MEDICAL INSTRUMENT ELECTRICALLY ENERGIZED USING DRIVE CABLES
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Accused Products
Abstract
An electrically energized medical instrument uses one or more drive cables to both actuate mechanical components of a wrist mechanism or an effector and to electrically energize the effector. Electrical isolation can be achieved using an insulating main tube through which drive cables extend from a backend mechanism to the effector, an insulating end cover that leaves only the desired portions of the effector exposed, and one or more seals to prevent electrically conductive liquid from entering the main tube. Component count and cost may be further reduced using a pair of pulleys that are shared by four drive cables.
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Citations
36 Claims
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1-14. -14. (canceled)
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15. A method for operating a medical instrument comprising:
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actuating an effector on a distal end of a main tube through movement of one or more cables that are attached to the effector and extend through the main tube; and electrically energizing the effector by applying a first electrical signal that one or more of the cables conducts through the main tube to the effector. - View Dependent Claims (16, 17, 18, 19, 20, 31, 32)
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21-30. -30. (canceled)
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33. A method for operating a medical instrument comprising:
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actuating a movable effector at a distal end of the instrument by moving a drive element attached to the effector; and electrically energizing the effector by applying a first electrical signal via the drive element to the effector. - View Dependent Claims (34, 35, 36)
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Specification