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AssigneeAuris Surgical Robotics, Inc.
InventorsTravis Schuh, Edward J. Menard, Bruce R. Woodley, Matthew Reagan Williams, Spencer James Witte
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A surgical instrument is described that includes a surgical effector moving with N degrees of freedom for manipulation of objects at a surgical site during surgical procedures. The N degrees of freedom are manipulated by N+1 input controllers and a plurality of cables, the controllers and cables coupled to the surgical effector and configured to change the orientation of the surgical effector about the N degrees of freedom when actuated. In some embodiments, the N+1 input controllers and plurality of cables are further coupled to a pantograph, the pantograph configured to move in a reciprocal manner to the surgical effector when the input controllers and cables are actuated.
A surgical instrument comprising:
A surgical wrist that moves with at least N degrees of freedom, wherein at least one of N+1 surgical cables are coupled to each of at least N+1 independently operable input controllers, a pantograph, and the surgical wrist, the independently operable input controllers configured to control motion of the wrist when actuated such that an inverse motion of the pantograph occurs to conserve the length of the surgical cables.
A surgical instrument comprising:
Dependencies are inferred from the claim text.