The patent badge is an abbreviated version of the USPTO patent document. The patent badge does contain a link to the full patent document.
The patent badge is an abbreviated version of the USPTO patent document. The patent badge covers the following: Patent number, Date patent was issued, Date patent was filed, Title of the patent, Applicant, Inventor, Assignee, Attorney firm, Primary examiner, Assistant examiner, CPCs, and Abstract. The patent badge does contain a link to the full patent document (in Adobe Acrobat format, aka pdf). To download or print any patent click here.
Patent No.:
Date of Patent:
Dec. 16, 2014
Filed:
Mar. 07, 2012
Thomas G. Cooper, Menlo Park, CA (US);
Daniel T. Wallace, Redwood City, CA (US);
Stacey Chang, Sunnyvale, CA (US);
S. Christopher Anderson, Northampton, MA (US);
Dustin Williams, Mountain View, CA (US);
Scott Manzo, Shelton, CT (US);
Thomas G. Cooper, Menlo Park, CA (US);
Daniel T. Wallace, Redwood City, CA (US);
Stacey Chang, Sunnyvale, CA (US);
S. Christopher Anderson, Northampton, MA (US);
Dustin Williams, Mountain View, CA (US);
Scott Manzo, Shelton, CT (US);
Intuitive Surgical Operations, Inc., Sunnyvale, CA (US);
Abstract
The present invention is directed to a tool having a wrist mechanism that provides pitch and yaw rotation in such a way that the tool has no singularity in roll, pitch, and yaw. A positively positionable multi-disk wrist mechanism includes a plurality of disks or vertebrae stacked in series. Each vertebra is configured to rotate in pitch or in yaw with respect to each neighboring vertebra. Actuation cables are used to manipulate and control movement of the vertebrae. In specific embodiments, some of the cables are distal cables that extend from a proximal vertebra through one or more intermediate vertebrae to a distal vertebra, while the remaining cables are medial cables that extend from the proximal vertebra to one or more of the intermediate vertebrae. The cables are actuated by a pivoted plate cable actuator mechanism.