US 12,262,938 B2
Medical instrument electrically energized using drive cables
Scott E. Manzo, Shelton, CT (US); William A. Burbank, Sandy Hook, CT (US); and Richard D. Gresham, Guilford, CT (US)
Assigned to Intuitive Surgical Operations, Inc., Sunnyvale, CA (US)
Filed by Intuitive Surgical Operations, Inc., Sunnyvale, CA (US)
Filed on Oct. 7, 2021, as Appl. No. 17/496,432.
Application 14/933,875 is a division of application No. 12/173,938, filed on Jul. 16, 2008, granted, now 9,204,923, issued on Dec. 8, 2015.
Application 17/496,432 is a continuation of application No. 15/855,561, filed on Dec. 27, 2017, granted, now 11,357,566.
Application 15/855,561 is a continuation of application No. 14/933,875, filed on Nov. 5, 2015, abandoned.
Prior Publication US 2022/0022943 A1, Jan. 27, 2022
Int. Cl. A61B 18/14 (2006.01); A61B 34/00 (2016.01); A61B 17/00 (2006.01); A61B 17/29 (2006.01); A61B 17/32 (2006.01); A61B 18/00 (2006.01); A61B 34/30 (2016.01)
CPC A61B 18/1445 (2013.01) [A61B 34/71 (2016.02); A61B 2017/003 (2013.01); A61B 2017/00323 (2013.01); A61B 2017/2927 (2013.01); A61B 2017/2945 (2013.01); A61B 17/32 (2013.01); A61B 2018/00345 (2013.01); A61B 2018/00404 (2013.01); A61B 2018/00595 (2013.01); A61B 2018/00601 (2013.01); A61B 2018/00619 (2013.01); A61B 2018/1432 (2013.01); A61B 2018/146 (2013.01); A61B 34/30 (2016.02); A61B 2034/305 (2016.02)] 13 Claims
OG exemplary drawing
 
1. An apparatus, comprising:
a shaft comprising a distal end portion and a proximal end portion;
a wrist mechanism comprising a distal portion movably coupled to a proximal portion, the wrist mechanism coupled to the distal end portion of the shaft, and the wrist mechanism defining a wrist portion of a cable path;
an end effector coupled to the distal portion of the wrist mechanism, actuation of the end effector producing movement of the end effector relative to the distal portion of the wrist mechanism;
a cable pair routed through the wrist portion of the cable path, a first portion of the cable pair being coupled to the end effector; and
a transmission coupled to a portion of the shaft, the transmission comprising a drive shaft and a rocker arm,
the transmission defining a transmission portion of the cable path between the drive shaft and the shaft, the cable pair being routed through the transmission portion of the cable path,
the drive shaft being configured to move a portion of the cable pair to actuate the end effector,
the rocker arm coupled to a pulley in contact with the cable pair, the rocker arm configured to move the pulley to change a length of the transmission portion of the cable path.