| http://www.w3.org/ns/prov#value | - Any suitable combination of such hinges, wrist-like mechanisms, rotational devices and the like are contemplated within the scope of the present invention. [0112] Referring now to FIGS. 11a and 11 b, a base 90 of surgical instrument 80 according to various aspects of the present invention includes multiple components, such as actuator pulleys, idler pulleys, actuator rods and the like.
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