Patent ID: 11944398
Assignee: INTUITIVE SURGICAL OPERATIONS, INC.
Field: Medical technology (Instruments)
Classification: CPC A | IPC A

Claim 6:
7. A surgical instrument actuation mechanism comprising:
a first spline shaft;
a second spline shaft;
a carriage translatable along the first and second spline shafts;
a collar slidably mated with the second spline shaft and threadedly coupled with the carriage;
a pinion gear axle extending from the carriage; and
a pinion gear rotatably coupled to the pinion gear axle,
wherein the collar is a second collar, wherein the surgical instrument actuation mechanism further comprises a first collar slidably mated with the first spline shaft, and wherein the first collar comprises a worm meshed with a worm gear that is coupled to the pinion gear.