公开(公告)号：US08142421B2

公开(公告)日：2012-03-27

申请号：US12782833

申请日：2010-05-19

申请人： Thomas G. Cooper ,  Daniel T. Wallace ,  Stacey Chang ,  S. Christopher Anderson ,  Dustin Williams ,  Scott E. Manzo

发明人： Thomas G. Cooper ,  Daniel T. Wallace ,  Stacey Chang ,  S. Christopher Anderson ,  Dustin Williams ,  Scott E. Manzo

IPC分类号： A61B17/00

CPC分类号： A61B17/00234 ,  A61B1/0055 ,  A61B1/0057 ,  A61B1/008 ,  A61B34/30 ,  A61B34/71 ,  A61B34/72 ,  A61B2017/00314 ,  A61B2017/0069 ,  A61B2017/2908 ,  A61B2017/2929 ,  A61B2017/2936 ,  A61B2034/304 ,  A61B2034/305 ,  A61B2034/306

摘要： 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. A positively positionable multi-disk wrist mechanism includes a plurality of disks or vertebrae stacked in series. Each vertebra is configured to rotate in pitch or in yaw with respect to each neighboring vertebra. Actuation cables are used to manipulate and control movement of the vertebrae. In specific embodiments, some of the cables are distal cables that extend from a proximal vertebra through one or more intermediate vertebrae to a distal vertebra, while the remaining cables are medial cables that extend from the proximal vertebra to one or more of the intermediate vertebrae. The cables are actuated by a pivoted plate cable actuator mechanism. In specific embodiments, the actuator mechanism includes a plurality of small radius holes or grooves for receiving the medial cables and a plurality of large radius holes or grooves for receiving the distal cables. The holes or grooves restrain the medial cables to a small radius of motion and the distal cables to a large radius of motion, so that the medial cables to the medial vertebra move only a fraction of the amount as the distal cables to the distal vertebra, so as to achieve precise control and manipulation of the vertebrae.

摘要翻译： 本发明涉及一种具有手腕机构的工具，其提供俯仰和偏转旋转，使得该工具在滚动，俯仰和偏转中没有奇异性。 可靠地定位的多盘腕式机构包括多个堆叠在一起的盘或椎骨。 每个椎骨被配置为相对于每个相邻的椎骨以俯仰或偏航方式旋转。 驱动电缆用于操纵和控制椎骨的运动。 在具体实施例中，一些电缆是从近端椎骨通过一个或多个中间椎骨延伸到远端椎骨的远端电缆，而其余电缆是从近端椎骨延伸到一个或多个中间椎骨的内侧电缆。 电缆由枢轴板电缆致动器机构致动。 在具体实施例中，致动器机构包括用于接纳中间电缆的多个小半径孔或槽，以及用于接收远端电缆的多个大半径孔或槽。 孔或凹槽将内侧电缆限制在较小的运动半径和远端电缆到大的运动半径，使得到内侧椎骨的内侧电缆仅将远端电缆的一部分量移动到远端椎骨， 以便精确控制和操纵椎骨。

公开(公告)号：US08911428B2

公开(公告)日：2014-12-16

申请号：US13414445

申请日：2012-03-07

申请人： Thomas G. Cooper ,  Daniel T. Wallace ,  Stacey Chang ,  S. Christopher Anderson ,  Dustin Williams ,  Scott Manzo

发明人： Thomas G. Cooper ,  Daniel T. Wallace ,  Stacey Chang ,  S. Christopher Anderson ,  Dustin Williams ,  Scott Manzo

IPC分类号： A61B17/00 ,  A61B19/00 ,  A61B1/005 ,  A61B1/008 ,  A61B17/29

CPC分类号： A61B17/00234 ,  A61B1/0055 ,  A61B1/0057 ,  A61B1/008 ,  A61B34/30 ,  A61B34/71 ,  A61B34/72 ,  A61B2017/00314 ,  A61B2017/0069 ,  A61B2017/2908 ,  A61B2017/2929 ,  A61B2017/2936 ,  A61B2034/304 ,  A61B2034/305 ,  A61B2034/306

摘要： 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. A positively positionable multi-disk wrist mechanism includes a plurality of disks or vertebrae stacked in series. Each vertebra is configured to rotate in pitch or in yaw with respect to each neighboring vertebra. Actuation cables are used to manipulate and control movement of the vertebrae. In specific embodiments, some of the cables are distal cables that extend from a proximal vertebra through one or more intermediate vertebrae to a distal vertebra, while the remaining cables are medial cables that extend from the proximal vertebra to one or more of the intermediate vertebrae. The cables are actuated by a pivoted plate cable actuator mechanism.

摘要翻译： 本发明涉及一种具有手腕机构的工具，其提供俯仰和偏转旋转，使得该工具在滚动，俯仰和偏转中没有奇异性。 可靠地定位的多盘腕式机构包括多个堆叠在一起的盘或椎骨。 每个椎骨被配置为相对于每个相邻的椎骨以俯仰或偏航方式旋转。 驱动电缆用于操纵和控制椎骨的运动。 在具体实施例中，一些电缆是从近端椎骨通过一个或多个中间椎骨延伸到远端椎骨的远端电缆，而其余电缆是从近端椎骨延伸到一个或多个中间椎骨的内侧电缆。 电缆由枢轴板电缆致动器机构致动。

公开(公告)号：US20120220831A1

公开(公告)日：2012-08-30

申请号：US13414445

申请日：2012-03-07

申请人： Thomas G. Cooper ,  Daniel T. Wallace ,  Stacey Chang ,  S. Christopher Anderson ,  Dustin Williams ,  Scott Manzo

发明人： Thomas G. Cooper ,  Daniel T. Wallace ,  Stacey Chang ,  S. Christopher Anderson ,  Dustin Williams ,  Scott Manzo

IPC分类号： A61B1/005 ,  A61B1/008

CPC分类号： A61B17/00234 ,  A61B1/0055 ,  A61B1/0057 ,  A61B1/008 ,  A61B34/30 ,  A61B34/71 ,  A61B34/72 ,  A61B2017/00314 ,  A61B2017/0069 ,  A61B2017/2908 ,  A61B2017/2929 ,  A61B2017/2936 ,  A61B2034/304 ,  A61B2034/305 ,  A61B2034/306

摘要： 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. A positively positionable multi-disk wrist mechanism includes a plurality of disks or vertebrae stacked in series. Each vertebra is configured to rotate in pitch or in yaw with respect to each neighboring vertebra. Actuation cables are used to manipulate and control movement of the vertebrae. In specific embodiments, some of the cables are distal cables that extend from a proximal vertebra through one or more intermediate vertebrae to a distal vertebra, while the remaining cables are medial cables that extend from the proximal vertebra to one or more of the intermediate vertebrae. The cables are actuated by a pivoted plate cable actuator mechanism.

摘要翻译： 本发明涉及一种具有手腕机构的工具，其提供俯仰和偏转旋转，使得该工具在滚动，俯仰和偏转中没有奇异性。 可靠地定位的多盘腕式机构包括多个堆叠在一起的盘或椎骨。 每个椎骨被配置为相对于每个相邻的椎骨以俯仰或偏航方式旋转。 驱动电缆用于操纵和控制椎骨的运动。 在具体实施例中，一些电缆是从近端椎骨通过一个或多个中间椎骨延伸到远端椎骨的远端电缆，而其余电缆是从近端椎骨延伸到一个或多个中间椎骨的内侧电缆。 电缆由枢轴板电缆致动器机构致动。

公开(公告)号：US20100228284A1

公开(公告)日：2010-09-09

申请号：US12782833

申请日：2010-05-19

申请人： Thomas G. Cooper ,  Daniel T. Wallace ,  Stacey Chang ,  S. Christopher Anderson ,  Dustin Williams ,  Scott Manzo

发明人： Thomas G. Cooper ,  Daniel T. Wallace ,  Stacey Chang ,  S. Christopher Anderson ,  Dustin Williams ,  Scott Manzo

IPC分类号： A61B17/28

CPC分类号： A61B17/00234 ,  A61B1/0055 ,  A61B1/0057 ,  A61B1/008 ,  A61B34/30 ,  A61B34/71 ,  A61B34/72 ,  A61B2017/00314 ,  A61B2017/0069 ,  A61B2017/2908 ,  A61B2017/2929 ,  A61B2017/2936 ,  A61B2034/304 ,  A61B2034/305 ,  A61B2034/306

摘要： 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. A positively positionable multi-disk wrist mechanism includes a plurality of disks or vertebrae stacked in series. Each vertebra is configured to rotate in pitch or in yaw with respect to each neighboring vertebra. Actuation cables are used to manipulate and control movement of the vertebrae. In specific embodiments, some of the cables are distal cables that extend from a proximal vertebra through one or more intermediate vertebrae to a distal vertebra, while the remaining cables are medial cables that extend from the proximal vertebra to one or more of the intermediate vertebrae. The cables are actuated by a pivoted plate cable actuator mechanism. In specific embodiments, the actuator mechanism includes a plurality of small radius holes or grooves for receiving the medial cables and a plurality of large radius holes or grooves for receiving the distal cables. The holes or grooves restrain the medial cables to a small radius of motion and the distal cables to a large radius of motion, so that the medial cables to the medial vertebra move only a fraction of the amount as the distal cables to the distal vertebra, so as to achieve precise control and manipulation of the vertebrae.

摘要翻译： 本发明涉及一种具有手腕机构的工具，其提供俯仰和偏转旋转，使得该工具在滚动，俯仰和偏转中没有奇异性。 可靠地定位的多盘腕式机构包括多个堆叠在一起的盘或椎骨。 每个椎骨被配置为相对于每个相邻的椎骨以俯仰或偏航方式旋转。 驱动电缆用于操纵和控制椎骨的运动。 在具体实施例中，一些电缆是从近端椎骨通过一个或多个中间椎骨延伸到远端椎骨的远端电缆，而其余电缆是从近端椎骨延伸到一个或多个中间椎骨的内侧电缆。 电缆由枢轴板电缆致动器机构致动。 在具体实施例中，致动器机构包括用于接纳中间电缆的多个小半径孔或槽，以及用于接收远端电缆的多个大半径孔或槽。 孔或凹槽将内侧电缆限制在较小的运动半径和远端电缆到大的运动半径，使得到内侧椎骨的内侧电缆仅将远端电缆的一部分量移动到远端椎骨， 以便精确控制和操纵椎骨。

公开(公告)号：US07736356B2

公开(公告)日：2010-06-15

申请号：US10980119

申请日：2004-11-01

申请人： Thomas G. Cooper ,  Stacey Chang ,  S. Christopher Anderson ,  Dustin Williams ,  Scott Manzo ,  Daniel T. Wallace

发明人： Thomas G. Cooper ,  Stacey Chang ,  S. Christopher Anderson ,  Dustin Williams ,  Scott Manzo ,  Daniel T. Wallace

IPC分类号： A61B17/00

CPC分类号： A61B17/00234 ,  A61B1/0055 ,  A61B1/0057 ,  A61B1/008 ,  A61B34/30 ,  A61B34/71 ,  A61B34/72 ,  A61B2017/00314 ,  A61B2017/0069 ,  A61B2017/2908 ,  A61B2017/2929 ,  A61B2017/2936 ,  A61B2034/304 ,  A61B2034/305 ,  A61B2034/306

摘要： 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. A positively positionable multi-disk wrist mechanism includes a plurality of disks or vertebrae stacked in series. Each vertebra is configured to rotate in pitch or in yaw with respect to each neighboring vertebra. Actuation cables are used to manipulate and control movement of the vertebrae. In specific embodiments, some of the cables are distal cables that extend from a proximal vertebra through one or more intermediate vertebrae to a distal vertebra, while the remaining cables are medial cables that extend from the proximal vertebra to one or more of the intermediate vertebrae. The cables are actuated by a pivoted plate cable actuator mechanism. In specific embodiments, the actuator mechanism includes a plurality of small radius holes or grooves for receiving the medial cables and a plurality of large radius holes or grooves for receiving the distal cables. The holes or grooves restrain the medial cables to a small radius of motion and the distal cables to a large radius of motion, so that the medial cables to the medial vertebra move only a fraction of the amount as the distal cables to the distal vertebra, so as to achieve precise control and manipulation of the vertebrae.

摘要翻译： 本发明涉及一种具有手腕机构的工具，其提供俯仰和偏转旋转，使得该工具在滚动，俯仰和偏转中没有奇异性。 可靠地定位的多盘腕式机构包括多个堆叠在一起的盘或椎骨。 每个椎骨被配置为相对于每个相邻的椎骨以俯仰或偏航方式旋转。 驱动电缆用于操纵和控制椎骨的运动。 在具体实施例中，一些电缆是从近端椎骨通过一个或多个中间椎骨延伸到远端椎骨的远端电缆，而其余电缆是从近端椎骨延伸到一个或多个中间椎骨的内侧电缆。 电缆由枢轴板电缆致动器机构致动。 在具体实施例中，致动器机构包括用于接纳中间电缆的多个小半径孔或槽，以及用于接收远端电缆的多个大半径孔或槽。 孔或凹槽将内侧电缆限制在较小的运动半径和远端电缆到大的运动半径，使得到内侧椎骨的内侧电缆仅将远端电缆的一部分量移动到远端椎骨， 以便精确控制和操纵椎骨。

公开(公告)号：US06817974B2

公开(公告)日：2004-11-16

申请号：US10187248

申请日：2002-06-28

申请人： Thomas G. Cooper ,  Daniel T. Wallace ,  Stacey Chang ,  S. Christopher Anderson ,  Dustin Williams ,  Scott Manzo

发明人： Thomas G. Cooper ,  Daniel T. Wallace ,  Stacey Chang ,  S. Christopher Anderson ,  Dustin Williams ,  Scott Manzo

IPC分类号： A61B100

CPC分类号： A61B17/00234 ,  A61B1/0055 ,  A61B1/0057 ,  A61B1/008 ,  A61B34/30 ,  A61B34/71 ,  A61B34/72 ,  A61B2017/00314 ,  A61B2017/0069 ,  A61B2017/2908 ,  A61B2017/2929 ,  A61B2017/2936 ,  A61B2034/304 ,  A61B2034/305 ,  A61B2034/306

摘要： 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. A positively positionable multi-disk wrist mechanism includes a plurality of disks or vertebrae stacked in series. Each vertebra is configured to rotate in pitch or in yaw with respect to each neighboring vertebra. Actuation cables are used to manipulate and control movement of the vertebrae. In specific embodiments, some of the cables are distal cables that extend from a proximal vertebra through one or more intermediate vertebrae to a distal vertebra, while the remaining cables are medial cables that extend from the proximal vertebra to one or more of the intermediate vertebrae. The cables are actuated by a pivoted plate cable actuator mechanism. In specific embodiments, the actuator mechanism includes a plurality of small radius holes or grooves for receiving the medial cables and a plurality of large radius holes or grooves for receiving the distal cables. The holes or grooves restrain the medial cables to a small radius of motion and the distal cables to a large radius of motion, so that the medial cables to the medial vertebra move only a fraction of the amount as the distal cables to the distal vertebra, so as to achieve precise control and manipulation of the vertebrae.

摘要翻译： 本发明涉及一种具有手腕机构的工具，其提供俯仰和偏转旋转，使得该工具在滚动，俯仰和偏转中没有奇异性。 可靠地定位的多盘腕式机构包括多个堆叠在一起的盘或椎骨。 每个椎骨被配置为相对于每个相邻的椎骨以俯仰或偏航方式旋转。 驱动电缆用于操纵和控制椎骨的运动。 在具体实施例中，一些电缆是从近端椎骨通过一个或多个中间椎骨延伸到远端椎骨的远端电缆，而其余电缆是从近端椎骨延伸到一个或多个中间椎骨的内侧电缆。 电缆由枢轴板电缆致动器机构致动。 在具体实施例中，致动器机构包括用于接纳中间电缆的多个小半径孔或槽，以及用于接收远端电缆的多个大半径孔或槽。 孔或凹槽将内侧电缆限制在较小的运动半径和远端电缆到大的运动半径，使得到内侧椎骨的内侧电缆仅将远端电缆的一部分量移动到远端椎骨， 以便精确控制和操纵椎骨。

公开(公告)号：US20050090809A1

公开(公告)日：2005-04-28

申请号：US10980119

申请日：2004-11-01

申请人： Thomas Cooper ,  Daniel Wallace ,  Stacey Chang ,  S. Christopher Anderson ,  Dustin Williams ,  Scott Manzo

发明人： Thomas Cooper ,  Daniel Wallace ,  Stacey Chang ,  S. Christopher Anderson ,  Dustin Williams ,  Scott Manzo

IPC分类号： A61B1/00 ,  A61B17/00 ,  A61B17/28 ,  A61B17/32 ,  A61B19/00

CPC分类号： A61B17/00234 ,  A61B1/0055 ,  A61B1/0057 ,  A61B1/008 ,  A61B34/30 ,  A61B34/71 ,  A61B34/72 ,  A61B2017/00314 ,  A61B2017/0069 ,  A61B2017/2908 ,  A61B2017/2929 ,  A61B2017/2936 ,  A61B2034/304 ,  A61B2034/305 ,  A61B2034/306

摘要： 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. A positively positionable multi-disk wrist mechanism includes a plurality of disks or vertebrae stacked in series. Each vertebra is configured to rotate in pitch or in yaw with respect to each neighboring vertebra. Actuation cables are used to manipulate and control movement of the vertebrae. In specific embodiments, some of the cables are distal cables that extend from a proximal vertebra through one or more intermediate vertebrae to a distal vertebra, while the remaining cables are medial cables that extend from the proximal vertebra to one or more of the intermediate vertebrae. The cables are actuated by a pivoted plate cable actuator mechanism. In specific embodiments, the actuator mechanism includes a plurality of small radius holes or grooves for receiving the medial cables and a plurality of large radius holes or grooves for receiving the distal cables. The holes or grooves restrain the medial cables to a small radius of motion and the distal cables to a large radius of motion, so that the medial cables to the medial vertebra move only a fraction of the amount as the distal cables to the distal vertebra, so as to achieve precise control and manipulation of the vertebrae.

摘要翻译： 本发明涉及一种具有手腕机构的工具，其提供俯仰和偏转旋转，使得该工具在滚动，俯仰和偏转中没有奇异性。 可靠地定位的多盘腕式机构包括多个堆叠在一起的盘或椎骨。 每个椎骨被配置为相对于每个相邻的椎骨以俯仰或偏航方式旋转。 驱动电缆用于操纵和控制椎骨的运动。 在具体实施例中，一些电缆是从近端椎骨通过一个或多个中间椎骨延伸到远端椎骨的远端电缆，而其余电缆是从近端椎骨延伸到一个或多个中间椎骨的内侧电缆。 电缆由枢轴板电缆致动器机构致动。 在具体实施例中，致动器机构包括用于接纳中间电缆的多个小半径孔或槽，以及用于接收远端电缆的多个大半径孔或槽。 孔或凹槽将内侧电缆限制在较小的运动半径和远端电缆到大的运动半径，使得到内侧椎骨的内侧电缆仅将远端电缆的一部分量移动到远端椎骨， 以便精确控制和操纵椎骨。

公开(公告)号：US07066926B2

公开(公告)日：2006-06-27

申请号：US10758050

申请日：2004-01-14

申请人： Daniel T. Wallace ,  S. Christopher Anderson ,  Scott Manzo

发明人： Daniel T. Wallace ,  S. Christopher Anderson ,  Scott Manzo

IPC分类号： A61B17/00 ,  A61B19/00

CPC分类号： A61B34/70 ,  A61B17/00234 ,  A61B34/30 ,  A61B34/71 ,  A61B34/72 ,  A61B2017/2929 ,  A61B2017/2934 ,  A61B2034/304 ,  A61B2034/305 ,  Y10S606/914 ,  Y10T74/20305 ,  Y10T74/20317 ,  Y10T74/20335

摘要： The present invention provides a robotic surgical tool for use in a robotic surgical system to perform a surgical operation. The robotic surgical tool includes a wrist mechanism disposed near the distal end of a shaft which connects with an end effector. The wrist mechanism includes a distal member configured to support the end effector, and a plurality of rods extending generally along an axial direction within the shaft and movable generally along this axial direction to adjust the orientation of the distal member with respect to the shaft. Advancement or retraction of a first rod generally along the axial direction tips the base through a first angle. The addition of a second angle allows the distal member to direct the end effector in essentially a compound angle. The robotic surgical tool may also include provisions for roll movement.

摘要翻译： 本发明提供一种用于机器人手术系统中的用于执行外科手术的机器人手术工具。 机器人手术工具包括设置在与末端执行器连接的轴的远端附近的手腕机构。 手腕机构包括构造成支撑端部执行器的远端构件，以及大体上沿轴向方向延伸的多个杆，并且大体上可沿该轴向方向移动，以调节远端构件相对于轴的取向。 大体上沿着轴向方向推进或缩回第一杆将第一角通过第一角度。 增加第二角度允许远端构件以基本上复合的角度引导末端执行器。 机器人手术工具还可以包括用于辊运动的设置。

公开(公告)号：US07691098B2

公开(公告)日：2010-04-06

申请号：US11436988

申请日：2006-05-18

申请人： Daniel T. Wallace ,  S. Christopher Anderson ,  Scott Manzo

发明人： Daniel T. Wallace ,  S. Christopher Anderson ,  Scott Manzo

IPC分类号： G05G11/00 ,  G05G9/00 ,  B25J9/06 ,  B25J11/00 ,  A61B17/28 ,  A61B19/00 ,  A61B17/00

CPC分类号： A61B34/70 ,  A61B17/00234 ,  A61B34/30 ,  A61B34/71 ,  A61B34/72 ,  A61B2017/2929 ,  A61B2017/2934 ,  A61B2034/304 ,  A61B2034/305 ,  Y10S606/914 ,  Y10T74/20305 ,  Y10T74/20317 ,  Y10T74/20335

摘要： The present invention provides a robotic surgical tool for use in a robotic surgical system to perform a surgical operation. The robotic surgical tool includes a wrist mechanism disposed near the distal end of a shaft which connects with an end effector. The wrist mechanism includes a distal member configured to support the end effector, and a plurality of rods extending generally along an axial direction within the shaft and movable generally along this axial direction to adjust the orientation of the distal member with respect to the shaft. Advancement or retraction of a first rod generally along the axial direction tips the base through a first angle. The addition of a second angle allows the distal member to direct the end effector in essentially a compound angle. The robotic surgical tool may also include provisions for roll movement.

摘要翻译： 本发明提供一种用于机器人手术系统中的用于执行外科手术的机器人手术工具。 机器人手术工具包括设置在与末端执行器连接的轴的远端附近的手腕机构。 手腕机构包括构造成支撑端部执行器的远端构件，以及大体上沿轴向方向延伸的多个杆，并且大体上可沿该轴向方向移动，以调节远侧构件相对于轴的取向。 大体上沿着轴向方向推进或缩回第一杆将第一角通过第一角度。 增加第二角度允许远端构件以基本上复合的角度引导末端执行器。 机器人手术工具还可以包括用于辊运动的设置。

公开(公告)号：US06699235B2

公开(公告)日：2004-03-02

申请号：US10186176

申请日：2002-06-28

申请人： Daniel T. Wallace ,  S. Christopher Anderson ,  Scott Manzo

发明人： Daniel T. Wallace ,  S. Christopher Anderson ,  Scott Manzo

IPC分类号： A61B1700

CPC分类号： A61B34/70 ,  A61B17/00234 ,  A61B34/30 ,  A61B34/71 ,  A61B34/72 ,  A61B2017/2929 ,  A61B2017/2934 ,  A61B2034/304 ,  A61B2034/305 ,  Y10S606/914 ,  Y10T74/20305 ,  Y10T74/20317 ,  Y10T74/20335

摘要： The present invention provides a robotic surgical tool for use in a robotic surgical system to perform a surgical operation. The robotic surgical tool includes a wrist mechanism disposed near the distal end of a shaft which connects with an end effector. The wrist mechanism includes a distal member configured to support the end effector, and a plurality of rods extending generally along an axial direction within the shaft and movable generally along this axial direction to adjust the orientation of the distal member with respect to the shaft. The distal member has a base to which the rods are rotatably connected by orthogonal linkage assemblies. Advancement or retraction of a first rod generally along the axial direction tips the base through a first angle so that the distal member faces a first articulated direction, such as to provide pitch. The addition of a second angle allows the distal member to direct the end effector in essentially a compound angle or in a second articulated direction in relation to the shaft of the surgical tool, such as to provide yaw. The robotic surgical tool may also include provisions for roll movement. Roll movement is achieved by rotating the plurality of rods around a longitudinal axis or the central axis of the shaft parallel to the axial direction. The robotic surgical tool includes a tool base disposed near the proximal end of the shaft.

摘要翻译： 本发明提供一种用于机器人手术系统中的用于执行外科手术的机器人手术工具。 机器人手术工具包括设置在与末端执行器连接的轴的远端附近的手腕机构。 手腕机构包括构造成支撑端部执行器的远端构件，以及大体上沿轴向方向延伸的多个杆，并且大体上可沿该轴向方向移动，以调节远侧构件相对于轴的取向。 远端构件具有基座，杆通过正交连杆组件可旋转地连接到基座。 通常沿着轴向方向推进或缩回第一杆将第一角度提升到基部，使得远端构件面向第一铰接方向，例如提供间距。 增加第二角度允许远侧构件相对于外科手术工具的轴以基本上复合的角度或第二铰接方向引导末端执行器，例如提供偏航。 机器人手术工具还可以包括用于辊运动的设置。 通过围绕平行于轴向方向的轴的纵向轴线或中心轴线旋转多个杆来实现滚动运动。 机器人手术工具包括设置在轴的近端附近的工具基座。