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

Claim 10:
11. 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 that are in contact with each other during rotational movement of the wrist, the proximal clevis defining one or more proximal teeth and the distal clevis defining one or more distal teeth in mated engagement with the one or more proximal teeth to form a rolling joint as the wrist articulates, wherein the proximal clevis defines a proximal pitch axis and the distal clevis defines a distal pitch axis parallel to the proximal pitch axis; and
an intermediary frame interposed between the proximal clevis and the distal clevis and including a central body that provides a plurality of distally and proximally extending stop posts extending from the central body and engageable with, the proximal clevis and the distal clevis upon overrotation during the rotational movement of the wrist and thereby serve as a mechanical stop to limit a pitch angle between the proximal clevis and the distal clevis;
a sheath that extends over the proximal clevis and the distal clevis, wherein the plurality of distally and proximally extending stop posts block the sheath from being pinched between surfaces of the proximal clevis and the distal clevis as the wrist articulates.