Medical instruments including wrists with hybrid redirect surfaces

A medical instrument, comprising:

• a shaft extending between a proximal end and a distal end;
• a wrist positioned at the distal end of the shaft, the wrist comprising:
• a proximal clevis connected to the distal end of the shaft,
• a distal clevis pivotally connected to the proximal clevis, the distal clevis configured to rotate about a pitch axis,
• a plurality of proximal pulleys configured to rotate about the pitch axis, and
• a plurality of distal pulleys configured to rotate about a yaw axis;
• and
• an end effector connected to the plurality of distal pulleys;
• a plurality of pull wires engaged with the plurality of proximal pulleys and the plurality of distal pulleys and configured to articulate the wrist and actuate the end effector, wherein the plurality of pull wires comprise at least:
• a first pull wire segment having a first cable path length extending from a first proximal pulley of the plurality of proximal pulleys to a first distal pulley of the plurality of distal pulleys, and
• a second pull wire segment having a second cable path length extending from a second proximal pulley of the plurality of proximal pulleys to the first distal pulley,
• wherein the first cable path length is less than the second cable path length.