LAMBRECHT, Bram Gilbert Antoon,ANDERSON, Christopher S.,JOHNSON, Ladd T.
申请号：
EP17828154
公开号：
EP3484397A4
申请日:
2017.06.22
申请国别(地区):
EP
年份:
2020
代理人:
摘要：
A medical instrument includes cable pairs respectively wound around input spindles and connected to actuate degrees of freedom of an instrument shaft structure. The cables may connect so that rotating the input spindles actuates corresponding degrees of freedom. First pulleys in the instrument may receive first cables from the input spindles and redirect the first cables toward the instrument shaft, and second pulleys may receive second cables from the input spindles and redirect the second cables toward the instrument shaft. In one configuration, the first and second pulleys are respectively mounted at first and second levels, and the second pulleys redirect the second cables through the first level. Additionally or alternatively, one level of cables may cross while the other level of cables does not.
