A Robotic Surgical Instrument

Abstract: There is provided a robotic surgical instrument comprising an end effector, a shaft component, a supporting body, a pulley, and a protrusion. The supporting body is connected to a distal end of the shaft component at a first end and to the end effector at a second end.The supporting body comprises first and second flanges extending from the first end into the shaft component. The pulley faces an outer surface of the first flange. The protrusion is coupled to the distal end of the shaft component and extends towards the end effector. The protrusion is configured to interface with an interfacing surface of one of the first or second flanges when the supporting body is moved towards the pulley. The separation between the outer surface of the first flange and the pulley is greater than the separation between said interfacing surface of one of the first or second flanges and the protrusion.

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