Patent ID: 8398619

Claim:
A flexible wrist-type element, comprising: a body housing extending along a first longitudinal axis; a hub at least partially extending along a second longitudinal axis and movably connected to the body housing, wherein the hub 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; 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 hub, wherein the plurality of couplings have an input end adjacent to the body housing and an opposing output end adjacent to the first end of the hub, wherein the input end is configured to receive an 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 hub is in the first position defining the first angle; wherein the body housing comprises an extension adjacent to the hub, wherein the extension comprises an inner wall defining a surface, wherein at least one of the plurality of couplings are in movable contact with the surface, wherein the surface defines limits for movement of the plurality of couplings relative to the body housing and the hub; and wherein the extension extends along a third longitudinal axis, and wherein the surface defines a slot having a first length substantially parallel to the third longitudinal axis and a second length substantially perpendicular to the third longitudinal axis, wherein the first length is greater than the second length.