Patent ID: 11950862
Assignee: CMR SURGICAL LIMITED
Field: Medical technology (Instruments)
Classification: CPC A | IPC A

Claim 0:
1. A surgical robotic instrument comprising:
a shaft;
an end effector element;
an articulation connecting the end effector element to the shaft, the articulation comprising:
a first joint driveable by a first pair of driving elements, the first joint permitting the end effector element to rotate about a first axis transverse to a longitudinal axis of the shaft;
a second joint driveable by a second pair of driving elements;
a pulley arrangement around which the second pair of driving elements is constrained to move, the pulley arrangement comprising:
a first set of pulleys rotatable about the first axis; and
a second set of pulleys proximal to the first set of pulleys and comprising a first pulley rotatable about a second axis, and a second pulley rotatable about a third axis parallel to and offset from the second axis; and

a clevis unit comprising two arms supporting the first set of pulleys and the second set of pulleys of the pulley arrangement, and a pulley guard extending from one of the arms configured to guard one of the first and second pulleys.