Patent ID: 8343141
Filing Date: 2013-01-01
Classification: A61B,B25J,Y10T

Abstract:
1. An articulated surgical instrument for minimally invasive surgery comprising: a sliding bracket coupled to at least one guide rail, the sliding bracket configured to slide along the longitudinal axis of the at least one guide rail; an elongate support member having a proximal end coupled to the sliding bracket and to the at least one guide rail, the support member being movable along its longitudinal axis by sliding the sliding bracket relative to the at least one guide rail; a wrist member coupled to the distal end of the elongate support member, the wrist member rotatable relative to the elongate support member about a first axis; a surgical end effector coupled to the wrist member, the surgical end effector comprising a first work member rotatable relative to the wrist member about a second axis; and actuators disposed at the sliding bracket, the actuators coupled to the wrist member by cables to rotate the wrist member about the first axis, the actuators further coupled to the first work member by cables to rotate the first work member about the second axis.