Patent ID: 9693794
Date: 2017-07-04
CPC Classifications: A61B

Claim:
1. An electro surgical end effector cartridge to couple to a mechanical wrist of a surgical instrument for a surgical system, the electro surgical end effector cartridge comprising: two end effectors rotatably coupled together, at least one of the two end effectors is a moveable end effector, the at least one moveable end effector having a jaw portion, an off-center portion, and a base portion; a fastener to rotatably couple the two end effectors together at the off-center portion of the at least one moveable end effector; and a cam mechanism including a drive pin within at least one straight cam slot, the cam mechanism coupled to the base portion of the at least one moveable end effector, wherein the drive pin is adapted to actuate in a linear motion within the at least one straight cam slot to pivot the at least one moveable end effector about the fastener to open and close the jaw portion of the at least one moveable end effector with respect to the other end effector, and wherein the cam mechanism further includes