A clip device of the present invention includes: a restraining tube having an insertion passage; first and second arm parts that are inserted into the insertion passage to protrude from a distal end of the restraining tube; an operation wire that is connected to the first arm part and retreats the first arm part with respect to the restraining tube; and a movement adjustment mechanism that retreats the second arm part along with the retreat of the first arm part when the operation wire is operated for retreat by a predetermined amount.

Provided is a digestive-tract treatment method including: pulling, inside a digestive tract (A), an end portion of a first wall portion (A1) positioned at a rim of a treatment target site (B), and moving the first wall portion (A1) to a position on a second wall portion (A2) on an opposite side of the treatment target site (B) from the first wall portion (A1); and joining the first wall portion (A1) and the second wall portion (A2) in a state in which the first wall portion (A1) and the second wall portion (A2) are layered.

A deployment mechanism for selectively deploying and retracting an energizable member and/an insulative member relative to an end effector assembly of a surgical instrument includes one or more actuators, a clutch assembly, and a drive assembly. The clutch assembly is configured to couple to the actuator(s) to provide rotational motion in the first direction in response to such rotation of the actuator(s) and to decouple from the actuator(s) in response to rotation thereof in the second direction. The drive assembly is operably coupled to the clutch assembly and is configured to convert the rotational motion provided by the clutch assembly into longitudinal motion to translate the energizable member and/or insulative member from a storage position to a deployed position and to translate the energizable member and/or the insulative member from the deployed position back to the storage position.

A surgical end effector includes a clevis and two jaws rotatably coupled to the clevis. Each jaw includes a face that is perpendicular to the axis of rotation of the jaw. A rocking pin is pivotally supported by the clevis. The opposite ends of the rocking pin engage the faces of the jaws to constrain the jaws to have opposite motions around the axes of rotation of the jaws. The clevis may be coupled to an elongate shaft with wires extending through the shaft to provide an endoscopic instrument. The jaws may be opened and closed by pushing and pulling on the wires. A wire guide may support the wires in the shaft such that they are able to transmit a compressive force without buckling. The wires may carry electricity to the jaws for electrocautery.

Minimally invasive, multi-functional robotic surgical tool devices for use as lavaging, material aspiration or delivery surgical forceps, scissors or clamp or other device, consisting of a monolithic work element and open central lumen with various functional tips. Such devices may in use follow a central lumen of another device or over a wire in a longitudinal direction upon introduction to a body. Flush and vacuum transport mechanisms, imaging mechanisms or energy source mechanisms may be incorporated. Inner and outer sheaths which may be co-axially disposed relative to a work element may be configured to actuate a beak or beaks and provisions for simultaneous beak closing under rotation may be incorporated.

An end effector of a surgical tool may include a housing, a jaw support shaft, jaw members, and cam pulleys. The jaw support shaft is mounted to the housing and defines a pivot axis. The jaw members are supported on the jaw support shaft and are pivotable about the pivot axis. Each of the jaw members defines a support shaft slot therethrough and includes a pulley pin and a jaw pin. Each of the jaw members defines a jaw pin slot positioned to receive an opposing one of the jaw pins of the jaw members. The cam pulleys are coupled to the jaw support shaft and the jaw members. The cam pulleys are rotatable about the pivot axis to pivot the jaw members about the jaw support shaft

A robotic surgical instrument comprising a shaft and end effector element connected by an articulation. The articulation comprises a first joint driveable by a first pair of driving elements. The first joint permits the end effector element to rotate about a first axis transverse to a longitudinal axis of the shaft, the rotation of the end effector element about the first axis bounded by an extreme rotation angle relative to the longitudinal axis. A second joint is driveable by a second pair of driving elements. A pulley arrangement constrains the second pair of driving elements, and comprises a first set of pulleys rotatable about the first axis, and a second set of pulleys located relative to the first set of pulleys such that at the extreme rotation angle the second pair of driving elements is retained in contact with both the first and second sets of pulleys.

Surgical assemblies and related methods are disclosed that provide for decoupling of instrument shaft roll and end effector actuation. A surgical assembly includes a base, an instrument shaft rotationally mounted to the base, an end effector supported at a distal end of the instrument shaft and including an actuation mechanism driven by a rotational motion, a drive shaft rotationally coupled with the actuation mechanism and configured to provide the rotational motion to the actuation mechanism, and a differential rotationally coupled to the drive shaft and receiving a first input motion and a second input motion. The differential combines the first and second input motions to generate an output motion that rotates the drive shaft. The first input motion is rotationally coupleable to an actuation source. The second input motion is coupled to rotation of the instrument shaft relative to the base.

An end effector of a surgical tool may include a housing, a jaw support shaft, jaw members, and cam pulleys. The jaw support shaft is mounted to the housing and defines a pivot axis. The jaw members are supported on the jaw support shaft and are pivotable about the pivot axis. Each of the jaw members defines a support shaft slot therethrough and includes a pulley pin and a jaw pin. Each of the jaw members defines a jaw pin slot positioned to receive an opposing one of the jaw pins of the jaw members. The cam pulleys are coupled to the jaw support shaft and the jaw members. The cam pulleys are rotatable about the pivot axis to pivot the jaw members about the jaw support shaft.

A surgical robotic instrument comprising: a shaft; an end effector element; an articulation connecting the end effector element to the shaft, the articulation comprising: a first joint driveable by a first pair of driving elements, the first joint permitting the end effector element to rotate about a first axis transverse to a longitudinal axis of the shaft; a second joint driveable by a second pair of driving elements; a pulley arrangement around which the second pair of driving elements is constrained to move, the pulley arrangement comprising: a first set of pulleys rotatable about the first axis; and a second set of pulleys proximal to the first set of pulleys and comprising a first pulley rotatable about a second axis, and a second pulley rotatable about a third axis parallel to and offset from the second axis; and a clevis unit comprising two arms supporting the pulleys of the pulley arrangement, and a pulley guard extending from one of the arms for guarding one of the first and second pulleys.