Power axle wrist for robotic surgical tool

A surgical tool includes a drive housing and an elongate shaft extending from the drive housing. A wrist couples an end effector to the elongate shaft and includes a distal clevis having a first axlethat rotatably mounts the end effector to the distal clevis, and a proximal clevis coupled to the elongate shaft and having a second axle that rotatably mounts the distal clevis to the proximal clevis. A plurality of drive cables extend between the drive housing and the end effector, and movement of the drive cables causes the end effector to articulate about a first pivot axis extending through the first axle. A power axle cable extending from the drive housing and mounted to the distal clevis such that movement of the power axle cable correspondingly pivots the end effector about a second pivot axis at the second axle. 本发明提供了一种外科工具，其包括驱动外壳和从驱动外壳延伸的细长轴。腕将端部执行器联接到细长轴，并且包括远侧连接叉，所述远侧连接叉具有将所述端部执行器可旋转地安装到所述远侧连接叉的第一轴件；以及近侧连接叉，所述近侧连接叉联接到所述细长轴并且具有将所述远侧连接叉可旋转地安装到所述近侧连接叉的第二轴件。多条驱动缆线在所述驱动外壳和所述端部执行器之间延伸，并且所述驱动缆线的运动使得所述端部执行器围