Patent ID: 11925427
Assignee: nan
Field: Medical technology (Instruments)
Classification: CPC A  H | IPC A  H

Claim 10:
11. The method of claim 1, wherein one or more of said units are hypermobile units that further comprise at least two movable joints, and are configured to move about at least two axes;
wherein said hypermobile units further comprise a hypermobile link and a hypermobile joint, and one or more of said hypermobile joints further comprise:
a yoke comprising a polygonal or circumferential base, forming a central opening and having four vertically oriented pull wire holes disposed at ninety-degree intervals from one another; and
four cylindrical pivot bosses extending laterally from said base at ninety-degree intervals;
said yoke configured to couple with a first link from its unit, and a second link from a neighboring unit;
said first link movably coupled with a first set of two of said four cylindrical pivot bosses and extending from said yoke in a first direction, such that said first link pivots in a first plane relative to said yoke; and
said second link movably coupled with a second set of two of said four cylindrical pivot bosses and extending from said yoke in a second direction, such that said second link pivots in a second plane orthogonal to the first plane.