AWTAR, SHORYA,NIELSEN, JENS,TRUTNA, TRISTAN THOMAS,MANSFIELD, ANDREW,ABANI, ROSA,QUIGLEY, PATRICK,GEIGER, JAMES
申请号：
CA2721216
公开号：
CA2721216C
申请日:
2009.04.13
申请国别(地区):
CA
年份:
2016
代理人:
摘要：
A minimal access tool includes a frame arranged to be attached to an arm of auser, a tool shaft having a proximalend and a distal end, where the tool shaft proximal end is connected to theframe. The tool further includes an input joint having afirst end connected to the frame and a second end arranged to receive userinput, the input joint including a virtualcenter-of-rota-tion (VC) mechanism which provides a center of rotation thatgenerally coincides with a wrist joint of the user. An output joint isconnected to the tool shaft distal end, where the output joint is coupled tothe input joint via a mechanical transmission connectedtherebetween to correlate motion of the input joint to motion of the outputjoint.
