Patent ID: 8668702

Claim:
A minimal access tool, comprising: a frame, said frame having a securement device for securement to an arm of a user; a tool shaft having a proximal end and a distal end, the proximal end of the tool shaft connected to the frame; an input joint having a first end connected to the frame and a second end having a handle to receive input from a user's hand, the input joint providing articulation between the first end and the second end, the articulation comprising two orthogonal rotations, pitch rotation and yaw rotation, wherein the two orthogonal rotations are the same as two rotations associated with an articulation of a wrist of the user; each of the two orthogonal rotations of the articulation of the input joint being about a center of rotation that coincides with a location of articulation of the wrist joint of the user; and an end effector connected to the distal end of the tool shaft via an output joint having two orthogonal rotations, wherein the output joint is coupled to the input joint via only a mechanical transmission connected therebetween to correlate and transmit the two orthogonal rotations of the input joint to the two orthogonal rotations of the output joint, thereby transmitting the pitch rotation and yaw rotation of the wrist joint of the user to two corresponding rotations of the output joint, the mechanical transmission including at least one of a group including: a yaw axis pulley that rotates with respect to the first end of the input joint about the yaw axis and a yaw transmission cable engaged with the yaw axis pulley, and a pitch axis pulley that rotates with respect to the first end of the input joint about the pitch axis and a pitch transmission cable engaged with the pitch axis pulley.