Patent ID: 11660150

Abstract:
A surgical tool for compact articulating during surgical procedures includes a pitch cable, at least one yaw cable, a first link, a second link, at least one end-effector link, and at least one tensioning mechanism. The first link has a pitch joint end with a pitch joint pin and at least one yaw cable guide channel. The second link has a yaw joint end with a yaw joint pin. The second link is rotatably connected to the pitch joint pin. The at least one end-effector link is rotatably connected to said yaw joint pin. The yaw cables are coupled to the end-effector links such that the yaw cables can actuate the end-effector links about the yaw joint pin. The yaw cable guide channel is configured such that the yaw cables travel through a smooth trajectory to the end-effector links. The tensioning mechanism is configured to maintain a constant length.