Patent ID: 11957427
Assignee: INTUITIVE SURGICAL OPERATIONS, INC.
Field: Medical technology (Instruments)
Classification: CPC A  B  F | IPC A  B  F

Claim 5:
6. The manipulator of claim 5, wherein the second linkage arm comprises:
a third pulley and a fourth pulley, wherein each of the third pulley and the fourth pulley comprise a third drive track and a fourth drive track, wherein the third drive track and the fourth drive track are substantially co-planar;
a third drive member section extending between the third drive tracks of the third pulley and the fourth pulley; and
a fourth drive member section extending between the fourth drive tracks of the first pulley and the fourth pulley,
wherein the third drive member section is wound around the third pulley in a third tensile direction and the fourth drive member section is wound around the third pulley in a fourth tensile direction opposite to the third tensile direction.