Patent ID: 11957426
Assignee: CILAG GMBH INTERNATIONAL
Field: Medical technology (Instruments)
Classification: CPC A | IPC A

Claim 0:
1. A robotic surgical tool, comprising:
an elongate shaft extendable through a handle;
a drive cable extending along a portion of the shaft; and
an actuation system housed within the handle and including an input stack comprising:
a drive input arranged at a first end of the input stack; and
an accumulator arranged between the first end and a second end of the input stack and including a differential body defining upper and lower redirect surfaces, and a redirect feature offset from the upper and lower redirect surfaces,

wherein the drive cable extends through the upper and lower redirect surfaces and the redirect feature, and wherein actuating the actuation system rotates the input stack and thereby acts on the drive cable to cause one or more operations of the surgical tool.