CPC A61B 34/71 (2016.02) [A61B 17/29 (2013.01); A61B 34/30 (2016.02); A61B 46/10 (2016.02); A61B 90/50 (2016.02); A61B 17/285 (2013.01); A61B 2017/00477 (2013.01)] | 20 Claims |
1. A medical system, comprising:
a medical instrument including a tendon that extends from an interface at a proximal portion of the medical instrument to an actuated element at a distal portion of the medical instrument;
a first manipulator configured to actively engage the tendon at a first location on the tendon to provide a preload tension; and
a second manipulator configured to actively engage the tendon at a second location on the tendon to actuate the actuated element,
wherein one of the first manipulator or the second manipulator is configured to pull the tendon along a longitudinal axis of the tendon and the other of the first manipulator or the second manipulator is configured to deflect the tendon laterally with respect to the longitudinal axis.
|