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

Claim 22:
23. A medical instrument comprising:
a chassis;
a plurality of input spindles mounted in the chassis;
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;
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 coupled to the tool such that rotations of one or more of the plurality of input spindles actuate the tool;
a first pulley mounted at a first level on the chassis, the first pulley receiving the first cable from the first input spindle and redirecting the first cable into and through the instrument shaft; and
a second pulley mounted at a second level on the chassis different from the first level, the second pulley receiving the second cable from the second input spindle and redirecting the second cable through the first level and into and through the instrument shaft;
the second pulley mounted on the chassis such that the second pulley is positioned at an angle relative to the first pulley.