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

Claim 19:
20. A medical instrument, comprising:
a shaft extending between a proximal end and a distal end;
a wrist positioned at the distal end of the shaft, the wrist comprising:
a proximal clevis connected to the distal end of the shaft,
a plurality of proximal pulleys including a first inner proximal pulley, a second inner proximal pulley, a first outer proximal pulley, and a second outer proximal pulley, wherein the first and second inner proximal pulleys are positioned between the first and second outer proximal pulleys, wherein the first inner proximal pulley and the first outer proximal pulley define a first space therebetween, and wherein the second inner proximal pulley and the second outer proximal pulley define a second space therebetween,
a distal clevis including an exterior surface and having a first support leg and a second support leg, wherein the first and second support legs are pivotally connected to the proximal clevis, wherein the first and second support legs are respectively received within the first and second spaces such that the first and second inner proximal pullies are positioned between the first and second support legs, wherein the distal clevis is configured to rotate about a pitch axis, and
a plurality of distal pulleys configured to rotate about a yaw axis;
an end effector connected to the plurality of distal pulleys;
a conductive cable extending through the wrist to the end effector;
a first redirect surface extending along the exterior surface of the distal clevis, wherein the conductive cable extends over the first redirect surface of the distal clevis;
a second redirect surface extending along the proximal clevis, wherein the conductive cable further extends along the second redirect surface of the proximal clevis;
a third redirect surface positioned between the plurality of proximal pulleys and the plurality of distal pulleys;
a first pull wire segment configured to close the end effector, wherein the first pull wire segment extends directly from one of the proximal pulleys to one of the distal pulleys; and
a second pull wire segment configured to open the end effector, wherein the second pull wire extends over the third redirect surface.