Articulating surgical instrument

A surgical instrument for use with a robotic manipulator, comprising:

• an elongate shaft;
• an end effector assembly comprising
• an end effector member comprising a distal treatment end and a proximal end, and a tendon pass-through;
• a pair of pulley members, a first one of the pulley members defining an annular surface, and a second one of the pulley members having a lateral surface facing the first one of the pulley members, the pulley members assembled with the proximal end of the end effector member captured between them, the annular surface and the lateral face defining a tendon pathway, the tendon pass-through disposed in the tendon pathway;
• a first tendon having a distal loop portion extending through the tendon pass-through and a pair of legs passing proximally from the pass-through, the pair of legs extending in opposite directions around the tendon pathway and proximally through the shaft;
• a clevis coupled to a distal part of the shaft, the clevis including a pair of distally-extending clevis members disposed on opposite sides of the pair of pulley members;
• a pin extending laterally through the clevis members and the pulley members to couple the end effector assembly to the clevis, the end effector assembly pivotable with respect to an axis of the pin in response to variation of tension on at least one leg of the first tendon.