Mohammad Akbar,Seyed Mohammad Javad Mortazavi ashkezari,Javad Hasani bidgoli,Amirhossein Ahmadian,Mohammad Jalal Sadeghi,Alireza Ahmadian,Farzam Farahmand,Saeed Sarkar
申请号：
US15829791
公开号：
US20180085177A1
申请日:
2017.12.01
申请国别(地区):
US
年份:
2018
代理人:
摘要：
Various robotic guides for a biopsy surgical tool are disclosed, of which one includes a main shaft, an end-effector mounted on a distal end of the main shaft, a roll/yaw actuating mechanism, a translational actuating mechanism, and a pitch actuating mechanism. Optionally, the roll/yaw actuating mechanism includes a first actuating mechanism and a second actuating mechanism. Roll movement or yaw movement of the main shaft is effectuated by combination of movements of the first actuating mechanism and the second actuating mechanism.
