Lever actuated gimbal plate

A force transmission transmits forces received by three levers to an input gimbal plate having three support points. The input gimbal play may in turn transmit the force to a wrist assembly coupled to a surgical tool. The three axes of rotation for the three levers are parallel. Two of the levers ma...

Ausführliche Beschreibung

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Bibliographische Detailangaben
Hauptverfasser:	Anderson, S. Christopher, Cooper, Thomas G
Format:	Patent
Sprache:	eng
Schlagworte:	BLASTING CHAMBERS PROVIDED WITH MANIPULATION DEVICES DIAGNOSIS ENGINEERING ELEMENTS AND UNITS GEARING GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVEFUNCTIONING OF MACHINES OR INSTALLATIONS HAND TOOLS HEATING HUMAN NECESSITIES HYGIENE IDENTIFICATION LIGHTING MANIPULATORS MECHANICAL ENGINEERING MEDICAL OR VETERINARY SCIENCE PERFORMING OPERATIONS PORTABLE POWER-DRIVEN TOOLS SURGERY THERMAL INSULATION IN GENERAL TRANSPORTING WEAPONS
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Beschreibung
Zusammenfassung:	A force transmission transmits forces received by three levers to an input gimbal plate having three support points. The input gimbal play may in turn transmit the force to a wrist assembly coupled to a surgical tool. The three axes of rotation for the three levers are parallel. Two of the levers may have half-cylinder surfaces at an end of the lever to receive a support point of the input gimbal plate. Two of the levers may be supported with one degree of rotational freedom orthogonal to the axis of rotation of the fulcrum. A spring may draw the second and third levers toward one another. Two levers may have stops that bear against the support points. The force transmission may include a parallelogram linkage that includes a rocker link pivotally coupled to the first lever and having a flat surface that supports the first gimbal support point.