Surgical tool wrists

• Main Authors: BIRRI CHRISTOPHER WILLIAM LONG, ZIMMER TIMOTHY J, REMM THOMAS B, HIBNER JOHN A
• Format: Patent
• Language: Chinese; English
• Published: 11.12.2018
• Subjects: DIAGNOSIS; HUMAN NECESSITIES; HYGIENE; IDENTIFICATION; MEDICAL OR VETERINARY SCIENCE; SURGERY

The invention relates to surgical tool wrists. Various exemplary surgical tool wrists are provided. In general, a surgical tool can include an elongate shaft and a wrist that couples an end effector to a distal end of the shaft. The surgical tool can include multiple elongate members configured to move, either individually or as a group of two or more of the elongate members, to cause movement ofthe end effector relative to the shaft. Each of the surgical tool's elongate members can be configured to extend along a helical path. Each of the elongate members can extend proximally from its associated helical path to a pulley at the wrist. The helical paths can be configured to guide the elongate members to approach and engage their respective pulleys at a substantially zero angle. 本发明涉及种外科工具腕。本发明提供了各种示例性外科工具腕。通常，外科工具可包括细长轴和将端部执行器联接到该轴的远侧端部的腕。外科工具可包括多个细长构件，该细长构件被构造成能够单独运动或作为两个或更多个细长构件的组运动，以引起端部执行器相对于所述轴的运动。外科工具的细长构件中的每个可被构造成能够沿螺旋路径延伸。细长构件中的每个可从其相关联的螺旋路径朝近侧延伸到所述腕处的滑轮。螺旋路径可被构造成能够引导细长构件以基本上零角度接近并接合其各自的滑轮。