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Robotic system including a cable interface assembly

  • US 9,913,695 B2
  • Filed: 05/02/2014
  • Issued: 03/13/2018
  • Est. Priority Date: 05/02/2013
  • Status: Expired due to Fees
First Claim
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1. A system for performing a medical procedure comprising:

  • a first multi-linked mechanism comprising a plurality of first links, a proximal end, a distal end and a lumen therethrough;

    wherein the first multi-linked mechanism is constructed and arranged to transition from a limp state to a rigid state;

    a second multi-linked mechanism comprising a plurality of second links, wherein the second multi-linked mechanism is constructed and arranged to be slidingly received by the lumen of the first multi-linked mechanism and to transition from a limp state to a rigid state;

    a set of proximal cables comprising at least a first proximal cable and a second proximal cable;

    a set of distal cables comprising at least a first distal cable and a second distal cable;

    a cable control assembly constructed and arranged to independently apply tension to the first proximal cable and the second proximal cable; and

    a cable interface assembly constructed and arranged to receive a force from at least the first proximal cable and the second proximal cable and to transmit a corresponding force to at least the first distal cable and the second distal cable;

    wherein the force applied to the first distal cable and the second distal cable steers at least one of the first multi-linked mechanism or the second multi-linked mechanism;

    wherein the cable interface assembly comprises at least one gimbal, wherein the at least one gimbal comprises an input surface that attaches to the set of proximal cables and an opposing output surface that attaches to the set of distal cables.

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