A medical instrument includes a unitary wrist structure including a first connector portion having an upper stop surface, a second connector portion having a lower stop surface, and a compact flexure integral therewith. The first and second connector portions are coupled together by the compact flexure. Deflection δ of the compact flexure is characterized by the formula δ=(PL3/3EI)+(PL/kAG), wherein P is a load force applied to the compact flexure, L is a beam length of the compact flexure, E is Youngs modulus of the compact flexure, I is a moment of inertia of the compact flexure, k is a shear factor for a cross-section of the compact flexure, A is a cross-section area of the compact flexure, and G is a shear modulus of the compact flexure.
