Patent ID: 11950863
Assignee: AURIS HEALTH, INC.
Field: Medical technology (Instruments)
Classification: CPC A | IPC A

Claim 6:
7. An instrument, comprising:
a shaft;
a wrist operatively coupled to the shaft and including a proximal clevis and a distal clevis, the proximal clevis defining one or more proximal teeth and the distal clevis defining one or more distal teeth in mated engagement with the one or more proximal teeth to form a rolling joint as the wrist articulates; and
an intermediary frame positioned between the proximal and distal clevises and including a central body that defines a central aperture and provides first and second joint posts extending from the central body, each joint post having opposing ball ends engageable with corresponding sockets defined in the proximal and distal clevises,
wherein the one or more proximal teeth and the one or more distal teeth extend through the central aperture, and
wherein the rolling joint defines parallel proximal and distal pitch axes.