Surgical instruments operable to apply a grasping force to a tissue include a cable driven actuation mechanism. A surgical instrument includes an end effector and a first actuation mechanism. The end effector includes an end effector base, an articulated jaw pivotally coupled to the end effector base, and an opposing jaw. The first actuation mechanism includes a first pulley and a first cable segment. The first pulley is mounted for rotation relative to the end effector base. The first cable segment is interfaced with a sector of the first pulley. The first cable segment is coupled to the articulated jaw. The first actuation mechanism is operable to retract the first cable segment to cause the articulated jaw to apply a grasping force to a tissue disposed between the articulated jaw and the opposing jaw.

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.

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.

A three-prong grasper for laparoscopic procedures includes an elongate body having a sleeve with a distal portion, and an end effector supported on the distal portion. The end effector includes a first prong assembly with a first base member and a first prong member pivotally secured to the first base member, a second prong assembly with a second base member and a second prong member pivotally secured to the second base member, and a third prong assembly with a third base member and a third prong member pivotally secured to the third base member. The first, second, and third prong members move between an open configuration and a closed configuration. A method of grasping tissue also includes pivoting first, second, and/or third prong members relative to respective first, second, and third base members to cause the grasping of tissue.

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.

A surgical instrument includes a shaft and a pair of jaw members disposed on the shaft and extending from an at least partially spherical element. The jaw members are moveable in pitch and yaw relative to the center of the sphere in response to actuation forces applied to a proximal drive mechanism of the instrument. The surgical instrument may include a manually operated handle for manual input of actuation forces by a user, or it may be removably mounted to a drive component of a robotic system such that its proximal drive mechanism is operatively engaged with actuators that generate mechanical output that is transferred to the proximal drive mechanism.

A forceps device includes first and second grasping portions, a base member that holds the grasping portions, first and second wires that transmit driving forces to move the grasping portions, and a first guide pulley and a second guide pulley. The base member includes a partition part having holes including a first hole through which the first wire passes and a second hole that is closest to the first hole among the holes and through which the second wire passes, first and second arms extending from the partition part toward the grasping portions, respective ends of a support shaft being fixed to the first and second arms, and the first guide pulley being provided on the support shaft adjacent to the first arm and the second guide pulley being provided on the support shaft adjacent to the second arm and spaced apart from the first guide pulley.

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.

A tissue closure method comprises grasping a first portion of a tissue between a first arm and a central arm, restricting a sliding of a first slider while grasping the first portion, the first slider configured to open and close the first arm relative to the central arm, grasping a second portion of the tissue between a second arm and the central arm while restricting the sliding of the first slider, indwelling the first arm, the second arm, and the central arm in a body.