Abstract: An endoscopic surgical rotary capture instrument is used in minimally invasive laparoscopic surgery for closing a gastric band having a buckle end a free end. The rotary capture instrument includes a pusher end that has a stationary jaw and a movable jaw. The movable jaw is actuated by rotary motion of an inner shaft. The jaws are used to gasp securely and push the tube end of the gastric band after it has been threaded through the buckle end of the band. A hook instrument is used to hold the buckle end securely while the rotary capture instrument is used to push the free end of the gastric band.

Abstract: Improved end effector mechanisms for a surgical instrument used in minimally invasive surgical instruments as well as instruments for general surgery or as part of robotically controlled end effectors. These end effector mechanisms include multiple grasping elements paired with drive links. Each grasping element also serves as a stabilizing link for the next most distal grasping element, forcing it to maintain its relative angle with respect to the opposing grasping elements.