专利名称：FOUR-CABLE WRIST WITH SOLID SURFACE
CABLE CHANNELS
发明人：WILLIAM A. BURBANK
申请号：US12173934
申请日：20080716
公开号：US20100011901A1
公开日：
20100121
专利内容由知识产权出版社提供
专利附图：
pulleys摘要：A wrist mechanism for an instrument used in minimally invasive medical
procedures employs only four drive cables for control of the pitch, yaw, and grip of an effector. To reduce part count, no pulleys are used. Instead, solid surfaces of devises in
the wrist mechanism cradle the drive cables and are curved in multiple directions to maintain a fixed moment arm for cable torques and eliminate the need for large cable wrap angles. Further, the stiffness of each of the four drive cables can be controlled for improved clinical performance. In particular, the stiffness of the two drive cables that cause grips to close can be greater than the stiffness of the remaining two drive cables that cause the grips to open. The arrangement can minimize cable slack, improving fidelity of motion.
申请人：WILLIAM A. BURBANK
地址：Sandy Hook CT US
国籍：US
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