KILROY, PABLO EDUARDO GARCIA,MILLER, KENNETH C.,EGAN, THOMAS, D.,LOW, THOMAS P.,CRITTENDEN, ARTHUR MAXWELL,KOENIG, KAREN SHAKESPEAR
申请号：
CA2905048
公开号：
CA2905048A1
申请日:
2014.03.13
申请国别(地区):
CA
年份:
2014
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.
