Is a
Patent attributes
Patent Jurisdiction
Patent Number
Date of Patent
July 2, 2019
Patent Application Number
14854460
Date Filed
September 15, 2015
Patent Citations Received
Patent Primary Examiner
Patent abstract
A medical instrument includes a snake wrist structure further including: a first joint disk having a first rim having a first tooth slot and a first toothed gear with the first tooth slot opposite the first toothed gear along the first rim; and a first strut having a first slot bearing and a first hole bearing connected by a first connection strut with the first slot bearing in the first tooth slot.
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