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

Claim 0:
1. An instrument, comprising:
a shaft;
an end effector;
a wrist connecting the shaft to the end effector and including a proximal clevis and a distal clevis, the proximal clevis being in contact with the distal clevis via one or more proximal teeth defined by the proximal clevis and in mated engagement with one or more distal teeth defined by the distal clevis, the proximal clevis and the distal clevis forming a rolling joint as the wrist articulates ; and
an intermediary frame positioned between the proximal and distal clevises and including:
first and second joint posts each having opposing ball ends engageable with corresponding sockets defined in the proximal and distal clevises; and
a plurality of distally and proximally extending stop posts angularly offset from the first and second joint posts by 90° and engageable with the proximal and distal clevises when the wrist articulates.