Patent ID: 11944337
Assignee: DISTALMOTION SA
Field: Medical technology (Instruments)
Classification: CPC A | IPC A

Claim 18:
19. An articulated surgical instrument comprising:
an end-effector comprising one or more end-effector links, the one or more end-effector links comprising first and second follower geometries;
a first cam having a first spiral profile rotatably coupled to the first follower geometry;
a second cam having a second spiral profile rotatably coupled to the second follower geometry; and
flexible mechanical transmissions coupled to the first and second cams, the flexible mechanical transmissions configured to independently rotate the first and second cams in both directions about an axis of the first and second cams to thereby actuate the end-effector with the rotation of the first cam causing an increased actuation force via the one or more follower geometries,
wherein rotation of the first and second cams by the flexible mechanical transmissions is configured to drive movement of the first and second follower geometries along the first and second spiral profiles of the first and second cams.