Circularity systems and methods for high articulation surgical tools

A surgical tool configured for a circularity processing system, comprising:

• a drive housing;
• an elongate shaft extending distally from the drive housing;
• an end effector arranged at a distal end of the shaft and including opposing first and second jaws;
• a wrist interposing the shaft and the end effector and including a proximal clevis having opposing first and second arms laterally offset from each other and extending distally, each arm defining an open-ended slot that opens distally;
• and
• a set of pulleys rotatably mounted to the proximal clevis at an axle receivable within the open-ended slot of each arm, the set of pulleys being rotatable about a pivot axis extending through the axle,
• wherein material of the proximal clevis fails to encircle the pivot axis.

A method of detaching an end effector of a surgical tool, comprising:

• securing the surgical tool, the surgical tool including:
• a drive housing;
• an elongate shaft extending distally from the drive housing;
• a wrist interposing the distal end of the shaft and the end effector;
• and
• a plurality of drive cables extending proximally from the end effector and through the wrist;
• moving the shaft proximally away from the end effector arranged at a distal end of the shaft;
• moving the end effector distally away from the wrist, the end effector including:
• a first jaw defining a first counterbore and a first common aperture contiguous with the first counterbore;
• and
• an opposing second jaw defining a second counterbore and a second common aperture contiguous with the second counterbore;
• removing a first drive cable of the plurality of drive cables from the first jaw, the first drive cable having a first distal crimp receivable within the first counterbore, wherein a diameter of the first common aperture is larger than a diameter of the first distal crimp;
• removing a second drive cable of the plurality of drive cables from the second jaw, the second drive cable having a second distal crimp receivable within the second counterbore, wherein a diameter of the second common aperture is larger than a diameter of the second distal crimp;
• and
• separating the end effector from the wrist.