Surgical tool and assembly

1 . A handheld surgical tool assembly, comprising:

a handle assembly;

a frame assembly having a shaft, said shaft establishing a roll axis;

an end-effector assembly;

an articulation input joint established between said handle assembly and said frame assembly, said articulation input joint having a pitch mechanical path of motion transmission and a yaw mechanical path of motion transmission, said pitch mechanical path of motion transmission and said yaw mechanical path of motion transmission being independent with respect to each other;

a first intermediate rigid body extending from said handle assembly;

a second intermediate rigid body extending from said frame assembly;

a third intermediate rigid body;

a first joint residing between said first intermediate rigid body and said third intermediate rigid body, said first joint providing a first rotational degree of freedom of said first intermediate rigid body with respect to said third intermediate rigid body, said first rotational degree of freedom constituting the sole rotational degree of freedom between said first intermediate rigid body and said third intermediate rigid body; and

a second joint residing between said second intermediate rigid body and said third intermediate rigid body, said second joint providing a second rotational degree of freedom of said third intermediate rigid body with respect to said second intermediate rigid body, said second rotational degree of freedom constituting the sole rotational degree of freedom between said third intermediate rigid body and said second intermediate rigid body;

wherein a pitch mechanical advantage and a yaw mechanical advantage are unequal with respect to each other, and said roll axis intersects a user's hand when manipulating said handle assembly, intersects a user's wrist when manipulating said handle assembly, or intersects both the user's hand and the user's wrist when manipulating said handle assembly.

2 . The handheld surgical tool assembly as set forth in claim 1 , further comprising a grounding joint established between said handle assembly and said frame assembly, said grounding joint effecting rigid body paths of motion transmission between said handle assembly and said frame assembly, said grounding joint having a pitch degree of freedom axis and a yaw degree of freedom axis, wherein said articulation input joint has a pitch articulation axis and a yaw articulation axis, and wherein said pitch degree of freedom axis, said yaw degree of freedom axis, said pitch articulation axis, and said yaw articulation axis pass through a virtual center zone established at said roll axis, said roll axis intersecting said virtual center zone.

3 . The handheld surgical tool assembly as set forth in claim 2 , wherein said virtual center zone resides at a location that is occupied by said handle assembly, by the user's hand when manipulating said handle assembly, or by both said handle assembly and the user's hand when manipulating said handle assembly.

4 . The handheld surgical tool assembly as set forth in claim 2 , wherein said pitch degree of freedom axis and said pitch articulation axis are coincident relative to each other and establish a pitch axis, and wherein said yaw degree of freedom axis and said yaw articulation axis are coincident relative to each other and establish a yaw axis.

5 . The handheld surgical tool assembly as set forth in claim 4 , wherein said pitch axis and said yaw axis exhibit a non-intersecting arrangement with respect to each other.

6 . The handheld surgical tool assembly as set forth in claim 1 , wherein:

said articulation input joint has a pitch body and a yaw body, at least one pitch connector spanning between said pitch body and said end-effector assembly, at least one yaw connector spanning between said yaw body and said end-effector assembly, said pitch body establishing a pitch articulation axis and said yaw body establishing a yaw articulation axis;

said pitch articulation axis intersects a user's hand when manipulating said handle assembly, intersects a user's wrist when manipulating said handle assembly, or intersects both the user's hand and the user's wrist when manipulating said handle assembly; and

said yaw articulation axis intersects a user's hand when manipulating said handle assembly, intersects a user's wrist when manipulating said handle assembly, or intersects both the user's hand and the user's wrist when manipulating said handle assembly.

7 . The handheld surgical tool assembly as set forth in claim 1 , wherein said yaw mechanical advantage is greater than said pitch mechanical advantage.

8 . The handheld surgical tool assembly as set forth in claim 1 , wherein said articulation input joint has a pitch body and a yaw body, at least one pitch connector spanning between said pitch body and said end-effector assembly, at least one yaw connector spanning between said yaw body and said end-effector assembly, said pitch body establishing a pitch articulation axis and said yaw body establishing a yaw articulation axis, said pitch articulation axis and said yaw articulation axis exhibit a non-intersecting arrangement with respect to each other, said non-intersecting arrangement effecting said pitch mechanical advantage and said yaw mechanical advantage being unequal with respect to each other.

9 . The handheld surgical tool assembly as set forth in claim 1 , wherein said articulation input joint has a pitch pulley and a yaw pulley, at least one pitch connector spanning between said pitch pulley and said end-effector assembly, at least one yaw connector spanning between said yaw pulley and said end-effector assembly, said pitch pulley having a first diameter about which said at least one pitch connector is routed, said yaw pulley having a second diameter about which said at least one yaw connector is routed, said first diameter and said second diameter being unequal with respect to each other, said unequal first diameter and second diameter effecting said pitch mechanical advantage and said yaw mechanical advantage being unequal with respect to each other.

10 . The handheld surgical tool assembly as set forth in claim 1 , further comprising a motion transmission member spanning between said first intermediate rigid body and said end-effector assembly, said motion transmission member traversing through said second joint, the traversal of said motion transmission member through said second joint maintaining the independence of said pitch and yaw mechanical paths of motion transmission with respect to each other.

11 . A handheld surgical tool assembly, comprising:

a handle assembly;

a frame assembly;

an end-effector assembly;

an articulation input joint established between said handle assembly and said frame assembly, said articulation input joint having a first body and a second body, at least one first connector spanning between said first body and said end-effector assembly, at least one second connector spanning between said second body and said end-effector assembly, said first body establishing a pitch articulation axis and said second body establishing a yaw articulation axis;

a first intermediate rigid body extending from said handle assembly;

a second intermediate rigid body extending from said frame assembly; and

a third intermediate rigid body;

wherein said second body is situated between said first intermediate rigid body and said third intermediate rigid body, said first body is situated between said second intermediate rigid body and said third intermediate rigid body, said articulation input joint includes a pitch articulation input joint established at said first body and a yaw articulation input joint established at said second body, said pitch articulation input joint and said yaw articulation input joint exhibiting a non-intersecting arrangement with respect to each other;

wherein a pitch mechanical advantage and a yaw mechanical advantage are unequal with respect to each other;

wherein said pitch articulation axis intersects a user's hand when manipulating said handle assembly, intersects a user's wrist when manipulating said handle assembly, or intersects both the user's hand and the user's wrist when manipulating said handle assembly; and

wherein said yaw articulation axis intersects the user's hand when manipulating said handle assembly, intersects the user's wrist when manipulating said handle assembly, or intersects both the user's hand and the user's wrist when manipulating said handle assembly.

12 . The handheld surgical tool assembly as set forth in claim 11 , wherein said articulation input joint has a pitch mechanical path of motion transmission and a yaw mechanical path of motion transmission, said pitch mechanical path of motion transmission and said yaw mechanical path of motion transmission being independent with respect to each other.

13 . The handheld surgical tool assembly as set forth in claim 11 , wherein said frame assembly has a shaft and said shaft establishes a roll axis, said roll axis intersects the user's hand when manipulating said handle assembly, said roll axis intersects the user's wrist when manipulating said handle assembly, or said roll axis intersects both the user's hand and the user's wrist when manipulating said handle assembly.

14 . The handheld surgical tool assembly as set forth in claim 11 , further comprising a grounding joint established between said handle assembly and said frame assembly, said grounding joint effecting rigid body paths of motion transmission between said handle assembly and said frame assembly, said grounding joint having a pitch degree of freedom axis and a yaw degree of freedom axis, and wherein said pitch degree of freedom axis, said yaw degree of freedom axis, said pitch articulation axis, and said yaw articulation axis pass through a virtual center zone established at said roll axis, said roll axis intersecting said virtual center zone.

15 . The handheld surgical tool assembly as set forth in claim 14 , wherein said pitch degree of freedom axis and said pitch articulation axis are coincident relative to each other and establish a pitch axis, and wherein said yaw degree of freedom axis and said yaw articulation axis are coincident relative to each other and establish a yaw axis, said pitch axis and said yaw axis exhibit a non-intersecting arrangement with respect to each other.

16 . The handheld surgical tool assembly as set forth in claim 14 , wherein said virtual center zone resides at a location that is occupied by said handle assembly, by the user's hand when manipulating said handle assembly, or by both said handle assembly and the user's hand when manipulating said handle assembly.

17 . The handheld surgical tool assembly as set forth in claim 14 , wherein said virtual center zone resembles a sphere in shape having a diameter that is greater than zero (0) inches and less than or equal to 0.3 inches.

18 . An assembly, comprising:

an input body;

a frame body;

an articulation input joint established between said input body and said frame body, said articulation input joint establishing a first articulation axis and a second articulation axis, said articulation input joint having a pitch mechanical path of motion transmission and a yaw mechanical path of motion transmission, said pitch mechanical path of motion transmission and said yaw mechanical path of motion transmission being independent with respect to each other, wherein a pitch mechanical advantage and a yaw mechanical advantage are unequal with respect to each other;

a grounding joint established between said input body and said frame body, said grounding joint effecting rigid body paths of motion transmission between said input body and said frame body, said grounding joint having a pitch degree of freedom axis and a yaw degree of freedom axis;

a virtual center zone established at a location occupied by said input body, by a user's articulation input joint when manipulating said input body, or by both said input body and the user's articulation input joint when manipulating said input body, wherein said pitch articulation axis, said yaw articulation axis, said pitch degree of freedom axis, and said yaw degree of freedom axis pass through said virtual center zone;

a first intermediate rigid body extending from said input body;

a second intermediate rigid body extending from said frame body;

a third intermediate rigid body;

a first joint residing between said first intermediate rigid body and said third intermediate rigid body, said first joint providing a first rotational degree of freedom of said first intermediate rigid body with respect to said third intermediate rigid body, said first rotational degree of freedom constituting the sole rotational degree of freedom between said first intermediate rigid body and said third intermediate rigid body; and

a second joint residing between said second intermediate rigid body and said third intermediate rigid body, said second joint providing a second rotational degree of freedom of said third intermediate rigid body with respect to said second intermediate rigid body, said second rotational degree of freedom constituting the sole rotational degree of freedom between said third intermediate rigid body and said second intermediate rigid body.

19 . The assembly as set forth in claim 18 , wherein said frame body establishes a roll axis, said roll axis intersecting said virtual center zone.

20 . The assembly as set forth in claim 18 , wherein said pitch articulation axis and said pitch degree of freedom axis are coincident relative to each other and establish a pitch axis, and wherein said yaw articulation axis and said yaw degree of freedom axis are coincident relative to each other and establish a yaw axis, said pitch axis and said yaw axis exhibiting a non-intersecting arrangement with respect to each other at said virtual center zone.

21 . The assembly as set forth in claim 18 , wherein said pitch articulation axis intersects the user's articulation input joint when manipulating said input body, and said yaw articulation axis intersects the user's articulation input joint when manipulating said input body.

22 . The assembly as set forth in claim 18 , wherein said frame body establishes a roll axis, said roll axis intersecting the user's articulation input joint when manipulating said input body.

23 . The assembly as set forth in claim 18 , wherein said virtual center zone resembles a sphere in shape having a diameter that is greater than zero (0) inches and less than or equal to 0.3 inches.