Patent ID: 11944337
Assignee: DISTALMOTION SA
Field: Medical technology (Instruments)
Classification: CPC A | IPC A

Claim 12:
13. A method of actuating an end-effector of an articulated surgical instrument, the method comprising:
actuating flexible mechanical transmissions to independently rotate a first cam comprising a first spiral profile rotatably coupled to a first follower geometry of one or more end-effector links of the end-effector and a second cam comprising a second spiral profile rotatably coupled to a second follower geometry of the one or more end-effector links of the end-effector to thereby drive movement of the first and second follower geometries along the first and second spiral profiles of the first and second cams and actuate the end-effector with the rotation of the first cam causing an increased actuation force via the first and second follower geometries,
wherein a first end-effector link of the one or more end-effector links is rotatably coupled to a second end-effector link of the one or more end-effector links via an end-effector joint, wherein the end-effector joint is positioned distal to the first and second follower geometries and the first and second cams.