Patent ID: 11857279
Assignee: AURIS HEALTH, INC.
Field: Medical technology (Instruments)
Classification: CPC A | IPC A

Claim 19:
20. A medical instrument, comprising:
a first end effector including an opening;
a second end effector pivotally connected relative to the first end effector at a pivot axis, wherein the pivot axis is offset from the opening of the first end effector;
a first set of one or more distal pulleys coupled to the first end effector;
a wrist configured to house the first set of distal pulleys;
a first member mechanically coupling the first end effector relative to at least one of the first set of one or more distal pulley such that the first member is configured to transmit force therethrough from the at least one of the first set of one or more distal pulley to the first end effector, wherein at least a portion of the first member is received within the opening of the first end effector;
a plurality of cables extending through the wrist; and, a mechanical interlock including a pin, wherein the pin extends through each of the first member and the opening of the first end effector.