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Length conservative surgical instrument

  • US 9,962,228 B2
  • Filed: 11/16/2016
  • Issued: 05/08/2018
  • Est. Priority Date: 08/31/2016
  • Status: Active Grant
First Claim
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1. A surgical instrument comprising:

  • a surgical effector with at least N degrees of freedom, the surgical effector for manipulation of objects at a surgical site;

    at least N+1 independently operable input controllers configured to control the surgical effector;

    a pantograph comprising at least one differential; and

    a plurality of cables configured such that actuation of the input controllers manipulates the cables, the cables further configured such that;

    at least one cable couples at least one input controller to the surgical effector such that manipulation of the at least one cable with the at least one input controller moves the surgical effector, andat least one cable couples the pantograph to at least one of the input controllers such that manipulation of the at least one cable with the at least one input controller moves the pantograph.

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