Self-antagonistic drive for medical instruments
US9931106B2 · kind B2 · utility
880Cited by
3References
13Claims
0Family size
Assignee
Inventors
Key dates
| Filing date | Oct 31, 2013 |
| Grant date | Apr 3, 2018 |
| Priority date | — |
| Expiry date | Nov 23, 2035 |
Classification
- Technology area (CPC A)Human Necessities
- CPC primaryA61B2034/715
- WIPO fieldMedical technology
- WIPO sectorInstruments
Abstract
A medical instrument including a shaft and an actuated structure mounted at a distal end of the shaft can employ a pair of tendons connected to the actuated structure, extending down the shaft, and respectively wound around a capstan in opposite directions. A preload system may be coupled to maintain minimum tensions in the tendons.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.