US 12,083,615 B2
Medical instrument
Massimiliano Simi, Pisa (IT); and Giuseppe Maria Prisco, Pisa (IT)
Assigned to MEDICAL MICROINSTRUMENTS, INC., Wilmington, DE (US)
Filed by MEDICAL MICROINSTRUMENTS, INC., Wilmington, DE (US)
Filed on Jul. 14, 2021, as Appl. No. 17/375,625.
Application 17/375,625 is a continuation of application No. 15/768,520, granted, now 11,090,747, previously published as PCT/EP2016/074811, filed on Oct. 14, 2016.
Claims priority of application No. 102015000062548 (IT), filed on Oct. 16, 2015.
Prior Publication US 2021/0339327 A1, Nov. 4, 2021
Int. Cl. B23H 7/02 (2006.01); A61B 17/00 (2006.01); A61B 34/00 (2016.01); A61B 34/30 (2016.01); B23H 11/00 (2006.01)
CPC B23H 7/02 (2013.01) [A61B 17/00 (2013.01); A61B 34/30 (2016.02); A61B 34/71 (2016.02); A61B 34/72 (2016.02); B23H 11/003 (2013.01); A61B 2017/00526 (2013.01); A61B 2034/305 (2016.02); B23H 2200/00 (2013.01)] 18 Claims
OG exemplary drawing
 
1. A medical instrument comprising:
a frame;
a jointed device comprising a first link connected said frame and a second link connected to said first link via a rotational joint having an axis of joint movement;
at least one tendon for moving said second link with respect to said first link by pulling on the second link;
wherein:
at least one of said first link and said second link comprises at least a convex, sliding surface formed by a plurality of straight generator lines all parallel to the axis of joint movement of the rotational joint;
said at least one tendon slides onto said at least one convex, sliding surface for pulling on the second link;
said jointed device is obtainable as according to a method of manufacturing comprising the steps of:
providing a machining fixture for a wire electro discharge machine having an electrical discharge wire,
arranging a plurality of workpieces on said machining fixture, and
cutting a desired geometry on said workpieces with cutting lines parallel to each other.