Patent ID: 11957428
Assignee: AURIS HEALTH, INC.
Field: Medical technology (Instruments)
Classification: CPC A  B | IPC A  B

Claim 13:
14. A medical instrument, comprising:
a wrist having a proximal clevis, a distal clevis pivotally connected to the proximal clevis at a pitch axis, proximal pulleys configured to rotate about the pitch axis, and distal pulleys configured to rotate about a yaw axis;
an end effector connected to the distal pulleys;
a plurality of pull wires extending between the proximal pulleys and the distal pulleys for controlling motion of the wrist and the end effector, wherein the plurality of pull wires includes a first pull wire segment extending along a first pull wire path; and
a conductive cable coupled to the end effector and extending therefrom over a redirect surface of one of the distal clevis or the proximal clevis, wherein the conductive cable extends along a cable path, wherein the first pull wire segment is adjacent to the conductive cable such that the first pull wire path is different than the cable path and adjacent to the cable path, wherein the conductive cable is directly mechanically coupled to the first pull wire segment with a coupling such that the coupling is configured to facilitate feeding the conductive cable through the wrist.