Patent ID: 8641700
Filing Date: 2014-02-04
Classification: A61B,B25J,G16H,Y10T

Abstract:
1. A link assembly comprising: a base link operably coupled to a distal end of a manipulator arm; an idler link movably coupled to the base link along a lengthwise axis of the link assembly; a carriage link movably coupled to the idler link along the lengthwise axis, wherein the carriage link includes an instrument interface; and a cabling system including a first pulley bank coupled to the base link, a first set of cables movable around the first pulley bank, a second pulley bank coupled to the base link, and a second set of cables movable around the second pulley bank, wherein the motion of the first set of cables is decoupled from the motion of the second set of cables, wherein the base link includes an accessory clamp adapted to receive therethrough an instrument mounted to the instrument interface.