Patent ID: 8821480
Filing Date: 2014-09-02
Classification: A61B,Y10T

Abstract:
1. A medical instrument comprising: a first clevis having a first body and a first pin, the first clevis being attached to a base so that the first clevis can rotate about a first axis, wherein the first body includes a plurality of guide channels; a first jaw attached to the first clevis so that the first jaw can rotate about the first pin; and a first cable and a second cable, wherein the first and second cables are coupled to the first jaw and routed through the guide channels in the first clevis, pulling the first cable and relaxing the second cable causes a first torque that actuates the first jaw about the first pin, pulling the first and second cables causes a second torque that actuates the first clevis in a first direction about the first axis, and contact of the first and second cables on surfaces of the guide channels determines a moment arm of the second torque.