Articulation mechanism configurations and drive systems, and related devices and methods

Abstract

A system for actuating an articulation mechanism can include a link extending along a longitudinal dimension from a proximal end portion to a distal end portion of the link. An articulation mechanism coupled to the distal end portion of the link is articulatable in pitch and yaw relative to the link. A first motor can be housed at least partially in the link and operably coupled to transmit force to actuate the articulation mechanism to articulate in pitch relative to the link, and a second motor can be housed at least partially in the link and operably coupled to transmit force to actuate the articulation mechanism to articulate in yaw relative to the link. The first motor and the second motor can be arranged consecutively along the longitudinal dimension such that the first motor is closer to the proximal end portion of the link than the second motor.

Dependencies are inferred from the claim text.