US Patent 12114941 Wrist articulation by linked tension members

Methods of articulating and actuating an end effector of a surgical tool include equal rate rotation of an input shaft of the end effector via a drive shaft. A method includes supporting an end effector base of the end effector by an elongate shaft of the surgical tool via a wrist assembly of the surgical tool. Orientation of the end effector base relative to the elongate shaft is controlled via four tension members. An input shaft of a shaft driven mechanism of the end effector is rotated around an input shaft axis by rotating a drive shaft of the surgical tool around a drive shaft axis. A rate of rotation of the drive shaft and a rate of rotation of the input shaft are equal when the end effector base is pivoted relative to the elongate shaft.