Patent ID: 9033998
Filing Date: 2015-05-19
Classification: A61B

Abstract:
1. A robotic surgical system comprising: an end-effector assembly comprising a surgical instrument configured for fine-movement responsive to a first control mechanism in order to perform a medical procedure at a target area using said surgical instrument; and a coarse-movement assembly connected to said end-effector assembly, said coarse-movement assembly configured for coarse-movement responsive to a second control mechanism in order to position said end-effector assembly near said target area, said coarse-movement comprising at least a wrist movement for said end-effector assembly, said first control mechanism and said second control mechanism being independently controllable from each other, said coarse-movement assembly comprising: an opening separate from said at least one cavity extending longitudinally along said first and second articulating joint assemblies, and a flexible shaft coupled to said end-effector assembly and extending through said opening, wherein said flexible shaft is rotatable within said opening to impart a roll on said end-effector assembly and wherein rotation of the said flexible shaft is independent of any longitudinal movement of said flexible shaft; wherein each connected disk of said first and second series of connected disks further includes a freely rotatable core, said cavity and said opening being located in said core and wherein each of said core and said flexible shaft is rotatable simultaneously and independently about respective said longitudinal axes.