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

Claim 0:
1. A surgical instrument comprising:
an elongated shaft extending along a first axis;
an end effector; and
a wrist assembly moveably connecting the end effector to the elongated shaft, the wrist assembly including:
a first outer link, a second outer link, and a first inner link, the first outer link being connected to the elongated shaft and movably coupled to the second outer link by the first inner link,
wherein the first inner link includes a pair of posts and the first and second outer links each include a recess configured to receive a respective one of the pair of posts, the posts and recesses defining a rocking hinge, wherein the first and second outer links include gear teeth that intermesh.