7346results about "Joints" patented technology

A surgical instrument particularly suited to endoscopic and laparoscopic insertion through a cannula of a trocar into an insufflated body cavity or lumen includes a bending member in an elongate shaft that acts to rotate an end effector about an articulation pivot joint. A proximally directed camming surface (e.g., gear segment, cam recess) aft of a pivotal attachment of the end effector to a proximal frame ground of the elongate shaft interacts with a bending member whose proximal end is ground to the proximal frame ground. Differential fluidic actuators or mechanical cam bars deflect a distal end (e.g., rack, cam point) of the bending member to effect articulation. Thereby, the end effector may act upon tissue that would otherwise be obscured, such as behind an organ. The articulated end effector also advantageously allows an endoscope to be positioned behind the end effector without being blocked by the instrument shaft.

A manipulator includes a control unit (1), with handle (4) and control buttons (4a-4d), and a connecting arm (2) which, at its proximal end (2a), carries the control unit (1) and, at its distal end (2b), carries a work unit (3). The control buttons (4a-4d) control at least a first inclination motor, which causes a movement of inclination of a tool support (5) of the work unit (3) about a transverse inclination axis (11), and they control the actual rotation of the tool support (5) about its direction of inclination (II) and control the orientation of the direction of inclination (II) about the longitudinal axis (I-I) of the connecting arm (2). A particularly ergonomic manipulator is thus obtained which is easy to learn to use and which efficiently separates the stresses arising from movements of the tool support (5) and the stresses arising from holding and moving the manipulator itself.

A transfer apparatus (20) for a target substrate (W) includes a rotatable rotary base (24). First and second arm mechanisms (26, 28) are attached to the rotary base and configured to bend and stretch. Each of the first and second arm mechanisms has a proximal end arm (26A, 28A), an intermediate arm (26B, 28B), and a pick (26C, 28C) which are pivotally coupled to each other sequentially from the rotary base. The picks are disposed to support the target substrate. A link mechanism (30) is coupled to the proximal end arms of the first and second arm mechanisms to drive the first and second arm mechanisms. A first driving source (32) is disposed to rotatably drive the rotary base. A second driving source (34) is disposed to drive the link mechanism so as to bend or stretch the first and second arm mechanisms.

The present invention relates to a device for fixing a joint structure. The device for fixing a joint structure, according to one aspect of the present invention, comprises: a first slider for fixing a first directional joint movement state of a joint structure that includes a first joint element and a second joint element; a first locking member included in the first slider; and a first corresponding locking member which operates relative to the first locking member and blocks a forward directional movement and a backward directional movement of the first slider.

A surgical robotic component comprising an articulated terminal portion, the terminal portion comprising: a distal segment having an attachment connected thereto, an intermediate segment, and a basal segment whereby the terminal portion is attached to the remainder of the surgical robotic component. The terminal portion further comprises a first articulation between the distal segment and the intermediate segment, the first articulation permitting relative rotation of the distal segment and the intermediate segment about a first axis, and a second articulation between the intermediate segment and the basal segment, the second articulation permitting relative rotation of the intermediate segment and the basal segment about a second axis. The intermediate segment comprises: a third articulation permitting relative rotation of the distal segment and the basal segment about third and fourth axes, a first torque sensor configured to sense torque about the third axis, and a second torque sensor configured to sense torque about the fourth axis. The first, second and third articulations are arranged such that in at least one configuration of the third articulation the first and second axes are parallel and the third and fourth axes are transverse to the first axis.