Invention Grant
- Patent Title: Multi-cable medical instrument
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Application No.: US16317235Application Date: 2017-06-22
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Publication No.: US11207145B2Publication Date: 2021-12-28
- Inventor: Bram Gilbert Antoon Lambrecht , S. Christopher Anderson , Ladd T. Johnson
- Applicant: Intuitive Surgical Operations, Inc.
- Applicant Address: US CA Sunnyvale
- Assignee: Intuitive Surgical Operations, Inc.
- Current Assignee: Intuitive Surgical Operations, Inc.
- Current Assignee Address: US CA Sunnyvale
- International Application: PCT/US2017/038674 WO 20170622
- International Announcement: WO2018/013313 WO 20180118
- Main IPC: A61B34/00
- IPC: A61B34/00 ; A61B34/30 ; A61B17/29 ; A61B90/00 ; A61B17/00

Abstract:
A medical instrument includes cable pairs respectively wound around input spindles and connected to actuate degrees of freedom of an instrument shaft structure. The cables may connect so that rotating the input spindles actuates corresponding degrees of freedom. First pulleys in the instrument may receive first cables from the input spindles and redirect the first cables toward the instrument shaft, and second pulleys may receive second cables from the input spindles and redirect the second cables toward the instrument shaft. In one configuration, the first and second pulleys are respectively mounted at first and second levels, and the second pulleys redirect the second cables through the first level. Additionally or alternatively, one level of cables may cross while the other level of cables does not.
Public/Granted literature
- US20190307522A1 MULTI-CABLE MEDICAL INSTRUMENT Public/Granted day:2019-10-10
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