Patent ID: 8915940

Claim:
A surgical tool for use by an operator, comprising: a manipulator adapted to receive at least a portion of the operator's hand, the manipulator having a longitudinal axis and a first angular position; a proximal universal joint having a first end and a second end, the first end of the proximal universal joint being mounted to the manipulator, the proximal universal joint including a center block, a proximal yoke at the first end of the proximal universal joint and mounted to the center block at first and second mounting locations, a distal yoke at the second end of the proximal universal joint and mounted to the center block at third and fourth mounting locations, means for pivoting the center block member about two perpendicular coplanar axes through the center block, and a round element at each mounting location between the center block and the proximal or distal yoke, the round elements being independent parts or integral to either of the center block or the yokes; a hollow elongated member having a first end, a second end, and a longitudinal axis, the first end of the elongated member being mounted to the second end of the proximal universal joint; a distal universal joint having a first end and a second end, the first end of the distal universal joint being mounted to the second end of the elongated member, the distal universal joint including a center block, a proximal yoke at the first end of the distal universal joint and mounted to the center block at first and second mounting locations, a distal yoke at the second end of the distal universal joint and mounted to the center block at third and fourth mounting locations, means for pivoting the center block member about two perpendicular coplanar axes through the center block, and a round element at each mounting location between the center block and the proximal or distal yoke, the round elements being independent parts or integral to either of the center block or the yokes; cabling operatively coupling the proximal and distal universal joints, the cabling comprising four cables that each engage two of the round elements at each of the proximal and distal universal joints such that pivoting the proximal yoke of the proximal universal joint causes a corresponding motion of the distal yoke of the distal universal joint; and an end effector mounted to the second end of the distal universal joint, the end effector having a first angular position and a longitudinal axis parallel to the longitudinal axis of the manipulator, wherein at all relative positions of the manipulator and the end effector, the longitudinal axis of the manipulator and the longitudinal axis of the end effector remain parallel, and the degree of rotation of the manipulator about the longitudinal axis of the manipulator from the first angular position of the manipulator is equal to the degree of rotation of the end effector about the longitudinal axis of the end effector from the first angular position of the end effector.