Rotational couplers for use with surgical devices that are actuated by semi-flexible actuators such as wires and the like. The couplers enable the actuators to apply various actuation motions to actuation features on the surgical device as well as other actuators to apply axial and rotational motions to the surgical device to manipulate the device into various orientations relative to an elongate shaft to which the device is movably attached.

An end effector of a surgical tool includes a first jaw and a second jaw rotated by a driving pulley. A first driven pulley is attached to the first jaw and a second driven pulley is attached to the second jaw. A first end portion of a first cable is connected to a first radial side of the first driven pulley, a second end portion of the first cable is connected to a second radial side of the second driven pulley, and an intermediate portion of the first cable is connected to the driving pulley. A first end portion of a second cable is connected to a first radial side of the second driven pulley, a second end portion of the second cable is connected to a second radial side of the first driven pulley, and an intermediate portion of the second cable is connected to the driving pulley.

An end effector of a surgical tool includes a first jaw and a second jaw rotated by a driving pulley. A first driven pulley is attached to the first jaw and a second driven pulley is attached to the second jaw. A first end portion of a first cable is connected to a first radial side of the first driven pulley, a second end portion of the first cable is connected to a second radial side of the second driven pulley, and an intermediate portion of the first cable is connected to the driving pulley. A first end portion of a second cable is connected to a first radial side of the second driven pulley, a second end portion of the second cable is connected to a second radial side of the first driven pulley, and an intermediate portion of the second cable is connected to the driving pulley.

In one example, a medical device may be adapted for use with a delivery device, and the medical device may include a handle including at least one actuator; a body adapted to releasably mount to a distal portion of the delivery device, the body supporting a pair of jaws rotatably coupled to the body; and a control wire coupled to the pair of jaws and the actuator. The actuator may be configured to open and close the pair of jaws.

According to one example a medical device snare is described that may comprise a first strip and a second strip, each having an interlock feature. The first interlock feature configured as a groove and the second interlock feature configured as a rail may be interlocked such that the first strip and the second strip are slidable parallel to one another so a snare portion may form a loop.

A robotic surgical instrument comprising a shaft, an articulation attached to the distal end of the shaft, and a driving mechanism at the proximal end of the shaft. The articulation comprises a plurality of joints for articulating an end effector, the plurality of joints driveable by at least first and second pairs of driving elements. The driving mechanism comprises a pulley arrangement and a pulley drive. The pulley arrangement comprises first and second pulleys attached together such that their separation is fixed, wherein the first pair of driving elements is constrained to move around the first pulley, and the second pair of driving elements is constrained to move around the second pulley. The pulley drive is configured to linearly displace the pulley arrangement, such that a linear displacement in one direction away from the distal end of the shaft causes the first pair of driving elements to be tensioned and the second pair of driving elements to be de-tensioned, and a linear displacement in an opposing direction towards the distal end of the shaft causes the second pair of driving elements to be tensioned and the first pair of driving elements to be de-tensioned.

A minimally invasive heart stabilizer includes a guide tube, a revolute joint, a stabilizing end-effector, and a linkage. The guide tube is sized to allow insertion through an endoscopic cannula. The revolute joint is coupled to a distal end of the guide tube. The stabilizing end-effector is coupled to the revolute joint. The linkage has a distal end and a proximal end. The distal end is pivotally connected to the end-effector. The stabilizing end-effector includes two tissue engaging members in parallel alignment with one another. The two tissue engaging members are joined via an arrangement of links.

Electrosurgical instruments and associated methods are disclosed herein. Embodiments of the electrosurgical instruments can include an elongate shaft that can articulate an end effector relative to the elongate shaft, with the end effector including opposed jaws and positioned at a distal end of the elongate shaft. In addition, electrosurgical instruments are provided that include a cutting feature or knife that is coupled to the end effector and can axially translate relative to the elongate shaft. Furthermore, the knife can be rotated relative to the elongate shaft, which can cause simultaneous rotation of the end effector. Electrosurgical instruments are also provided that include an end effector including opposed jaws that are configured to rotate relative to the elongate shaft and grasp objects (i.e., via opening and closing the opposed jaws). Electrical energy can also be passed through the electrosurgical instrument for performing electrosurgical procedures.

A device for treating tissue includes a capsule extending longitudinally from a proximal end to a distal end and including a lumen extending therein and a clip slidably received within the lumen of the capsule. The clip includes a middle prong, a first outer prong and a second outer prong. The first prong is coupled to the middle prong so that the first prong is movable relative to the middle prong between a first open configuration and a first closed configuration. The second outer prong coupled to the middle prong so that the second prong is movable relative to the middle prong between a second open configuration and a second closed configuration. The first and second outer prongs are independently movable relative to the middle prong to be moved between the first and second open configurations to the first and second open configurations and the first and second closed configurations.

An end effector for a suturing and grasping device includes a stationary jaw member, a suturing jaw member, and a grasping jaw member. The suturing jaw member is selectively movable relative to the stationary jaw member to drive a suturing needle between the suturing jaw member and the stationary jaw member. The grasping jaw member is selectively movable relative to the stationary jaw member to grasp tissue between the stationary jaw member and the grasping jaw member.