Patent ID: 6394998
Filing Date: 2002-05-28
Classification: A61B,Y10T

Abstract:
A minimally invasive surgical instrument comprising:an elongate shaft having a working end; a wrist member having an end portion pivotally mounted on the working end of the shaft; a first mounting formation pivotally mounted to an opposed end portion of the wrist member; a pair of first elongate elements, each of the pair extending from a respective one of two opposed positions on the mounting formation and in a direction toward a proximal end of the shaft; a first driving member, the first elongate elements being coupled to the first driving member so as to cause angular displacement of the mounting formation in one angular direction in response to the first driving member causing one of the first elongate elements to be pulled and to cause angular displacement of the mounting formation in an opposed angular direction in response to the first driving member causing the other first elongate element to be pulled; a pair of second elongate elements, each of the pair extending from a respective one of two opposed positions on the wrist member and in a direction toward the proximal end of the shaft; and a second driving member, the second elongate elements being coupled to the second driving member so as to cause the wrist member to pivot in one angular direction in response to the second driving member causing one of the second elongate elements to be pulled, and to cause the wrist member to pivot in an opposed angular direction in response to the second driving member causing the other second elongate element to be pulled.