Patent ID: 8075518

Claim:
A method comprising: disposing a plurality of tendons on at least one of a wall and a lumen of a first portion of a shaft; coupling a tendon sheath to a second portion of the shaft, the tendon sheath comprising a first tubular component, a second tubular component and a third tubular component, the first tubular component and the second tubular component spaced apart from one another on opposite sides of the shaft and approximately 180 degrees from each other at a proximal portion of the tendon sheath, the third tubular component at a distal portion of the tendon sheath; disposing proximal portions of respective ones of the at least one of the plurality of tendons in the first tubular component and the second tubular component and distal portions of each of the plurality of tendons in the third tubular component; and coupling a force-balancing element to the plurality of tendons such that exertion of a force on the plurality of tendons by the force-balancing element causes operation of the shaft, and a deflection of a distal portion of the shaft exerts a balanced force on the plurality of tendons.