Patent ID: 11857188
Assignee: INTUITIVE SURGICAL OPERATIONS, INC.
Field: Medical technology (Instruments)
Classification: CPC A | IPC A

Claim 7:
8. A surgical instrument comprising:
an elongated shaft extending along a first axis;
an end effector; and
a joint assembly movably coupling the end effector to the elongated shaft, the joint assembly comprising:
a first outer link, a second outer link and an inner link movably coupling the first outer link to the second outer link;

wherein the inner link comprises first and second posts pivotally coupling the inner link to the first and second outer links, respectively;
wherein a center of each of the first and second posts moves relative to the first and second outer links during articulation of the first outer link relative to the second outer link,
wherein the first and second outer links each define a rolling radius with a center and a centerline therebetween; and
wherein each of the first and second posts has a center and defines a centerline therebetween, wherein the centerline between the center of each posts is not coincident with the centerline between the rolling radii of each of the first and second outer links during articulation of the first outer link relative to the second outer link.