Abstract: An actuation assembly for a medical instrument connects four bands to three motorized degrees of freedom. The actuation assembly includes a first actuator, a second actuator and a third actuator. The first actuator is coupled to a first band and a second band, the first actuator being operable to pull in one of the first and second bands and feed out the other of the first and second bands. The third actuator is coupled to a third band and a fourth band, the third actuator being operable to pull in one of the third and fourth bands and feed out the other of the third and fourth bands. Each of the first, second, third, and fourth bands pass through a second actuator, and the second actuator is operable to increase the travel path of both the first and second bands or both the third and fourth bands.

Abstract: An instrument includes an elongate shaft, a counter-pivoting mechanism, and control cables. A first joint of the counter-pivoting mechanism, having a first link, is coupled to the elongate shaft, and a second joint, having a second link, is disposed distally of the first joint. An elongate tube is disposed between the first joint and the second joint. Constraint cables extend linearly between the first and second joints within first grooves formed in an outer surface the elongate tube. The control cables wrap helically around the elongate tube within second grooves formed in the outer surface. The joints are coupled by the constraint cables such that as the counter-pivoting mechanism is manipulated by the control cables, the first joint pivots in a first direction as the second joint pivots in an opposing second direction to maintain the first and second links in a parallel orientation.

Abstract: A medical device includes a first link, a second link, and a band. A proximal end portion of the first link is coupled to a shaft. A proximal end portion of the second link is rotatably coupled to a distal end portion of first link about a first axis. The distal end portion of the second link includes a connector coupled to a tool member that is rotatable relative to the second link about a second axis that is non-parallel to the first axis. The first link defines a first guide channel and the second link defines a second guide channel. A distal end of the band is disposed within the first guide channel and the second guide channel, and is coupled to the tool member. The second link is rotatable relative to the first link about the first axis when the distal end of the band is moved.

Abstract: A medical device includes a first link, a second link, and a band. A proximal end portion of the first link is coupled to a shaft. A proximal end portion of the second link is rotatably coupled to a distal end portion of first link about a first axis. The distal end portion of the second link includes a connector coupled to a tool member that is rotatable relative to the second link about a second axis that is non-parallel to the first axis. The first link defines a first guide channel and the second link defines a second guide channel. A distal end of the band is disposed within the first guide channel and the second guide channel, and is coupled to the tool member. The second link is rotatable relative to the first link about the first axis when the distal end of the band is moved.

Abstract: A medical device includes a first link, a second link, and a band. A proximal end portion of the first link is coupled to a shaft. A proximal end portion of the second link is rotatably coupled to a distal end portion of first link about a first axis. The distal end portion of the second link includes a connector coupled to a tool member that is rotatable relative to the second link about a second axis that is non-parallel to the first axis. The first link defines a first guide channel and the second link defines a second guide channel. A distal end of the band is disposed within the first guide channel and the second guide channel, and is coupled to the tool member. The second link is rotatable relative to the first link about the first axis when the distal end of the band is moved.

Abstract: A medical device includes a first link, a second link, and a band. A proximal end portion of the first link is coupled to a shaft. A proximal end portion of the second link is rotatably coupled to a distal end portion of first link about a first axis. The distal end portion of the second link includes a connector coupled to a tool member that is rotatable relative to the second link about a second axis that is non-parallel to the first axis. The first link defines a first guide channel and the second link defines a second guide channel. A distal end of the band is disposed within the first guide channel and the second guide channel, and is coupled to the tool member. The second link is rotatable relative to the first link about the first axis when the distal end of the band is moved.