# US 2019/0167368 A1 · Medical instrument > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 2019/0167368 A1 - Document ID: US20190167368A1 - Status: Published application - Kind: A1 - Application number: 16/269,104 - Filed: 2019-02-06 - Published: 2019-06-06 - Earliest claimed: 2016-12-28 - Assignees: Olympus Corporation - Applicants: Olympus Corporation - Inventors: Toshihiro Yoshii - Web page: https://patentgrep.com/patent/US20190167368A1 ## CPC - A61B 34/37: Leader-follower robots (A61B34/35 takes precedence) - A61B 17/29: Forceps for use in minimally invasive surgery - A61B 34/30: Surgical robots - A61B 34/71: {Manipulators operated by drive cable mechanisms} - B25J 9/104: {with cables, chains or ribbons} - B25J 17/02: Wrist joints - A61B 2034/301: {for introducing or steering flexible instruments inserted into the body, e.g. catheters or endoscopes} - A61B 2034/305: {Details of wrist mechanisms at distal ends of robotic arms} - A61B: DIAGNOSIS; SURGERY; IDENTIFICATION (usefulness limited to only animals A61D) - B25J: MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES ({manipulators specially adapted for use in surgery A61B34/70; manipulators used in cleaning hollow articles B08B9/04}; manipulators associated with rolling mills B21B39/20; manipulators associated with forging machines B21J13/10; {manipulators associated with picking-up and placing mechanisms B23P19/007}; means for holding wheels or parts thereof B60B30/00; {vehicles with ground-engaging propulsion means, e.g. walking members B62D57/02, B62D57/032; devices for picking-up and depositing articles or materials between conveyors B65G47/90, B65G47/91; manipulators with gripping or holding means for transferring packages B65H67/065}; cranes B66C; {manipulators used in the protection or supervision of pipe-line installations F17D5/00; walking equipment adapted for nuclear steam-generators F22B37/006}; manipulators specially adapted for, or associated with, nuclear reactors G21C; {apparatus used for handling wafers during manufacture or treatment of semiconductor H10P72/50}) ## Abstract The disclosed technology is directed to a medical instrument comprises a first pulley configured to be rotatable about a rotational shaft. A transmitting member having a first end portion and a second end portion. The first end portion is disposed along an outer circumferential surface of the first pulley and the second end portion extends tangentially to the first pulley and away from the first pulley. The transmitting member being capable of rotating the first pulley upon being actuated to move forwardly or rearwardly in longitudinal directions thereof. A dislodgement guard is disposed on at least one side of the first pulley along a direction in which the rotational shaft extends with respect to the second end portion of the transmitting member for preventing the transmitting member from being dislodged off the first pulley. ## Claims ### Claim 1 A medical instrument comprising: a first pulley configured to be rotatable about a rotational shaft; a transmitting member having a first end portion and a second end portion wherein the first end portion being disposed along an outer circumferential surface of the first pulley and the second end portion extends tangentially to the first pulley and away from the first pulley, the transmitting member being capable of rotating the first pulley upon being actuated to move forwardly or rearwardly in longitudinal directions thereof; and a dislodgement guard being disposed on at least one side of the first pulley along a direction in which the rotational shaft extends with respect to the second end portion of the transmitting member for preventing the transmitting member from being dislodged off the first pulley. ### Claim 2 (depends on 1) The medical instrument of claim 1, wherein the second end portion of the transmitting member is progressively displaced along the direction in which the rotational shaft extends in a direction away from the first pulley. ### Claim 3 (depends on 1) The medical instrument of claim 1 further comprising: a gear having a pitch circle diameter smaller than the first pulley and being disposed coaxially with the first pulley on at least one side of the first pulley along a direction in which the rotational shaft extends, with respect to the first pulley for rotation in unison with the first pulley; and wherein the dislodgement guard is disposed to plug at least a portion of a space around the gear. ### Claim 4 (depends on 3) The medical instrument according to claim 3, further comprising: a second pulley being disposed coaxially with the first pulley and the gear being interposed between the first pulley and the second pulley; wherein the dislodgement guard has at least a portion being disposed between the first pulley and the second pulley. ### Claim 5 (depends on 1) The medical instrument according to claim 1, wherein the dislodgement guard has a guide for defining a direction in which a portion of the transmitting member that extends away from the first pulley extends in that direction. ### Claim 6 (depends on 1) The medical instrument according to claim 1, wherein the first end portion of the transmitting member in the longitudinal directions thereof is attached to an outer circumferential surface of the first pulley. ### Claim 7 (depends on 6) The medical instrument according to claim 6, wherein the dislodgement guard has at least a portion being disposed more closely to a second end portion of the transmitting member than the rotational shaft.