Patent ID: 10813705

Abstract:
A robotic surgical instrument including: a shaft; an end effector including a first end effector element and a second end effector element; an articulation connecting the end effector to the shaft, the articulation including: a first joint driveable by a first pair of driving elements, the first joint permitting the end effector 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, the second joint permitting the first end effector element to rotate about a second axis transverse to the first axis; and a third joint driveable by a third pair of driving elements, the third joint permitting the second end effector element to rotate about the second axis; the robotic surgical instrument further including a pulley arrangement around which the second and third pairs of driving elements are constrained to move, the second and third pairs of driving elements having symmetrically opposing paths around the pulley arrangement.