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 force transmission mechanism for a teleoperated surgical instrument includes a drive pulley, a drive cable operably coupled with the drive pulley, a driven pulley operably coupled with the drive cable, and an actuation member operably coupled to the driven pulley. The actuation member is configured to transmit force to actuate an end effector of the surgical instrument. Rotational motion of the driven pulley causes translational movement of the actuation element to actuate the end effector. Methods relate to operating a force transmission mechanism.

A surgical instrument may comprise a chassis, a shaft coupled to the chassis at the proximal end of the shaft, an end effector coupled to the shaft at the distal end of the shaft, a force transmission mechanism coupled to the chassis, and an actuation element connected between a lever arm of the force transmission mechanism and the end effector. The force transmission mechanism includes a worm drive, and the lever arm comprising a first end and a follower member at the first end of the lever arm, wherein the follower member is engaged with the worm drive and is configured to be driven by the worm drive. Rotational movement of the worm drive imparts translational movement to the actuation element via the lever arm, and the lever arm slides along a generally linear direction relative to the chassis to impart the translational movement to the actuation element.

A force transmission mechanism for a teleoperated surgical instrument includes a drive pulley, a drive cable operably coupled with the drive pulley, a driven pulley operably coupled with the drive cable, and an actuation member operably coupled to the driven pulley. The actuation member is configured to transmit force to actuate an end effector of the surgical instrument. Rotational motion of the driven pulley causes translational movement of the actuation element to actuate the end effector. Methods relate to operating a force transmission mechanism.

Provided is an instrument for surgery and, more specifically, to an instrument for surgery which can be manually operated in order to be used for laparoscopic surgery or various types of surgery.

Provided is an instrument for surgery and, more specifically, to an instrument for surgery which can be manually operated in order to be used for laparoscopic surgery or various types of surgery.

An endoluminal surgery system is disclosed. The endoluminal surgery system includes an operating device, a connecting rod, and a handle. The operating device includes an operating part and a connecting part. During the surgery, the operating device is placed in a body cavity through an incision, the other end of the connecting rod that is outside the body is fixedly connected with the handle. Next, the operating part is controlled through the handle outside the body to achieve the corresponding surgical operation. After the operation, cut off the connecting rod, take out the operating device from the incision, and pull out the connecting rod, leaving no wound or tiny wounds on body.

An instrument includes a movable end effector component coupled to a shaft; a force transmission mechanism; and an actuation mechanism coupled to the force transmission mechanism and the end effector, the actuation mechanism comprising a first actuation member segment and a second actuation member segment. The force transmission mechanism comprises: a first pulley coupled to a rotatable drive input and having a first axis of rotation, and a second pulley having a second axis of rotation non-parallel to the first axis of rotation of the first pulley. The first actuation member segment is routed over the first pulley. In response to rotation of the rotatable drive input, at least a portion of the first actuation member segment is wound onto the first pulley and unwound from the second pulley, and the second actuation member segment is translated along the shaft to actuate the movable end effector component.

An end effector for use by a surgeon to staple an anatomical structure of a patient during a minimally invasive procedure includes a first jaw and a second jaw. The first jaw has a first end, a second end, a longitudinal axis, and an anvil, which has an anvil face positionable on a first side of the anatomical structure. The second jaw has a first end, a second end, a longitudinal axis, and a cartridge, which has a cartridge face positionable on a second side of the anatomical structure. The end effector includes a first coupling that couples the first end of the first jaw to the first end of the second jaw; and a second coupling that movably couples the second end of the first jaw to the second end of the second jaw and includes a rigid link connected to the first jaw and the second jaw.