Articulable medical devices having flexible wire routing

An apparatus, comprising:

• a link, a first tool member, a first transfer member, a non-drive wire, and a first tension member;
• the first transfer member being rotatably coupled to the link;
• the first tool member comprising a first contact portion and a first base portion movably coupled to the first transfer member about a first rotation axis,
• the first contact portion being electrically conductive and configured to contact a target tissue,
• the first base portion being rotatably coupled to the link about a second rotation axis via the first transfer member, the first tool member being rotatable relative to the link between a first orientation and a second orientation, and
• a cavity being defined within the first transfer member;
• the non-drive wire comprising a first end portion, a second end portion, and a central portion between the first end portion and the second end portion,
• the first end portion being coupled to an energy source,
• the second end portion being coupled to the first contact portion of the first tool member,
• the central portion comprising a transition portion and a feed portion, the transition portion being within the cavity of the first transfer member, the first transfer member including a guide portion defined by an outer wall, the outer wall having a first wall portion with a first height and a second wall portion with a second height, the first height being shorter than the second height, the first wall portion defining a wire entry sector at which the non-drive wire enters the cavity, and
• the transition portion expanding from a relaxed first state to an extended second state when the first tool member rotates from the first orientation to the second orientation;
• and
• the first tension member being coupled to rotate at least one of the first tool member or a second tool member when the first tension member is moved, the non-drive wire being coupled to the first contact portion of the first tool member such that movement of the first tool member rotates the first tool member and causes the feed portion to move from a first position outside of the cavity to a second position inside the cavity.

An apparatus, comprising:

• a shaft, a tension member, a first tool member, a second tool member, a non-drive wire, a transfer member, and a link coupled to the shaft;
• the transfer member coupled to the tension member and including a rotatable pulley;
• the first tool member comprising a first contact portion and a first base portion, the first base portion movably coupled to the transfer member about a first rotation axis, and the first contact portion being electrically conductive and configured to contact a target tissue;
• the second tool member comprising a second contact portion and a second base portion, the second contact portion being electrically conductive and configured to contact the target tissue;
• the non-drive wire comprising a first end portion, a second end portion, and a central portion between the first end portion and the second end portion, the central portion comprising a transition portion disposed within a cavity defined within a portion of the rotatable pulley of the transfer member, the rotatable pulley including a guide portion defined by an outer wall, the outer wall having a first wall portion with a first height and a second wall portion with a second height, the first height being shorter than the second height, the first wall portion defining a wire entry sector at which the non-drive wire enters the cavity;
• and
• the link comprising a first guide path;
• wherein the first base portion is rotatably coupled to the link via the transfer member such that the first tool member is rotatable relative to the link about a second rotation axis between a first orientation and a second orientation;
• wherein the second base portion is rotatably coupled to the link such that the second tool member is rotatable relative to the link about the second rotation axis;
• wherein the second end portion of the non-drive wire is coupled to the first contact portion;
• wherein the central portion of the non-drive wire is configured to transition between a compact first configuration and an expanded second configuration, the central portion being in the compact first configuration when the first tool member is in the first orientation, the central portion being in the expanded second configuration when the first tool member is in the second orientation;
• wherein the tension member is coupled to the first base portion;
• wherein movement of the tension member urges the first tool member to rotate relative to the link about the second rotation axis;
• and
• wherein the non-drive wire is coupled to the first contact portion such that movement of the first tool member causes a feed portion of the non-drive wire to be conveyed between the shaft and the first guide path.