SURGICAL IMPLEMENT HAVING TENDON DRIVING MULTI-DISK WRIST JOINT ALLOWING POSITIVE LOCATION

摘要

PPROBLEM TO BE SOLVED: To provide an implement which can be used to operate inside a surgical site to level up the skill of a surgical doctor and is used in a surgical robot system that is low-invasive and remote-controllable. PSOLUTION: The low-invasive surgical implement has an end effector having a construct for facilitating a left grip construct and a right grip construct to move, wherein the implement has a wrist construct that furnishes a pitch and a yaw with a rotation so that a roll, the pitch and the yaw may have no specific point. In one preferable embodiment, the wrist construct comprises a plurality of disks, i.e. vertebras bound to each others in pile or in series. Typically, the most proximal vertebra, i.e. disk of the piled product is connected with the segment of a proximal end material such as an operation end of a shaft in a tool or an implement, while the most distal vertebra, i.e. disk is connected with the segment of a distal end material such as an end effector or an end effector supporting material. Each disk is designed to rotate with at least 1 degree of freedom, i.e. 1 DOF in relation with the neighboring disk or the end material. PCOPYRIGHT: (C)2009,JPO&INPIT