The surgical instrument may include a shaft including a wrist at a first end, an end effector coupled to the wrist, and an actuating element extending along the shaft and the wrist. The actuation element may follow a twist path along at least a portion of the wrist. The twist path may have an angular spread of less than 360 degrees along the entire length of the wrist. A method for constructing a surgical instrument list as well as a support structure therefor for operation of the surgical instrument are also envisaged. The support structure may include at least one passage that defines a torsional path about the longitudinal axis of the support structure. The passage may have an angular extent of less than 360 degrees from the first end of the passage to the second end of the passage.手術器具が、第１の端にリストを含むシャフトと、リストに連結されるエンドエフェクタと、シャフト及びリストに沿って延びる作動要素とを含んでよい。作動要素は、リストの少なくとも部分に沿って捩れ経路に従ってよい。捩れ経路は、リストの全長に沿って３６０度未満の角度的な広がりを有してよい。手術器具リストを構成する方法並びに手術器具の作動用そのための支持構造も想定される。支持構造は、支持構造の長手軸について捩れ経路を定める少なくとも１つの通路を含んでよい。通路は、通路の第１の端から通路の第２の端まで３６０度未満の角度的な広がりを有してよい。
