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

Claim 9:
10. A method of operating a robotic surgical tool, comprising:
mating the robotic surgical tool with an instrument driver arranged at an end of a robotic arm, the robotic surgical tool including 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, the 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;

actuating the actuation system to rotate the input stack and thereby act on the drive cable; and
causing one or more operations of the surgical tool as the drive cable is drawn into or dispensed from the accumulator.