Apparatus and method for controlling an end-effector assembly
AssigneeTitan Medical Inc.
InventorsLawrence CRAINICH, Alexander SHVARTSBERG
Life of this patent
Estimating the term…
Abstract
An apparatus for controlling an end-effector assembly having a first working member and a second working member is provided. The apparatus includes a first set of at least one cable, a second set of at least one cable, a first pulley configured to guide the first set of at least one cable, a second pulley configured to guide the first set of at least one cable when the second pulley is in a first position, a third pulley configured to guide the second set of at least one cable, and a rotatable element rotatable about a first axis.
Claims31
An apparatus for controlling an end-effector assembly having a first working member and a second working member, the apparatus comprising:
- a first set of at least one cable, the first set of at least one cable configured to control the first working member;
- a second set of at least one cable, the second set of at least one cable configured to control the second working member;
- a first pulley configured to guide the first set of at least one cable;
- a second pulley configured to guide the first set of at least one cable when the second pulley is in a first position, and the second pulley configured to guide the second set of at least one cable when the second pulley is in a second position;
- a third pulley configured to guide the second set of at least one cable;
- and
- a rotatable element rotatable about a first axis, the rotatable element supporting the first pulley, the second pulley, the third pulley, and the first and second working members, and the rotatable element configured to move the second pulley between the first position and the second position.
(canceled)
(canceled)
(canceled)
(canceled)
A method for guiding cables, the method comprising:
- guiding a first set of at least one cable between a first pair of pulleys and a second pair of pulleys such that the first set of at least one cable is in contact with at least one of the first pair of pulleys and the second pair of pulleys, the first set of at least one cable configured to control a first working member;
- and
- guiding a second set of at least one cable between the second pair of pulleys and a third pair of pulleys such that the second set of at least one cable is in contact with at least one of the second pair of pulleys and the third pair of pulleys, the second set of at least one cable configured to control a first working member.
Dependencies are inferred from the claim text.