Surgical Instrument Wire Guide for Motion Interference

The patent introduces guide portions as intermediary structures that mediate between the wires and the moving components. These guide portions constrain the wires to move along predetermined regular paths, preventing interference between different motion wires while maintaining accurate motion transmission from the manipulation portion to the end tool.

The patent divides the wire movement space into separate guided paths using multiple guide portions. Each guide portion independently manages the movement of specific wires, segmenting the complex multi-wire system into manageable independent channels that do not interfere with each other during pitch, yaw, and actuation motions.

Guide portions serve as intermediary structures that enable comprehensive motion control by providing dedicated pathways for each motion wire. The guide portions ensure that pitch, yaw, and actuation wires move independently along regular paths, preventing cross-interference and maintaining high measurement precision for each degree of freedom.

The patent resolves motion interference by adding spatial dimensionality through guide portions. Instead of allowing wires to move freely in three-dimensional space where they would intersect and interfere, the guide portions constrain wire movements to specific one-dimensional paths, effectively separating the motion dimensions and eliminating interference between pitch, yaw, and actuation controls.