Patent ID: 7967813
Filing Date: 2011-06-28
Classification: A61B,G16H

Abstract:
1. An apparatus comprising: a guide tube; a first instrument comprising a first elongate body, a second body coupled to the first elongate body at a first joint, a first transmission mechanism at a proximal end of the first elongate body, a first actuator assembly on which the first transmission mechanism is mounted, a first end effector coupled to the second body, and a first joint actuation filar coupled between the first transmission mechanism and the second body, a second instrument comprising a second elongate body and a second transmission mechanism at a proximal end of the second elongate body, wherein the second transmission mechanism is coupled to move a component at a distal end of the second instrument, and wherein the second transmission mechanism comprises a wedge shape; wherein the wedge shape of the first transmission mechanism and the wedge shape of the second transmission mechanism each comprise a vertex edge; wherein the vertex edges of the wedge shapes of the first and the second transmission mechanisms are oriented along and adjacent an extended centerline of the guide tube; and wherein the first and the second elongate bodies extend through the guide tube.