A
wrist joint (100) for a
surgical instrument (160) having a proximal end (164), a distal end (166), an end
effector (102) mounted at the distal end and (166) at least one actuation
tendon (108a, 108b) for actuating the end
effector (102) The
wrist joint (100) comprises proximal and distal parts (110, 120) having respective proximal and distal rolling surfaces (112, 122), wherein respective axes (114, 124) extend through the proximal and distal parts (110, 120) centrally with respect to the associated rolling surfaces (112, 122). The distal part (120) is rotatably coupled to the proximal part (110) with the proximal and distal rolling surfaces (112, 122) able to roll against one another. Proximal and distal guiding assemblies (130, 132) are mounted to the proximal and distal parts (110, 120) respectively. Respective guiding surfaces (131, 133) of the proximal and distal guiding assemblies (130, 132) are configured to guide the at least one actuation
tendon (108a, 108b) therebetween as the at least one actuation
tendon (108a, 108b) extends from the proximal end (164) to the end
effector (102), thereby decoupling actuation of the end effector (102) from
wrist movement.