Patent ID: 11969889
Assignee: INTUITIVE SURGICAL OPERATIONS, INC.
Field: Medical technology (Instruments)
Classification: CPC B  A  F  Y | IPC A  B  F

Claim 0:
1. A medical instrument, comprising:
an elongate tube including a distal end portion and a proximal end portion;
a wrist assembly coupled to the distal end portion of the elongate tube, the wrist assembly including a proximal joint and a distal joint, the proximal joint and the distal joint being arranged in a stacked configuration;
a proximal control mechanism coupled to the proximal end portion of the elongate tube and operably coupled to the wrist assembly, the proximal control mechanism including an input member, the input member defining a center of motion;
a first output linkage routed along the elongate tube, the first output linkage having a distal end portion coupled to the distal joint and a proximal end portion coupled to the input member at a first position, the first position being spaced apart from the center of motion by a first radial distance, the first position defining a movement of the distal joint based on the input from the input member; and
a second output linkage routed along the elongate tube, the second output linkage having a distal end portion coupled to the proximal joint and a proximal end portion coupled to the input member at a second position, the second position defining a movement of the distal end portion of the second output linkage based on an input from the input member that is proportional to the movement of the distal end portion of the first output linkage.