupled to the pivot plate and the fixed plate. The robotic surgical tool further comprises an articulation drive system. The articulation drive system comprises a first rod, a second rod, a third rod, and a fourth rod that extend through the elongate shaft, a first mechanical link pivotably coupled to the first rod and to the pivot plate, a second mechanical link pivotably coupled to the second rod and to the pivot plate, a third mechanical link pivotably coupled to the third rod and to the pivot plate, and a fourth mechanical link pivotably coupled to the fourth rod and to the pivot plate.
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