Patent ID: 8661927

Claim:
A cable guide that re-orders a plurality of cables that transmit force to a teleoperated surgical instrument, the cable guide comprising: a first guide plate that has a plurality of first guide holes, each of the plurality of cables being received through a corresponding one of the first guide holes in a first order as provided by an actuator mechanism that provides a plurality of forces at a proximal end of an elongate tube; a second guide plate that has a plurality of second guide holes, each of the plurality of cables being received through a corresponding one of the second guide holes in a second order as required to transmit the plurality of forces to a plurality of movable joints at a distal end of the elongate tube, the second guide plate adjacent the proximal end of the elongate tube, the second order different from the first order; and a first intermediate guide plate located between the first guide plate and the second guide plate, the first intermediate guide plate having one or more first intermediate guide holes, each of the first intermediate guide holes receiving and changing the direction of one cable from the plurality of cables.