Abstract: An end effector has three degrees of freedom in operation: (1) opening and closing of the jaws, (2) adjustable pivoting of the jaws relative to the longitudinal axis, and (3) rotation of the jaw assembly, regardless of its articulation, about the longitudinal axis. A split yoke assembly is coupled to rotatable jaw mounts, which in turn are coupled to the jaws. A pushrod is configured to open and close the jaws, and a translatable line, which may be implemented by a set of cables or by an additional pushrod, is configured to cause pivoting of the jaws.

Abstract: An end effector has three degrees of freedom in operation: (1) opening and closing of the jaws, (2) adjustable articulation of the jaw plane relative to the longitudinal axis, and (3) rotation of the jaw assembly, regardless of its articulation, about the longitudinal axis. A split yoke assembly is coupled to rotatable jaw mounts, which in turn are coupled to the jaws. A pushrod is configured to open and close the jaws, and cables coupled to the rotatable jaw mounts cause articulation of the jaw plane.

Abstract: An articulating surgical instrument includes a case having a trigger handle, a sheath coupled to the case, an intermediate connector coupled to the sheath, an end effector removably attachable to the intermediate connector, a set of cables that control position of the intermediate connector, at least two motors coupled to the cables, and a user control module configured to control position of the intermediate connector and the end effector. The instrument further includes a pushrod disposed within the sheath and within the intermediate connector that is configured for axial motion relative to the sheath and the intermediate connector and rotational motion within the sheath and the intermediate connector. The pushrod is coupled to the trigger handle and removably coupled to the end effector, so that rotational motion of the pushrod effectuates rotation of the end effector and axial motion of the pushrod is controllable by the trigger handle.

Abstract: An articulating surgical instrument includes a case having a trigger handle, a sheath coupled to the case, a flexible bending section coupled to the sheath, an end effector removably attachable to the bending section, a set of cables that control position of the bending section, at least two motors coupled to the cables, and a user control module configured to control position of the bending section and the end effector. The instrument further includes a pushrod disposed within the sheath and within the bending section that is configured for axial motion relative to the sheath and the bending section and rotational motion within the sheath and the bending section. The pushrod is coupled to the trigger handle and removably coupled to the end effector, so that rotational motion of the pushrod effectuates rotation of the end effector and axial motion of the pushrod is controllable by the trigger handle.