Articulated surgical instrument for performing minimally invasive surgery with enhanced dexterity and sensitivity
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United States of America Patent
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Jun 19, 2018
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Feb 9, 2016
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May 20, 1996
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Abstract
An articulated surgical instrument for enhancing the performance of minimally invasive surgical procedures. The instrument has a high degree of dexterity, low friction, low inertia and good force reflection. A unique cable and pulley drive system operates to reduce friction and enhance force reflection. A unique wrist mechanism operates to enhance surgical dexterity compared to standard laparoscopic instruments. The system is optimized to reduce the number of actuators required and thus produce a fully functional articulated surgical instrument of minimum size.
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