Abstract: A robotic surgical instrument includes an articulation drivable by at least one driving element. Movement of an instrument interface element is transferred to the at least one driving element. A driving element securing member includes at least one tapered side wall and is configured to be coupled to the at least one driving element. A holding member includes an opening configured to receive a fixing member and at least one wall defining a recess having a shape complementary to the shape of the at least one tapered side wall. The fixing member is configured to be received in the opening and apply force to secure the driving element securing member within the recess of the holding member so that the at least one wall of the holding member is in frictional contact with the tapered side wall of the driving element securing member.

Abstract: A robotic surgical instrument comprising a shaft, an articulation attached to a distal end of the shaft, the articulation configured to articulate an end effector, the articulation driveable by a distal driving element, a driving mechanism comprising an instrument interface element secured to an end of a proximal driving element and configured to engage a drive interface element of a drive assembly, wherein motion of the drive interface element results in a first displacement of the end of the proximal driving element and a gearing mechanism engaging the proximal driving element and the distal driving element and being configured to transfer the first displacement of the end of the proximal driving element to a different second displacement of an end of the distal driving element.