Surgical tools with end effector redirect pulleys

An end effector for a surgical tool, comprising:

• opposing first and second jaws rotatably mounted to a distal clevis at a first axle;
• a proximal clevis rotatably mounted to the distal clevis at a second axle;
• a set of pulleys rotatably mounted to the second axle;
• first and second redirect pulleys rotatably mounted to the distal clevis and axially interposing the set of pulleys and the first and second jaws;
• a first closure cable extendable through the set of pulleys to the first redirect pulley, which redirects the first closure cable with no fleet angle to a first closure groove provided in the first jaw;
• and
• a second closure cable extendable through the set of pulleys to the second redirect pulley, which redirects the second closure cable with no fleet angle to a second closure groove provided in the second jaw.

A method of operating a surgical tool, comprising:

• bringing the surgical tool in proximity of a patient, the surgical tool including:
• a drive housing having an elongate shaft extending therefrom;
• an end effector arranged at a distal end of the shaft and including opposing first and second jaws;
• and
• a wrist interposing the shaft and the end effector and including a distal clevis to which the first and second jaws are rotatably mounted at a first axle, a proximal clevis rotatably mounted to the distal clevis at a second axle and operatively coupled to the distal end of the shaft, a set of pulleys rotatably mounted to the second axle, and first and second redirect pulleys rotatably mounted to the distal clevis and axially interposing the set of pulleys and the first and second jaws;
• actuating a first closure cable extending from the drive housing and through the set of pulleys to the first redirect pulley, which redirects the first closure cable with no fleet angle to a first closure groove provided in the first jaw;
• and
• actuating a second closure cable extending from the drive housing and through the set of pulleys to the second redirect pulley, which redirects the second closure cable with no fleet angle to a second closure groove provided in the second jaw.