Chang Wook Jeong,Chun Chol Sin,Sung Ryul Kim,Hyung Tae Kim
申请号：
US14342823
公开号：
US20140214049A1
申请日:
2012.09.05
申请国别(地区):
US
年份:
2014
代理人:
摘要：
The present invention relates to a minimally invasive surgical instrument having a joint section comprising spherical components. According to one embodiment of the present invention, a minimally invasive surgical instrument comprises a shaft, a joint section connected to one end of the shaft, and an end effector which is connected to the joint section and thus is capable of articulatory movement, wherein the joint section comprises multiple spherical components and multiple joint links, and at least some of the multiple joint links move in the pitch direction or in the yaw direction in accordance with the shape of slots formed in the spherical components housed therein, enabling the end effector to move in the pitch or the yaw direction.
