Medical instruments for tissue cauterization

A medical instrument, comprising:

• a wrist comprising a proximal clevis and a distal clevis;
• an end effector coupled to the distal clevis via a distal axle;
• at least one proximal pulley in the proximal clevis;
• at least one distal pulley in the distal clevis and coupled to the distal axle;
• at least one first cable segment configured to engage the at least one proximal pulley and the at least one distal pulley;
• and
• at least one second cable segment configured to engage with the at least one proximal pulley without engaging the at least one distal pulley and engage with the distal clevis at a single side of the distal clevis offset from a central axis of the wrist, the at least one proximal pulley being configured to rotate with respect to a pitch axis providing a first degree of freedom for articulation of the end effector,
• wherein the at least one first cable segment and the at least one second cable segment have a mirror symmetry across a plane that is perpendicular to and bisecting the pitch axis at a center of the proximal clevis.