ROBOTIC SURGICAL ASSEMBLIES INCLUDING SURGICAL INSTRUMENTS HAVING ARTICULATABLE WRIST ASSEMBLIES
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United States of America Patent
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Issued Date -
Dec 21, 2023
app pub date -
Jun 6, 2023
filing date -
Jun 15, 2022
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Abstract
A surgical instrument for use in a robotic surgical system includes an end effector, a housing configured to be operably coupled to an instrument drive unit, a shaft extending distally from the housing, a tensegrity wrist assembly movably coupling the end effector to a distal end portion of the shaft, and articulation cables that adjust the pitch and yaw of the end effector relative to the shaft.
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