Patent ID: 6699235
Filing Date: 2004-03-02
Classification: A61B,Y10S,Y10T

Abstract:
A robotic surgical tool comprising:a distal member configured to support an end effector, wherein the distal member has a base; a plurality of rods movable generally along an axial direction to adjust an orientation of the distal member with respect to the axial direction, wherein the rods are rotatably connected to the base and extend generally along the axial direction and wherein 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; and a plurality of linkages, each linkage connecting one of the plurality of rods with the base and wherein each linkage comprises an orthogonal linkage having a first link portion which is rotatably connectable with the one of the plurality of rods and a second link portion which is rotatably connectable with the base and wherein the first link portion and the second link portion lie in orthogonal planes.