Uwe Schaible,Jeffrey Allan Veltri,Amin Ahmadi Bidhendi,Reiza Rayman,Alexander Shvartsberg
申请号：
US13106306
公开号：
US09033998B1
申请日:
2011.05.12
申请国别(地区):
US
年份:
2015
代理人:
摘要：
A robotic system for use in Minimally Invasive Surgery (MIS) is provided that, in various aspects of this specification, comprises at least one elongated shaft known as the robotic arm. In certain aspects, the robotic arm is provided with an independent roll wrist mechanism, which can allow for imparting the roll motion to the end effectors while mitigating or potentially eliminating the need of rotating the entire robotic arm, thus ensuring independent movement of end effectors. The independent movement of the end effectors sweeps a considerably smaller conical volume, as compared to that swept by the entire robotic arm, thereby reducing the likelihood of collisions with neighboring tissues or organs.
