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 hemostasis and suturing conjoined dual-clamp capable of passing through a channel of a digestive endoscope and an operation method, the dual-clamp including a handle, a clamping assembly and a driving assembly. The clamping assembly includes a clamping holder and two clamping portions, and the driving assembly is detachably connected to the clamping assembly. A hemostasis and suturing conjoined dual-clamp capable of passing through a channel of a digestive endoscope and an operation method, two clamping arms of the dual-clamp are able to individually open, clamp and close, have a function of double-sided clamping and closing a large defective wound, and are able to be conveniently separated from the driving assembly, overcoming the defects that conventional hemostatic clamps can only perform one-sided clamping, thereby it is difficult to treat defective wounds that are large or in difficult operating sites.

Methods and devices for using surgical devices with articulating end effectors are provided. Surgical devices with articulating end effectors can provide rotary driven pivoting of the end effector. In some embodiments, the device can include a handle, a first and a second tube extending from the handle, the second tube disposed within the first tube, and an end effector that includes a pair of distal jaws configured to move in response to rotation of the first tube about a longitudinal axis thereof and rotation of the second tube about a longitudinal axis thereof. The jaws can move in two different ways depending on whether the first and second tubes are rotating in a same direction as one another or in different ways than each other. The jaws can open/close and articulate using the same mechanical mechanism. The device can be powered, or the device can be non-powered.

According to the present disclosure, provided is a surgical instrument in which an actual motion of bending an end tool or performing a surgical treatment intuitively matches a motion of a manipulation portion corresponding thereto. In detail, to this end, provided are an end tool having various degrees of freedom, a manipulation portion having a structure to enable intuitive manipulation of a motion of the end tool, and a driving force transmission portion for transmitting a driving force of the manipulation portion to the end tool so that the end tool operates as manipulated by the manipulation portion.

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.

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 gear arrangement including two drive units (210, 220, 310, 320, 410), and two translatory transmission elements (151, 152, 251, 252, 351, 352), to each of which a rotationally movable function unit (141, 142) of a distally arranged two-part end effector (140) can be coupled. The first drive unit (210, 310, 410) has at least one proximally arranged rotation element (311, 411) or a thrust element (210) for opening or closing the end effector (140) by rotation of at least one function unit (141, 142). The second drive unit (220, 320), with which the translatory transmission elements (151, 152, 251, 252, 351, 352) are movable in opposite directions, has at least one proximally arranged rotation element (224, 320, 421) for simultaneous and unidirectional pivoting of the function units (141, 142) of the end effector (140). A surgical instrument includes the gear arrangement (200, 300, 400) in the handle (180).

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.

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.

A surgical instrument configured for both grasping and cutting operations has a shaft with a push rod extending through it. An end effector on the shaft has a grasping jaw, a cutting jaw, and an intermediate jaw. The grasping jaw forms a grasping device with the intermediate jaw, and the cutting jaw forming a cutting device with the intermediate member. A segment of the shaft proximal to the end effector is axially rotatable between a first position, in which the push rod can advance through the segment to actuate the cutting device, and a second position in which the push rod can advance through the segment to actuate the grasping device.