Patent ID: 7121781
Filing Date: 2006-10-17
Classification: A61B,B25J,Y10T

Abstract:
1. A robotically controlled medical instrument, comprising: an end effector base having a plurality of ball joints; a stationary jaw connected to the end effector base; a movable jaw pivotally coupled to the stationary jaw; first and second pins respectively coupled to the end effector base at first and second of the plurality of ball joints; a third pin coupled to the movable jaw; a stationary pin coupled to the end effector base at a third of the plurality of ball joints so as to define a pivot point; and a tool driver configured to effect a first degree of freedom movement of the end effector base at the pivot point by moving the first and second pins in opposite directions, effect a second degree of freedom movement of the end effector base at the pivot point by moving the first and second pins in a same direction, effect pivotal movement of the movable jaw in a first angular direction by moving the third pin in a first direction, and effect pivotal movement of the movable jaw in a second annular direction by moving the third in a second direction opposite to that of the first direction.