Patent ID: 11896335
Assignee: AURIS HEALTH, INC.
Field: Medical technology (Instruments)
Classification: CPC A | IPC A

Claim 17:
18. A medical instrument, comprising:
a wrist comprising a proximal clevis and a distal clevis;
an end effector coupled to the distal clevis via a distal axle;
at least one proximal pulley in the proximal clevis;
at least one distal pulley in the distal clevis and coupled to the distal axle;
at least one first cable segment configured to engage the at least one proximal pulley and the at least one distal pulley; and
at least one second cable segment configured to engage with the at least one proximal pulley without engaging the at least one distal pulley and engage with the distal clevis at a single side of the distal clevis offset from a central axis of the wrist, the at least one proximal pulley being configured to rotate with respect to a pitch axis providing a first degree of freedom for articulation of the end effector,
wherein the at least one first cable segment and the at least one second cable segment have a mirror symmetry across a plane that is perpendicular to and bisecting the pitch axis at a center of the proximal clevis.