Title:
機械的な関節並びに関連するシステム及び方法
Document Type and Number:
Japanese Patent JP6664331
Kind Code:
B2
Abstract:
A surgical instrument may comprise a shaft; a wrist structure coupled to the shaft; an end effector coupled to the wrist structure; and an actuation element extending through the shaft and the wrist and coupled to the end effector. The wrist structure may be articulatable in multiple degrees of freedom relative to the shaft, and the actuation element may follow a twisted path along at least a portion of a length of the wrist structure, the twisted path having an angular extent of less than 360 degrees over the length of the wrist.
Inventors:
Sara Leeve, Daniel Pea
Matthew Earl, Williams
Matthew Earl, Williams
Application Number:
JP2016553459A
Publication Date:
March 13, 2020
Filing Date:
February 20, 2015
Export Citation:
Assignee:
Intuitive Surgical Operations, Incorporated
International Classes:
A61B34/30
Domestic Patent References:
| JP2004337994A | ||||
| JP2013518665A |
Foreign References:
| US20120277762 |
Attorney, Agent or Firm:
Tadashige Ito
Tadahiko Ito
Shinsuke Onuki
Tadahiko Ito
Shinsuke Onuki