Patent ID: 8608773

Claim:
A surgical instrument comprising: a shaft having a longitudinal axis, a distal end and a proximal end; a formation at the distal end of said shaft, said formation movable relative to said shaft in a first degree of freedom; at least one elongate element connected to the formation to cause movement in said first degree of freedom in response to movement of said at least one elongate element; and an interface disposed at the proximal end of said shaft, said interface housing at least one first rotatable actuated body, said at least one first rotatable actuated body coupled to said at least one elongate element such that rotating said at least one first rotatable actuated body about an axis of rotation causes movement of said at least one elongate element; wherein said at least one first rotatable actuated body comprises first and second protrusions, the first protrusion being closer to the axis of rotation than the second protrusion, the first and second protrusions being spaced apart from the axis of rotation, the protrusions being configured to align with openings on at least one rotatable actuating body to drivingly engage the at least one first rotatable actuated body with the at least one rotatable actuating body.