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AssigneeIntuitive Surgical Operations, Inc.
InventorsZhou Ye, Harsukhdeep Ratia, Alain Sadaka
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A low-friction medical device includes a first link, a second link, and a tension member. The first link is coupled to an instrument shaft and a first guide path is defined in the first link. The second link is rotatable relative to the first link through an angular range. A distal end portion of the second link is rotatably coupled to a tool member. A curved guide path is defined within the second link between the tool member and the first guide path. A curved guide surface of the second link defines a portion of the second guide path. A first portion of the tension member is parallel to a centerline of the first guide path, and a second portion is coupled to the tool member. A third portion of the tension member between the first and second portions is in contact with the curved guide surface throughout a portion of the angular range.
A method of assembling an apparatus, the apparatus including a tension member and a link, the tension member including a first tension member portion, a second tension member portion, and a retention member coupled to the second tension member portion, the link defining an assembly path, a guide path, and a retention pocket, the first tension member portion having a length that is longer than the guide path defined by the link, the method comprising:
A method of assembling an apparatus, the apparatus including a tension member and a link, the tension member including a first end portion, a second end portion, and a third portion coupled between the first end portion and the second end portion, the link defining an assembly path, a guide path, and a connection path, each of the first end portion in the second end portion having a length that is longer than the guide path defined by the link, the method comprising:
Dependencies are inferred from the claim text.