Abstract: A surgical tool includes an elongate shaft, an end effector arranged at a distal end of the shaft and including opposing jaws, and an articulable wrist interposing the end effector and the shaft and comprising a plurality of articulation links arranged in series along a longitudinal length of the wrist. A closure redirect mechanism includes first and second rigid links arranged proximal to the wrist, first and second transfer mechanisms pivotably mounted to the first and second rigid links, respectively, first and second transfer links interposing the end effector and the wrist, and first and second tension members extending distally from the first and second transfer mechanisms, respectively, and being secured to the first and second transfer links, respectively. Moving the first rigid link relative to the second rigid link, and vice versa, causes the first and second transfer links to correspondingly move and thereby open or close the jaws.

Abstract: A surgical tool includes an elongate shaft, an end effector arranged at a distal end of the shaft and including opposing jaws, and an articulable wrist interposing the end effector and the shaft and comprising a plurality of articulation links arranged in series along a longitudinal length of the wrist. A closure redirect mechanism includes first and second rigid links arranged proximal to the wrist, first and second transfer mechanisms pivotably mounted to the first and second rigid links, respectively, first and second transfer links interposing the end effector and the wrist, and first and second tension members extending distally from the first and second transfer mechanisms, respectively, and being secured to the first and second transfer links, respectively. Moving the first rigid link relative to the second rigid link, and vice versa, causes the first and second transfer links to correspondingly move and thereby open or close the jaws.