Patent ID: 9629688
Date: 2017-04-25
CPC Classifications: A61B,F16C,F16H

Claim:
1. A tool apparatus comprising: an actuator housing; an elongate tool manipulator extending outwardly from the actuator housing and having a plurality of control links extending along a length of the tool manipulator, the control links being operable to cause movement of a distal end of the tool manipulator in response to movement of the control links in an actuating direction generally aligned with the length of the tool manipulator; a plurality of actuators, each actuator being associated with at least one of the control links and being mounted in the actuator housing to facilitate a range of travel in a transverse direction substantially orthogonal to the actuating direction; and a plurality of linkages, each linkage being associated with one of the control links and extending between the control link and the respective actuator and being operable to transmit drive forces between the actuator and the control link, wherein the actuator housing comprises a plurality of parallel rails, each actuator being received on one of the parallel rails for guiding the actuator to provide the travel in the transverse direction.