A Robotic Surgical Instrument

Abstract: There is provided a robotic surgical instrument comprising an end effector, a shaft component, a supporting body connected to a distal end of the shaft component at a first end and to the end effector at a second end, and a pulley facing an outer surface of the first end of the supporting body. The pulley comprises a first section with a first diameter and a second section with a second diameter that is smaller than the first diameter. The first or second section of the pulley is configured to restrict movement of the supporting body.

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