Nielsen, Jens,Geiger, James,Abani, Rosa,Trutna, Tristan Thomas,Awtar, Shorya,Quigley, Patrick,Mansfield, Andrew
申请号：
AU2009234288
公开号：
AU2009234288B2
申请日:
2009.04.13
申请国别(地区):
AU
年份:
2014
代理人:
摘要：
A minimal access tool includes a frame arranged to be attached to an arm of a user, a tool shaft having a proximal end and a distal end, where the tool shaft proximal end is connected to the frame. The tool further includes an input joint having a first end connected to the frame and a second end arranged to receive user input, the input joint including a virtual center-of-rotation (VC) mechanism which provides a center of rotation that generally coincides with a wrist joint of the user. An output joint is connected to the tool shaft distal end, where the output joint is coupled to the input joint via a mechanical transmission connected therebetween to correlate motion of the input joint to motion of the output joint.
