Patent ID: 8728118

Claim:
A medical tool comprising: an end effector at a distal end of the tool; an end effector actuator at a proximal end of the tool, the end effector actuator being operatively connected to the end effector through a linkage to deliver an actuation force from the end effector actuator to the end effector in response to movement of the end effector actuator, the linkage comprising an elongated actuation component defining an actuation axis; a rod terminator coupled to the elongated actuation component; and a force limitation assembly adapted to establish an upper limit on the actuation force delivered to the end effector by the end effector actuator, the force limitation assembly including an elongated force limiter component extending within and coupled to a force limiter housing, the force limitation assembly movably coupled to the end effector actuator and the force limiter housing removably coupled to the rod terminator, wherein when the actuation force delivered to the end effector actuator does not exceed the upper limit, the actuation force delivered to the end effector actuator causes linear movement of the elongated actuation component and the force limitation assembly along the actuation axis and wherein when the actuation force delivered to the end effector actuator exceeds the upper limit, the linear movement of the elongated actuation component is terminated.