Patent ID: 11950873
Assignee: INTUITIVE SURGICAL OPERATIONS, INC.
Field: Medical technology (Instruments)
Classification: CPC A | IPC A

Claim 8:
9. A medical instrument, comprising:
a plurality of input spindles;
a first cable coupled to a first input spindle of the plurality of input spindles;
a second cable coupled to a second input spindle of the plurality of input spindles;
a chassis to which the plurality of input spindles is mounted, the chassis including a first chassis piece, a second chassis piece and a third chassis piece, the second chassis piece mounted over the first chassis piece to define a first level and a second level, the second level different from the first level, the third chassis piece coupled to the second chassis piece;
an instrument shaft having a first end and a second end, the first end of the instrument shaft coupled to the chassis;
a tool coupled to the second end of the instrument shaft, the first cable and the second cable being connected to the tool such that rotations of one or more of the plurality of input spindles actuate the tool;
a first pulley mounted to the first chassis piece at the first level of the chassis, the first pulley receiving the first cable from the first input spindle and redirecting the first cable toward the instrument shaft; and, a second pulley mounted to the second chassis piece of the chassis, the second pulley being at the second level of the chassis, the second pulley receiving the second cable from the second input spindle and redirecting the second cable through the first level and toward the instrument shaft, a gap between the third chassis piece and the second pulley being narrower than a thickness of the second cable such that the second cable is prevented from being removed through the gap.