Pablo Eduardo Garcia Kilroy,Kenneth C. Miller,Thomas D. Egan,Thomas P. Low,Arthur Maxwell Crittenden,Karen Shakespear Koenig
申请号：
US14388208
公开号：
US09889568B2
申请日:
2014.03.13
申请国别(地区):
US
年份:
2018
代理人:
摘要：
A surgical tool includes a tool shaft, and end effector and a wrist that couples the end effector to the tool shaft. The tool includes a drive mechanism configured to effect movement of one or both of the wrist and the end effector in yaw and pitch via independent actuation of four independent cable ends of two or more independent cables that extend between the drive mechanism and the wrist.
