Patent ID: 7066926

Claim:
A robotic surgical tool comprising: a distal member configured to support an end effector; first and second components constrained to move in tandem and in opposite directions generally in parallel to an axial line and rotatably coupled to the distal member so that an advancement of die first component with a corresponding retraction of the second component causes the distal member to face a first articulated direction defining a first angle with respect to the axial line, and an advancement of the second component with a corresponding retraction of the first component causes the distal member to face a second articulated direction defining a second angle with respect to the axial line; and third and fourth components constrained to move in tandem and in opposite directions generally in parallel to the axial line, and rotatably coupled to the distal member so that an advancement of the third component with a corresponding retraction of the fourth component causes the distal member to face a third articulated direction defining a third angle with respect to the axial line.