Patent ID: 9724162
Date: 2017-08-08
CPC Classifications: A61B,B25J

Claim:
1. An apparatus for controlling an end-effector assembly having a first working member and a second working member, the apparatus comprising: a first set of at least one cable, the first set of at least one cable configured to control the first working member; a second set of at least one cable, the second set of at least one cable configured to control the second working member; a first pulley configured to guide the first set of at least one cable; a second pulley having a pulley groove configured to guide the first set of at least one cable within the pulley groove when the second pulley is in a first position, and the second pulley configured to guide the second set of at least one cable within the pulley groove when the second pulley is in a second position; a third pulley configured to guide the second set of at least one cable; and a rotatable element rotatable about a first axis, the rotatable element supporting the first pulley, the second pulley, the third pulley, and the first and second working members, and the rotatable element configured to move the second pulley between the first position and the second position.