Patent ID: 8784404

Claim:
A flexible wrist-type element, comprising: a body housing extending along a first longitudinal axis; a guide element at least partially extending along a second longitudinal axis and movably connected to the body housing, wherein the guide element comprises a first end movable to a first position defining a first angle between the second longitudinal axis and the first longitudinal axis of the body housing, wherein the first angle is variable; and a plurality of couplings comprising a plurality of elements movably interconnected by a plurality of joints, wherein the plurality of couplings are movably positionable relative to the body housing and the guide element, wherein the plurality of couplings have an input end adjacent to the body housing configured to receive input force from a telemanipulation device and an opposing output end adjacent to the first end of the guide element, wherein the input end is configured to receive said input force comprising at least one of an axial force or a torsional force, and wherein the plurality of couplings are configured to transmit at least a portion of the input force from the input end to the output end when the first end of the guide element is in the first position defining the first angle.