Abstract: Apparatus and systems include an electrosurgical instrument with a unique jaw configuration and gripping surfaces that allow tangential gripping and ablation of tissue in a minimally invasive procedure. The electrosurgical instrument can include a shaft and hinge coupling the shaft to first and second jaws. The first jaw can be an anchor for the second jaw. The jaws can have respective first portions and second portions offset at an angle from the first portions. Each jaw can also include electrodes on their inner surfaces facing the other jaw. Each jaw can also include textured gripping surfaces. The gripping surfaces can be included on at least a portion of the base of each jaw, as well as on at least a portion of the inner surfaces of the jaws.