MANUALLY AND ROBOTICALLY CONTROLLABLE MEDICAL INSTRUMENTS

Certain aspects relate to manually and robotically controllable medical instruments. A manually and robotically controllable medical instrument can include an elongated shaft articulable by pull wires. The elongated shaft can be connected to an instrument handle that attaches to an instrument drive mechanism. The instrument handle can include a pulley assembly on which the pull wires can be mounted. Rotation of the pulley assembly can actuate the pull wires to cause articulation of the elongated shaft. The medical instrument also includes a manual drive input connected to the pulley assembly such that manual actuation of the manual drive input causes rotation of the first pulley assembly and a robotic drive input configured to engage with a robotic drive output of the instrument drive mechanism such that rotation of the first robotic drive output causes rotation of the pulley assembly. 某些方面涉及能够手动地和机器人地控制的医疗器械。一种能够手动地和机器人地控制的医疗器械可包括能够通过牵拉线进行关节运动的细长轴。该细长轴可连接到附接到器械驱动机构的器械柄部。该器械柄部可包括该牵拉线可安装在其上的滑轮组件。该滑轮组件的旋转可致动该牵拉