Abstract: Surgical tools and assemblies are employed for use in minimally invasive surgical (MIS) procedures. A surgical tool assembly includes a handle assembly and a frame assembly. The handle assembly and frame assembly are designed and constructed to have an articulation input joint and a grounding joint between them. A pitch rotational degree of freedom and a yaw rotational degree of freedom are provided by way of the articulation input joint. The handle assembly is translationally constrained relative to the frame assembly by way of the grounding joint. Intermediate bodies and joints can be provided in certain surgical tool assemblies and architectures.

Abstract: A parallel kinematic mechanism apparatus includes a frame, a handle and an input joint that connects having at least two independent and functionally parallel paths for transmission of motion coupling the handle to the frame. A first path includes a first intermediate body connected to the frame by a first connector and to the handle by a third connector while the second path that is independent from the first path includes a second intermediate body that is connected to the frame by a second connector and to the handle by a fourth connector. The first connector and the fourth connector both allow rotation in a first rotational direction and restrict rotation in a second rotational direction and the second and third connectors allow rotation in the second rotational direction and restrict rotation in the first rotational direction.

Abstract: Surgical tools and assemblies are employed for use in minimally invasive surgical (MIS) procedures. A surgical tool assembly includes a handle assembly and a frame assembly. The handle assembly and frame assembly are designed and constructed to have an articulation input joint and a grounding joint between them. A pitch rotational degree of freedom and a yaw rotational degree of freedom are provided by way of the articulation input joint. The handle assembly is translationally constrained relative to the frame assembly by way of the grounding joint. Intermediate bodies and joints can be provided in certain surgical tool assemblies and architectures.

Abstract: An example roll handle assembly includes a handle body, a roll body, a closure body, and a shuttle body. The roll body is coupled to the handle body and has a rotational degree of freedom about a roll axis relative to the handle body. The roll body is translationally constrained along the roll axis relative to the handle body. The closure body is coupled to the handle body and has one or more degrees of freedom of motion relative to the handle body. The shuttle body is coupled to the roll body and the closure body, and has a translational degree of freedom along the roll axis relative to the roll body. The shuttle body is rotationally constrained about the roll axis relative to the roll body, and has a rotational degree of freedom about the roll axis relative to the closure body.

Abstract: A parallel kinematic mechanism apparatus includes a frame, a handle and an input joint that connects having at least two independent and functionally parallel paths for transmission of motion coupling the handle to the frame. A first path includes a first intermediate body connected to the frame by a first connector and to the handle by a third connector while the second path that is independent from the first path includes a second intermediate body that is connected to the frame by a second connector and to the handle by a fourth connector. The first connector and the fourth connector both allow rotation in a first rotational direction and restrict rotation in a second rotational direction and the second and third connectors allow rotation in the second rotational direction and restrict rotation in the first rotational direction.

Abstract: Devices having a handle that provides unlimited roll to an end-effector at the distal end of the device. For example, described herein are medical devices that have an elongate tool frame, an end-effector, and a handle that includes: a first portion, a second portion that rolls relative to the first portion, a push rod within the first portion connected to a control input, and a shuttle body within the second portion that rotates with the second portion but is axially driven by the push rod when the user actuates the control input. The device may include a proximal wrist/forearm attachment allowing one or more degrees of freedom in pitch, yaw or roll about the user's arm. The handle may articulate relative to the tool frame, and this articulation may be transmitted to the end-effector. The end-effector may be a jaw assembly.

Abstract: Apparatuses and methods for attaching a minimal access tool to a user's boy (e.g., wrist or forearm) so that movements of the user's forearm, wrist, hand and fingers can control movements at a distal end of the minimal access tool. In particular, described herein are forearm attachment devices (which may be used with or integrated into) a minimal access tool including a cuff configured to secure to the user's forearm and a coupling joint configured to connect the cuff to the frame so that the cuff may move relative to the frame with between 1 and 4 degrees of freedom.

Abstract: Devices having a handle that provides unlimited roll to an end-effector at the distal end of the device. For example, described herein are medical devices that have an elongate tool frame, an end-effector, and a handle that includes: a first portion, a second portion that rolls relative to the first portion, a push rod within the first portion connected to a control input, and a shuttle body within the second portion that rotates with the second portion but is axially driven by the push rod when the user actuates the control input. The device may include a proximal wrist/forearm attachment allowing one or more degrees of freedom in pitch, yaw or roll about the user's arm. The handle may articulate relative to the tool frame, and this articulation may be transmitted to the end-effector. The end-effector may be a jaw assembly.

Abstract: Apparatuses and methods for attaching a minimal access tool to a user's body (e.g., wrist or forearm) so that movements of the user's forearm, wrist, hand and fingers can control movements at a distal end of the minimal access tool. In particular, described herein are forearm attachment devices (which may be used with or integrated into) a minimal access tool including a cuff configured to secure to the user's forearm and a coupling joint configured to connect the cuff to the frame so that the cuff may move relative to the frame with between 1 and 4 degrees of freedom.

Abstract: Devices having a handle that provides unlimited roll to an end-effector at the distal end of the device. For example, described herein are medical devices that have an elongate tool frame, an end-effector, and a handle that includes: a first portion, a second portion that rolls relative to the first portion, a push rod within the first portion connected to a control input, and a shuttle body within the second portion that rotates with the second portion but is axially driven by the push rod when the user actuates the control input. The device may include a proximal wrist/forearm attachment allowing one or more degrees of freedom in pitch, yaw or roll about the user's arm. The handle may articulate relative to the tool frame, and this articulation may be transmitted to the end-effector. The end-effector may be a jaw assembly.

Abstract: Apparatuses and methods for attaching a minimal access tool to a user's boy (e.g., wrist or forearm) so that movements of the user's forearm, wrist, hand and fingers can control movements at a distal end of the minimal access tool. In particular, described herein are forearm attachment devices (which may be used with or integrated into) a minimal access tool including a cuff configured to secure to the user's forearm and a coupling joint configured to connect the cuff to the frame so that the cuff may move relative to the frame with between 1 and 4 degrees of freedom.

Abstract: A parallel kinematic mechanism apparatus includes a frame, a handle and an input joint that connects having at least two independent and functionally parallel paths for transmission of motion coupling the handle to the frame. A first path includes a first intermediate body connected to the frame by a first connector and to the handle by a third connector while the second path that is independent from the first path includes a second intermediate body that is connected to the frame by a second connector and to the handle by a fourth connector. The first connector and the fourth connector both allow rotation in a first rotational direction and restrict rotation in a second rotational direction and the second and third connectors allow rotation in the second rotational direction and restrict rotation in the first rotational direction.