YEUNG, BENNY HON BUN,GREGORIS, DENNIS,BEDNARZ, BRONISLAW,GRAY, MICHAEL A.
申请号：
CA2655431
公开号：
CA2655431C
申请日:
2007.06.14
申请国别(地区):
CA
年份:
2014
代理人:
摘要：
A surgical end-effector includes a main body including a framehaving an interface configured to be attached to a robotic arm.The end-effector also includes a magnetic tool holder configured to holdsurgical tools, a tool-actuation mechanism configured to engage a pistonon the surgical tool, and a tool-yaw drive mechanism, all mounted on theframe and being detachable therefrom. The main body also includes atool-yaw motor and a tool-actuation motor mounted on the frame.The tool-actuation mechanism is coupled to the tool-actuation motor andthe tool-yaw drive mechanism is coupled to the tool-yaw motor. Uponactivation of the tool-yaw drive mechanism, the surgical tool rotates aboutthe tool-yaw axis and upon activation of the tool-actuation mechanism, thepiston on the surgical tool is linearly retracted or extended with respect tothe end-effector thereby activating a tool portion of the surgical tool.
