Abstract: A surgical robotic system is provided comprising a wrist comprising a surgical instrument and an elongated shaft configured to transmit actuation forces from a drive assembly to the spherical wrist to actuate rotation of the spherical wrist. The surgical instrument is a hinged surgical instrument comprising jaws, wherein the jaws are biased in a normally open position by a resilient biasing element, wherein the surgical instrument is actuatable by the drive assembly towards a closed position by a preloaded string which runs from the drive assembly through the elongated shaft to the surgical instrument and which preloads the surgical instrument.

Abstract: A surgical robotic system is provided comprising a wrist for holding a surgical instrument, an elongated shaft comprising an actuation transmission mechanism for the wrist, and a strut assembly comprising at least three struts which are with respective proximate strut sections flexibly attached to different parts of a base structure and with respective distal strut sections to each other to form a pyramidal structure. The wrist is attached to at least one of said distal strut sections, and each strut is actuatable in longitudinal direction to provide three translational degrees of freedom for positioning the surgical instrument in the workspace. The elongated shaft forms one of the struts of the strut assembly.