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FOUR-CABLE WRIST WITH SOLID SURFACE CABLE CHANNELS

  • US 20100011901A1
  • Filed: 07/16/2008
  • Published: 01/21/2010
  • Est. Priority Date: 07/16/2008
  • Status: Active Grant
First Claim
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1. A medical instrument comprising:

  • a first clevis having a first body and a first pin, the first clevis being attached to a base so that the first clevis can rotate about a first axis, wherein the first body includes a plurality of guide channels;

    a first jaw attached to the first clevis so that the first jaw can rotate about the first pin; and

    a first cable and a second cable attached to the first jaw and routed through the guide channels in the first clevis, wherein pulling the first cable and relaxing the second cable causes a first torque that tends to rotate the first jaw about the first pin, pulling the first and second cables causes a second torque that tends to rotate the first clevis about the first axis, and contact of the first and second cables on surfaces of the guide channels determines a moment arm of the second torque.

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