INSTRUMENT ARTICULATION DAMPENING

Abstract

An instrument, such as a robotically-articulable medical instrument, includes a base, a shaft that projects from the base, the shaft having one or more articulation pull wires disposed at least partially therein, a robotic drive input, a pulley having at least one of the one or more articulation pull wires coupled thereto, the pulley being rotatable about an axis by the robotic drive input, and a pulley brake configured to apply friction to the pulley to provide resistance to rotational movement of the pulley.

CPC Classifications