This Patent is for a very specific form of tool activation. It may be novel (per being granted a patent), but that doesn't mean it sews up other methods of tool activation. Obviously, cable and rod activation of tools is as old as machines. If anything, this actuation method appears to provide for multiple control rod (thin, small, flexible, and possibly rotating in addition to longitudinal motion) to be delivered via a "cassette" mechanism which itself is actuated 'at right angles' to the effector arm bundle. That has appeared to be the basic design of the SPORT effector arm in the first place. It appears compact and highly controllable (given there will be (or are) good end-effector designs).
While important to the SPORT mechanism concept, I don't see it as a PR stimulator for the PPS. It is not the only way to actuate end effectors.
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