CPC A61B 34/10 (2016.02) [A61B 17/00234 (2013.01); A61B 17/064 (2013.01); A61B 17/28 (2013.01); A61B 17/285 (2013.01); A61B 34/30 (2016.02); A61B 34/37 (2016.02); A61B 34/71 (2016.02); F16D 3/185 (2013.01); F16D 3/26 (2013.01); A61B 2017/00526 (2013.01); A61B 2034/305 (2016.02); Y10S 901/29 (2013.01); Y10T 29/49826 (2015.01)] | 16 Claims |
1. A minimally invasive surgical tool comprising:
an instrument shaft elongated along an instrument shaft axis;
a drive shaft mounted to the instrument shaft for rotation about a drive shaft axis;
an end effector coupled with the instrument shaft so that an orientation of the end effector can be varied relative to the instrument shaft;
a driven shaft coupled with the end effector to articulate a feature of the end effector via rotation of the driven shaft relative to the end effector; and
a coupling member coupling the drive shaft with the driven shaft so that a rate of rotation of the drive shaft and a rate of rotation of the driven shaft about a driven shaft axis are equal when the drive shaft axis and the driven shaft axis are non-parallel.
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