Thomas B. Remm,John A. Hibner,Timothy J. Zimmer,Christopher William Long Birri
申请号：
US15371764
公开号：
US20180153627A1
申请日:
2016.12.07
申请国别(地区):
US
年份:
2018
代理人:
摘要：
Various exemplary surgical tool wrists are provided. In general, a surgical tool can include an elongate shaft and a wrist that couples an end effector to a distal end of the shaft. The surgical tool can include multiple elongate members configured to move, either individually or as a group of two or more of the elongate members, to cause movement of the end effector relative to the shaft. Each of the surgical tool's elongate members can be configured to extend along a helical path. Each of the elongate members can extend proximally from its associated helical path to a pulley at the wrist. The helical paths can be configured to guide the elongate members to approach and engage their respective pulleys at a substantially zero angle.
