Patent ID: 8062306
Filing Date: 2011-11-22
Classification: A61B

Abstract:
1. A surgical device, comprising: an elongate shaft having proximal and distal ends; a three-bar linkage having proximal and distal ends, the three-bar linkage including a first pivot joint, a second pivot joint, and a rotation joint, the rotation joint rotatably coupling the proximal end of the three-bar linkage to the distal end of the elongate shaft such that the three-bar linkage can rotate about a longitudinal axis of the elongate shaft; an end effector coupled to the distal end of the three-bar linkage; and an articulation actuator extending through the elongate shaft, the articulation actuator being coupled to the three-bar linkage at a third pivot joint and being effective to laterally articulate the three-bar linkage relative to a longitudinal axis of the elongate shaft to angularly orient the end effector relative to the elongate shaft, the articulation actuator having a distal end adjacent to the distal end of the elongate shaft,