Patent ID: 9232975
Filing Date: 2016-01-12
CPC Classification: A61B,A61F

Claim Text:
1. An instrument comprising: an actuation structure having an actuation structure distal end and an actuation structure proximal end; a nosecone having a housing tube housing; a first link, the first link fixed to the actuation structure by a first link pin and the first link fixed to the nosecone by a second link pin; a first spacer disposed over the first link pin, the first spacer configured to prevent movement of the first link relative to the first link pin; a second spacer disposed over the second link pin, the second spacer configured to prevent movement of the first link relative to the second link pin; a second link, the second link fixed to the actuation structure by a third link pin and the second link fixed to the nosecone by a fourth link pin; a third spacer disposed over the third link pin, the third spacer configured to prevent movement of the second link relative to the third link pin; a fourth spacer disposed over the fourth link pin, the fourth spacer configured to prevent movement of the second link relative to the fourth link pin; a single housing tube having a housing tube distal end and a housing tube proximal end wherein the housing tube proximal end is disposed within the housing tube housing and wherein the housing tube proximal end is fixed within the housing tube housing; a first housing tube portion of the housing tube, the first housing tube portion having a first stiffness and having a plurality of slits wherein each slit of the plurality of slits has an arch; a second housing tube portion of the housing tube, the second housing tube portion having a second stiffness wherein the second stiffness is greater than the first stiffness; and an optic fiber having an optic fiber distal end and an optic fiber proximal end, the optic fiber disposed in the actuation structure and the housing tube wherein the optic fiber distal end is adjacent to the housing tube distal end and wherein a portion of the optic fiber is fixed to the housing tube.