Patent ID: 7914522
Filing Date: 2011-03-29
Classification: A61B,Y10T

Abstract:
1. An articulated surgical instrument for minimally invasive surgery comprising: a tool shaft having a proximal end and a working end; a wrist member having a proximal end and a distal end, the proximal end of the wrist member coupled to the working end of the tool shaft by a pivotal connection defining a pitch axis; a base coupled to the distal end of the wrist member, the base supporting an end effector; first and second pulleys coaxially positioned on the pitch axis; first and second tangent surfaces attached to the bottom of the base, the first and second tangent surfaces each rotatable about a distal roll axis perpendicular to and intersecting the pitch axis; a first elongate element engaging the first tangent surface and the first pulley, the first elongate element running through the tool shaft; and a second elongate element engaging the second tangent surface and the second pulley, the second elongate element running through the tool shaft; the instrument further comprising a pitch pulley coaxially positioned on the pitch axis, and a pitch elongate element engaging the pitch pulley, the pitch elongate element running through the wrist member through the tool shaft.