Dexterous 4-DOF surgical tool for compact articulation
US11660150B2 · kind B2 · utility
Assignee
Inventors
Key dates
| Filing date | Jun 26, 2018 |
| Grant date | May 30, 2023 |
| Priority date | — |
| Expiry date | Apr 22, 2040 |
Classification
- Technology area (CPC A)Human Necessities
- CPC primaryA61B2034/715
- WIPO fieldMedical technology
- WIPO sectorInstruments
Abstract
A surgical tool for compact articulating during surgical procedures includes a pitch cable, at least one yaw cable, a first link, a second link, at least one end-effector link, and at least one tensioning mechanism. The first link has a pitch joint end with a pitch joint pin and at least one yaw cable guide channel. The second link has a yaw joint end with a yaw joint pin. The second link is rotatably connected to the pitch joint pin. The at least one end-effector link is rotatably connected to said yaw joint pin. The yaw cables are coupled to the end-effector links such that the yaw cables can actuate the end-effector links about the yaw joint pin. The yaw cable guide channel is configured such that the yaw cables travel through a smooth trajectory to the end-effector links. The tensioning mechanism is configured to maintain a constant length.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.