CPC A61B 17/29 (2013.01) [A61B 34/30 (2016.02); A61B 34/71 (2016.02); A61B 2017/2902 (2013.01); A61B 2017/2908 (2013.01); A61B 2034/305 (2016.02)] | 20 Claims |
1. A surgical instrument for a robotic surgical system, the surgical instrument comprising: an end effector having a first jaw member and a second jaw member movably coupled to one another; a wrist assembly having a distal end portion supporting the end effector, the wrist assembly including: a plurality of joint members rotatably connected to one another in tip-to-tail fashion, wherein each joint member defines a central rotational axis, and wherein adjacent joint members are rotatably connected to one another in a plane which is oriented at a non-orthogonal angle relative to the central rotational axes of the adjacent joint members; and a plurality of concentric drive tubes extending through the plurality of joint members, wherein each drive tube includes a distal end keyed to a respective joint member; and a shaft defining a longitudinal axis, the shaft having a distal end supporting the wrist assembly.
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