Devices, Systems, and Methods for Anchoring Actuation Wires to a Steerable Instrument
AssigneeIntuitive Surgical Operations, Inc.
InventorRandall L. Schlesinger
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Abstract
A pull wire attachment system for a minimally invasive medical instrument comprises an anchoring element fixedly attached to the medical instrument. The anchoring element has a first outer diameter. The system also includes a pull wire assembly comprising an elongate pull wire having a proximal end and a distal end and a securing element coupled to the distal end of the pull wire. The securing element includes a second outer diameter sized smaller than the first outer diameter of the anchoring element. The securing element is coupled to the anchoring element to prevent proximal translation of the distal end of the pull wire along a longitudinal axis of the medical instrument past the anchoring element.
Claims21
A pull wire attachment system for a minimally invasive medical instrument, comprising:
- an anchoring element fixedly attached to the medical instrument, the anchoring element having a first outer diameter;
- and
- a pull wire assembly comprising:
- an elongate pull wire having a proximal end and a distal end;
- and
- a securing element coupled to the distal end of the pull wire, the securing element including a second outer diameter sized smaller than the first outer diameter of the anchoring element, the securing element being coupled to the anchoring element to prevent proximal translation of the distal end of the pull wire along a longitudinal axis of the medical instrument past the anchoring element.
Dependencies are inferred from the claim text.