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Passive preload and capstan drive for surgical instruments

  • US 20100082041A1
  • Filed: 09/30/2008
  • Published: 04/01/2010
  • Est. Priority Date: 09/30/2008
  • Status: Active Grant
First Claim
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1. A surgical instrument comprising:

  • a shaft;

    a member mounted at a distal end of the shaft, the member being mounted to permit movement of the member relative to the shaft;

    a mechanism attached to a proximal end of the shaft, the mechanism including a first capstan and a first passive preload system, wherein the first capstan is free to roll and has a coupling through which a motor can attach to and rotate the first capstan; and

    a first tendon running down the shaft and wrapping around the first capstan, the first tendon having a first end attached to the member and a second end attached to the first passive preload system.

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