Ben Robert Chaplin,Keith Marshall,Luke David Ronald Hares
申请号：
US15374348
公开号：
US20170165017A1
申请日:
2016.12.09
申请国别(地区):
US
年份:
2017
代理人:
摘要：
A robotic surgical instrument comprising a shaft and end effector element connected by an articulation. The articulation comprises first and second joints, driveable by first and second pairs of driving elements. The first joint permits the end effector element to rotate about a first axis transverse to a longitudinal axis of the shaft. A pulley arrangement comprises a first set of pulleys rotatable about the first axis and a redirecting pulley between the first set of pulleys and the second joint, both of which constrain the second pair of driving elements. The redirecting pulley is rotatable about a redirecting pulley axis which is angled to the first axis so as to cause the redirecting pulley to redirect a first one of the second pair of driving elements from a take-off point of a first pulley of the first set of pulleys to a pick-up point of the second joint.
