Abstract: Medication delivery system including a container, reservoir, or chamber for medium or fluid, and a mechanism or driving components configurable outside of medium or fluid chamber for advancing a plunger to dispense medium or fluid. The system can include syringe-style drug container, reservoir, or chamber, containing medium or fluid dispensable by advancing plunger disposed inside the container, where the container includes a sliceable portion and where a cutter or slicer is configurable on plunger holder or pusher behind plunger such that cutter cuts through sliceable portion of container as plunger is advanced dispensing medium out of container. The present disclosure is further directed to a patch pump comprising the system as described above. The present disclosure is further directed to a medicament delivery device comprising the system as described above.

Abstract: A method of operating an end effector, the end effector including opposing first and second jaws, a distal clevis defining an inner pulley and having a first axle that rotatably mounts the first and second jaws to the distal clevis, a proximal clevis having a second axle that rotatably mounts the distal clevis to the proximal clevis, a plurality of drive cables extending to the end effector, and a power axle cable mounted to the distal clevis at the inner pulley. The method further includes moving one or more of the plurality of drive cables and thereby causing the end effector to articulate about a first pivot axis extending through the first axle, and moving the power axle cable and thereby pivoting the end effector about a second pivot axis extending through the second axle and perpendicular to the first pivot axis.

Abstract: A surgical tool includes a drive housing and an elongate shaft extending from the drive housing. A wrist couples an end effector to the elongate shaft and includes a distal clevis having a first axle that rotatably mounts the end effector to the distal clevis, and a proximal clevis coupled to the elongate shaft and having a second axle that rotatably mounts the distal clevis to the proximal clevis. A plurality of drive cables extend between the drive housing and the end effector, and movement of the drive cables causes the end effector to articulate about a first pivot axis extending through the first axle. A power axle cable extending from the drive housing and mounted to the distal clevis such that movement of the power axle cable correspondingly pivots the end effector about a second pivot axis at the second axle.

Abstract: A surgical tool includes a drive housing and an elongate shaft extending from the drive housing. A wrist couples an end effector to the elongate shaft and includes a distal clevis having a first axle that rotatably mounts the end effector to the distal clevis, and a proximal clevis coupled to the elongate shaft and having a second axle that rotatably mounts the distal clevis to the proximal clevis. A plurality of drive cables extend between the drive housing and the end effector, and movement of the drive cables causes the end effector to articulate about a first pivot axis extending through the first axle. A power axle cable extending from the drive housing and mounted to the distal clevis such that movement of the power axle cable correspondingly pivots the end effector about a second pivot axis at the second axle.