US 12,285,229 B2
Medical systems incorporating pulley sharing
Travis Michael Schuh, Los Altos, CA (US); and Bruce R. Woodley, Palo Alto, CA (US)
Assigned to Auris Health, Inc., Redwood City, CA (US)
Filed by Auris Health, Inc., Redwood City, CA (US)
Filed on Aug. 2, 2022, as Appl. No. 17/878,923.
Application 17/878,923 is a continuation of application No. 16/450,909, filed on Jun. 24, 2019, granted, now 11,399,905.
Claims priority of provisional application 62/691,374, filed on Jun. 28, 2018.
Prior Publication US 2022/0370163 A1, Nov. 24, 2022
Int. Cl. A61B 34/30 (2016.01); A61B 34/00 (2016.01); A61B 34/35 (2016.01); A61B 90/00 (2016.01)
CPC A61B 34/35 (2016.02) [A61B 34/71 (2016.02); A61B 90/361 (2016.02); A61B 34/25 (2016.02); A61B 2034/301 (2016.02); A61B 2034/305 (2016.02)] 15 Claims
OG exemplary drawing
 
1. A surgical instrument comprising:
a wrist including:
one or more pulleys including a first pulley;
a distal clevis;
a proximal clevis; and
a rod coupling the proximal clevis and the distal clevis and extending through the first pulley; and
a surgical effector with N degrees of movement, at least one of the N degrees of movement comprising rotation about a pitch axis extending through the wrist,
wherein at least N+1 cable segments extend through the wrist to actuate the surgical effector in the N degrees of movement, the N+1 cable segments comprising a first cable segment and a second cable segment, and
wherein the first cable segment is routed on a first side of the first pulley and the second cable segment is routed on a second side of the first pulley.