Patent ID: 8578810
Filing Date: 2013-11-12
Classification: A61B,Y10T

Abstract:
1. A surgical device, comprising: a first pair of articulably coupled links; a second pair of articulably coupled links; and a tension member coupled to the first pair of links and the second pair of links, wherein altering tension in the tension member exerts a force tending to articulate the first pair of links and the second pair of links so as to bend the first pair of links and the second pair of links, wherein the first pair of links comprise opposing link faces having first protrusions in rolling contact with one another wherein in a bent orientation of the first pair of links, the tension member is at a first radial distance from a point of contact between the first protrusions on the opposing link faces of the first pair of links, wherein the second pair of links comprise opposing link faces having second protrusions in rolling contact with one another wherein in a bent orientation, of the second pair of links, the tension member is at a second radial distance from a point of contact between the second protrusions on the opposing link faces of the second pair of links, and wherein the first and second radial distances are different.