Patent ID: 11871914
Assignee: INTUITIVE SURGICAL OPERATIONS, INC.
Field: Medical technology (Instruments)
Classification: CPC A | IPC A

Claim 0:
1. A medical instrument comprising:
a shaft;
an actuated structure at a distal end of the shaft, the actuated structure comprising a joint;
a backend mechanism at a proximal end of the shaft;
a pulley within the backend mechanism;
a first length of tendon and a second length of tendon extending through the shaft, wherein the first length of tendon and the second length of tendon are each connected to the joint of the actuated structure and are each at least partially looped around the pulley, and wherein the pulley is movable to adjust a tension in the first length of tendon and the second length of tendon; and
a drive element operably coupled to the first length of tendon and the second length of tendon, wherein the drive element is configured to drive the first length of tendon to drive the joint of the actuated structure in a first direction and drive the second length of tendon to drive the joint of the actuated structure in a second direction, the second direction being different from the first direction.