CPC A61B 34/71 (2016.02) [A61B 17/28 (2013.01); A61B 17/29 (2013.01); A61B 34/30 (2016.02); A61B 34/25 (2016.02); A61B 34/37 (2016.02); A61B 2034/301 (2016.02); A61B 2034/302 (2016.02); A61B 2034/303 (2016.02); A61B 2034/715 (2016.02)] | 20 Claims |
1. A robotic surgical tool, comprising:
an elongate shaft extendable through a handle providing a drive input;
a drive cable extending along a portion of the shaft and having a proximal end anchored to the shaft proximal to the handle and a distal end anchored to the shaft distal to the handle;
an actuation system housed within the handle and operatively coupled to the drive input such that actuation of the drive input operates the actuation system; and
a toggle mechanism arranged at a proximal end of the shaft and actuatable to close or open opposing jaws of an end effector arranged at a distal end of the shaft,
wherein the drive cable is threaded through portions of the actuation system and the toggle mechanism such that operation of the actuation system acts on the drive cable and thereby actuates the toggle mechanism to close or open the opposing jaws.
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