CPC A61B 34/30 (2016.02) [A61B 17/2804 (2013.01); A61B 17/2909 (2013.01); A61B 34/71 (2016.02); A61B 34/72 (2016.02); A61B 2017/2912 (2013.01); A61B 2017/2927 (2013.01); A61B 2017/2929 (2013.01); A61B 2017/2932 (2013.01); A61B 2034/304 (2016.02); A61B 2034/305 (2016.02)] | 16 Claims |
1. A medical tool, comprising:
an elongated body extending between proximal and distal ends; an end effector;
a linkage coupling the distal end of the elongated body to the end effector and configured to articulate the end effector in at least one degree-of-freedom (DOF), the linkage comprising:
a first arm operatively coupled between the distal end of the elongated body and the end effector, the first arm comprises a semicircular portion, and
a second arm operatively coupled between the distal end of the elongated body and the end effector,
wherein the first and second arms are crossed with respect to one another, the first and second arms are configured to move through a range of motion and amplify the range of motion of the first and second arms into articulation of the end effector in the at least one DOF; and
a pull wire configured to follow the semicircular portion of the first arm to permit the semicircular portion to function as a partial pulley attached to the first arm to cause the first arm to rotate when the pull wire is tensioned.
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