Wrist and jaw assemblies for robotic surgical systems

An end effector for use and connection to a robot arm of a robotic surgical system, wherein the end effector is controlled and/or articulated by at least one cable extending from a respective motor of a control device of the robot surgical system, is provided. The end effector includes a jaw assembly defining a longitudinal axis and including a pair of jaws. Each jaw includes a proximal portion pivotally connected to the distal hub assembly; and a distal portion extending distally of the proximal portion thereof. The end effector additionally includes an actuation cable having a distal end operatively connected to the pair of jaws and a proximal end operatively connected to the at least one motor. In use, axial translation of the actuation cable results in one of an opening and a closing of the jaw assembly.

BACKGROUND

Robotic surgical systems have been used in minimally invasive medical procedures. Some robotic surgical systems included a console supporting a robot arm, and at least one end effector such as forceps or a grasping tool that is mounted to the robot arm via a wrist assembly. During a medical procedure, the end effector and the wrist assembly were inserted into a small incision (via a cannula) or a natural orifice of a patient to position the end effector at a work site within the body of the patient.

Cables were extended from the robot console, through the robot arm, and connected to the wrist assembly and/or end effector. In some instances, the cables were actuated by means of motors that were controlled by a processing system including a user interface for a surgeon or clinician to be able to control the robotic surgical system including the robot arm, the wrist assembly and/or the end effector.

In some instances, the wrist assembly provided three degrees of freedom for movement of the end effector through the use of three cables or cable pairs, one for each degree of freedom. For example, for grasping or cutting end effectors the wrist assembly provided the three degrees of freedom by allowing changes to a pitch, a yaw, and an opening and closing of the end effector.

As demand for smaller surgical tools increased, device manufacturers developed surgical tools such as grasping and cutting tools having smaller cross-sectional areas. These smaller cross-sectional areas reduced the total force that could be applied between two jaws at the end of the tools. Additionally, the use of three cables or cable pairs to provide three degrees of motion required a minimum cross-sectional area to implement and limit the ability to further reduce the cross sectional area of these tools. Finally, the force that was applied was not customizable to provide varying forces depending on the position of the jaws in relation to each other as the jaws are opened and closed.

There is a need for surgical tools having relatively small cross-sectional areas and relatively shorter lengths that are able to provide high forces between end effector jaws.

SUMMARY

Jaws at the end of surgical robotics tools, such as foreceps or scissor cutting tools, may be driven by a cable/tube and gear system. In some instances, the cable/tube and gear system may be driven directly so at least one cable/tube controls a pitch, at least one cable/tube controls a yaw, and at least one cable/tube opens and closes the jaws.

End effectors, including wrist assemblies and jaw assemblies, may be used with and actuated by robotic surgical systems. In some instances, an end effector may be controlled and/or articulated by at least one cable/tube extending from a respective motor of a control device of the robot surgical system.

According to one aspect of the present disclosure, an end effector for use and connection to a robot arm of a robotic surgical system is provided, wherein the end effector is controlled and/or articulated by at least one motor of a control device of the robot surgical system. The end effector includes a wrist assembly defining a longitudinal axis. The wrist assembly including at least one support; and a distal hub assembly pivotally connected to the at least one support about a pivot axis.

The end effector further includes a jaw assembly defining a longitudinal axis and including a pair of jaws. Each jaw includes a proximal portion pivotally connected to the distal hub assembly; and a distal portion extending distally of the proximal portion thereof.

The end effector additionally includes an actuation cable having a distal end operatively connected to the pair of jaws and a proximal end operatively connected to the at least one motor. In use, axial translation of the actuation cable results in one of an opening and a closing of the jaw assembly.

The end effector may further include a torque transmitting tube having a distal end operatively connected to the jaw assembly and a proximal end operatively connected to a respective motor of the at least one motor. Rotation of the torque transmitting tube may result in rotation of the jaw assembly about the longitudinal axis thereof.

The jaw assembly may include a link arm extending from each jaw. Each link arm may be connected to the actuation cable.

The torque transmitting tube may define a lumen therethrough. The actuation cable may be is disposed within the lumen of the torque transmitting tube.

The distal hub assembly may include a body portion defining a distal recess including a ring of gear teeth formed in a surface thereof; a sun gear rotatably supported in the distal recess of the body portion, wherein the sub gear in non-rotatably connected to the distal end of the torque transmitting tube; and a pair of planet gears rotatably supported in the distal recess of the body portion. The planet gears may be interposed between and in meshing engagement with the ring of gear teeth of the body portion and the sun gear. Each jaw may be pivotally connected to a respective planet gear.

Each planet gear may be supported on a respective planet gear shaft. Each jaw may be pivotally connected to a respective planet gear shaft.

The end effector may further include a pair of articulation cables operatively connected to the distal hub assembly. A distal end of each articulation cable may be spaced an opposed radial distance from the pivot axis.

Each jaw of the pair of jaws may define an angled slot therein. The actuation cable may support a cam pin at a distal end thereof, wherein the cam pin may be slidably disposed within the angled slots defined in each jaw.

The distal hub assembly may include a cylindrical body pivotally connected to the at least one support. The jaw assembly may be supported in the distal hub assembly so as to be rotatable about a central axis of the cylindrical body and relative to the cylindrical body.

The pair of jaws may be pivotally supported in the cylindrical body so as to be approximated towards and separated from one another.

The angled slot of each jaw of the pair of jaws may extend in a direction transverse to the longitudinal axis of the jaw assembly. The angled slots may extend in opposed directions from one another.

In use, rotation of the actuation cable may result in rotation of the cam pin and rotation of the jaw assembly. Also, in use, axial translation of the actuation cable may result in one of approximation and separation of the pair of jaws of the jaw assembly.

The distal hub assembly may include a housing pivotally connected to the at least one support, wherein the housing may include a plurality of gear teeth defining a central axis disposed along the pivot axis.

The end effector may further include a first torque transmitting tube having a first end in meshing engagement with the plurality of gear teeth of the housing of the distal hub assembly. In use, rotation of the first torque transmitting tube may result in pivoting of the housing about the pivot axis.

The end effector may further include a rotation gear rotatably supported in the housing and pivotable about the pivot axis; a second torque transmitting tube having a first end in meshing engagement with the rotation gear; and a stem rotatably supported in and projecting from the housing, the jaw assembly being pivotally connected to the projecting portion of the stem, the stem being in meshing engagement with the rotation gear. In use, rotation of the second torque transmitting tube may result in rotation of the jaw assembly about a longitudinal axis of the stem.

The second torque transmitting tube may be rotatably disposed within a lumen of the first torque transmitting tube.

The actuation cable may extend through a lumen of the second torque transmitting tube, through the housing and through a lumen of the stem.

The pair of jaws may be pivotally supported on the stem so as to be approximated towards and separated from one another.

The angled slot of each jaw of the pair of jaws may extend in a direction transverse to the longitudinal axis of the jaw assembly. The angled slots may extend in opposed directions from one another.

In use, axial translation of the actuation cable may result in one of approximation and separation of the pair of jaws of the jaw assembly.

Further details and aspects of exemplary embodiments of the present disclosure are described in more detail below with reference to the appended figures.

DETAILED DESCRIPTION

Embodiments of the presently disclosed jaw assemblies and/or wrist assemblies are described in detail with reference to the drawings, in which like reference numerals designate identical or corresponding elements in each of the several views. As used herein the term “distal” refers to that portion of the jaw assembly and/or wrist assembly, that is farther from the user, while the term “proximal” refers to that portion of the jaw assembly and/or wrist assembly that is closer to the user.

Referring initially toFIGS. 1A and 1B, a medical work station is shown generally as work station1and generally includes a plurality of robot arms2,3; a control device4; and an operating console5coupled with control device4. Operating console5includes a display device6, which is set up in particular to display three-dimensional images; and manual input devices7,8, by means of which a person (not shown), for example a surgeon, is able to telemanipulate robot arms2,3in a first operating mode, as known in principle to a person skilled in the art.

Each of the robot arms2,3includes a plurality of members, which are connected through joints, and an attaching device9,11, to which may be attached, for example, a surgical tool “ST” supporting an end effector100, in accordance with any one of several embodiments disclosed herein, as will be described in greater detail below.

Robot arms2,3may be driven by electric drives (not shown) that are connected to control device4. Control device4(e.g., a computer) is set up to activate the drives, in particular by means of a computer program, in such a way that robot arms2,3, their attaching devices9,11and thus the surgical tool (including end effector100) execute a desired movement according to a movement defined by means of manual input devices7,8. Control device4may also be set up in such a way that it regulates the movement of robot arms2,3and/or of the drives.

Medical work station1is configured for use on a patient13lying on a patient table12to be treated in a minimally invasive manner by means of end effector100. Medical work station1may also include more than two robot arms2,3, the additional robot arms likewise being connected to control device4and being telemanipulatable by means of operating console5. A medical instrument or surgical tool (including an end effector100) may also be attached to the additional robot arm. Medical work station1may include a database14, in particular coupled to with control device4, in which are stored for example pre-operative data from living being 13 and/or anatomical atlases.

Reference may be made to U.S. Patent Publication No. 2012/0116416, filed on Nov. 3, 2011, entitled “Medical Workstation,” the entire content of which is incorporated herein by reference, for a detailed discussion of the construction and operation of medical work station1.

Control device4may control a plurality of motors (Motor1. . . n) with each motor configured to wind-up or let out a length of a cable “C” (FIG. 1B) extending through each robot arm to end effector100of the surgical tool, or to rotate a gear or a drive shaft (not shown). In use, as cables “C” are wound-up and let out, cables “C”, gears or drive shafts may effect operation and/or movement of each end effector of the surgical tool. It is contemplated that control device4coordinates the activation of the various motors (Motor1. . . n) to coordinate a winding-up or letting out a length of a respective cable “C” in order to coordinate an operation and/or movement of a respective end effector. AlthoughFIG. 1Bshows a single cable “C” that is wound up or let out by a single motor, in some instances two or more cables or two ends of a single cable may be wound up or let out by a single motor. For example, in some instances, two cables or cable ends may be coupled in opposite directions to a single motor so that as the motor is activated in a first direction, one of the cables winds up while the other cable lets out. Other cable configurations may be used in different embodiments.

Turning now toFIG. 2, an end effector for connection to robot arms2,3and for manipulation by control device4, is generally designated as100. End effector100includes a wrist assembly110, and a jaw assembly130pivotally connected to wrist assembly110. Wrist assembly110includes a proximal hub112, in the form of a distally extending clevis, defining a first longitudinal axis “X1-X1.” Proximal hub112defines a first pivot axis “Y1-Y1” that is oriented orthogonal to the first longitudinal axis “X1-X1.” In an embodiment, first pivot axis “Y1-Y1” may extend through the first longitudinal axis “X1-X1.” Proximal hub112, being in the form of a clevis, includes a pair of spaced apart, opposed upright supports112a,112bthrough which first pivot axis “Y1-Y1” extends.

Wrist assembly110further includes a distal hub assembly116pivotally connected to upright supports112a,112bof proximal hub112. Distal hub assembly116includes a body portion116chaving a pair of spaced apart, opposed, proximally extending, upright supports116a,116b. Upright supports116a,116bof distal hub assembly116are pivotally connected to respective upright supports112a,112bof proximal hub112, via a pivot pin114. Pivot pin114is disposed along first pivot axis “Y1-Y1”.

Body portion116cof distal hub assembly116defines a distal bore/recess116dincluding a ring of gear teeth116e, formed in a surface thereof. The ring of gear teeth116etaking the form of a ring gear defining a central axis.

Distal hub assembly116includes a spur gear118, in the form of a sun gear, rotatably supported in bore116d. Sun gear118includes an axis of rotation that is co-axial with the central axis of the ring gear116e. Distal hub assembly116further includes a first spur gear120and a second spur gear122, each being in the form of a planet gear, rotatably supported in bore116d. Each planet gear120,122includes an axis of rotation that is parallel with respect to the central axis of the ring gear116e. Each of spur gears118,120and122is supported on a respective axle, shaft or rod118a,120a,122a.

With continued reference toFIG. 2, as mentioned above, end effector100includes a jaw assembly130that is pivotally supported on distal hub assembly116. Jaw assembly130includes a pair of jaws132,134pivotally connected, one each, to a respective shaft120a,122aof distal hub assembly116. Specifically, each jaw132,134includes a respective proximal end132a,134apivotally connected to respective shaft120a,122aof distal hub assembly116, via respective pivot pins132c,134c; and a respective distal end132b,134b.

Each jaw132,134pivotally supports a respective link arm132d,134dthat extends therefrom and extends towards one another. Free ends of the link arms132d,134dare pivotally connected to a connecting hub142athat is supported on a distal end of an actuation cable142.

In accordance with the present disclosure and the present embodiment, ring gear116e, sun gear118, and planet gears120,122constitute a gear system that is configured and adapted to transfer/transmit rotational forces generated by motors (Motor1. . . n) of control device4into a rotation of jaw assembly130about a longitudinal axis of distal hub assembly116.

End effector100includes a torque transmitting tube, sleeve, sheath or shaft140having a distal end non-rotatably connected to sun gear118, and a proximal end (not shown) that is operatively connected to at least one of motors (Motor1. . . n) of control device4. Specifically, the proximal end of tube140extends through robot arm2or3and is operatively connected to at least one of motors (Motor1. . . n) such that as the at least one of motors (Motor1. . . n) is activated, tube140is rotated along a longitudinal axis thereof. In operation, as tube140is rotated, said rotation is transmitted to sun gear118. Tube140may be constructed from a material (e.g., stainless steel, etc.) so as to be able to transmit rotative forces.

With continued reference toFIG. 2, in operation, as sun gear118is rotated, due to the rotation of tube140, said rotation is transmitted to planet gears120,122to causes jaw assembly130to rotate, either clockwise or counter-clockwise, about the longitudinal axis of distal hub assembly116.

In accordance with the present disclosure and the present embodiment, link arms132d,134dand actuation cable142constitute a jaw open/close system that is configured and adapted to transfer/transmit axial forces, due to operation of at least one of motors (Motor1. . . n) of control device4into an opening/closing of jaw assembly130.

As mentioned above, end effector100includes a force transmitting actuation cable142having a distal end connected to link arms132d,134dvia hub142a, and a proximal end (not shown) that is operatively connected to at least one of motors (Motor1. . . n) of control device4. Specifically, the proximal end of cable142extends through robot arm2or3and is operatively connected to at least one of motors (Motor1. . . n) such that as the at least one of motors (Motor1. . . n) is activated, cable142is axially translated along a longitudinal axis thereof. In operation, as actuation cable142is axially translated, said axial translation is transmitted to link arms132d,134dto either open or close jaw assembly130. Actuation cable142is constructed from a material (e.g., stainless steel, etc.) so as to be able to transmit axial compressive and tensile forces.

With continued reference toFIG. 2, in operation, as link arms132d,134dare actuated, due to the axial translation of actuation cable142, said actuation is transmitted to jaws132,134to causes jaw assembly130to open or close.

In accordance with the present disclosure and the present embodiment, end effector100includes a pair of articulation cables144,146having a respective distal end connected to distal hub assembly116, and a proximal end (not shown) that is operatively connected to at least one of motors (Motor1. . . n) of control device4. Specifically, the distal ends of articulation cables144,146are connected to distal hub assembly116at opposed radial locations relative to pivot axis “Y1-Y1,” and respective proximal ends of articulation cables144,146extend through robot arm2or3and is operatively connected to at least one of motors (Motor1. . . n) such that as the at least one of motors (Motor1. . . n) is activated, articulation cables144,146are axially translated in opposed directions relative to one another. In operation, as articulation cables144,146are axially translated, said axial translation is transmitted to distal hub assembly116to either pivot distal hub assembly116in either a first direction or a second direction about pivot axis “Y1-Y1.” Each articulation cable144,146may be constructed from a material (e.g., stainless steel, etc.) so as to be able to transmit axial compressive and tensile forces.

Turning now toFIGS. 3 and 4, an end effector for connection to robot arms2,3and for manipulation by control device4, in accordance with another embodiment of the present disclosure, is generally designated as200.

End effector200includes a wrist assembly210, and a jaw assembly230pivotally connected to wrist assembly210. Wrist assembly210includes a proximal hub212, in the form of a distally extending clevis, defining a first longitudinal axis “X1-X1.” Proximal hub212defines a first pivot axis “Y1-Y1” that is oriented orthogonal to the first longitudinal axis “X1-X1.” In an embodiment, first pivot axis “Y1-Y1” may extend through the first longitudinal axis “X1-X1.” Proximal hub212, being in the form of a clevis, includes a pair of spaced apart, opposed upright supports212a,212bthrough which first pivot axis “Y1-Y1” extends.

Wrist assembly210further includes a distal hub assembly216pivotally connected to upright supports212a,212bof proximal hub212. Distal hub assembly216is in the form of a turret design including an annular or cylindrical body216a, a proximal plate216brotatably supported at a proximal end of cylindrical body216a, and a distal plate216crotatably supported at a distal end of cylindrical body216a. Proximal plate216band distal plate216cmay be connected to one another such proximal plate216band distal plate216care rotatable with respect to one another.

With continued reference toFIGS. 3 and 4, as mentioned above, end effector200includes a jaw assembly230that is pivotally supported on distal hub assembly216, and which defines a longitudinal jaw axis “X2-X2”. Jaw assembly230includes a pair of jaws232,234pivotally connected to cylindrical body216aof distal hub assembly216. Specifically, each jaw232,234includes a respective proximal end232a,234apivotally connected to cylindrical body216aof distal hub assembly216via a pivot pin216dthat is supported on cylindrical body216aof distal hub assembly216.

Each jaw232,234includes a respective distal end232b,234bextending distally of pivot pin216d. Each jaw232,234defines a respective transverse cam slot232c,234cformed therein, wherein the cam slots232c,234coverlap one another.

Jaw assembly230includes a cam pin236slidably disposed within cam slots232c,234c. In operation, as will be discussed in detail below, as cam pin236translated axially, in a distal or proximal direction, relative to a longitudinal axis of jaw assembly230, cam pin236acts on jaws232,234to cause jaws232,234to open or close.

End effector200includes a torque transmitting tube, sleeve, sheath or shaft240having a distal end non-rotatably connected to a proximal plate216bof distal hub assembly216, and a proximal end (not shown) that is operatively connected to at least one of motors (Motor1. . . n) of control device4. Specifically, the proximal end of tube240extends through robot arm2or3and is operatively connected to at least one of motors (Motor1. . . n) such that as the at least one of motors (Motor1. . . n) is activated, tube240is rotated along a longitudinal axis thereof. In operation, as tube240is rotated, said rotation is transmitted to proximal plate216band distal plate216cof distal hub assembly216. As plates216b,216care rotated, said rotation is transmitted to jaws232,234thereby causing jaws232,234to rotate about the longitudinal axis thereof. Tube240may be constructed from a material (e.g., stainless steel, etc.) so as to be able to transmit rotative forces.

End effector200also includes a force transmitting actuation cable242having a distal end rotatably or non-rotatably connected to cam pin236, and a proximal end (not shown), extending through tube240, that is operatively connected to at least one of motors (Motor1. . . n) of control device4. Specifically, the proximal end of cable242extends through robot arm2or3and is operatively connected to at least one of motors (Motor1. . . n) such that as the at least one of motors (Motor1. . . n) is activated, cable242is axially translated along a longitudinal axis thereof. In operation, as actuation cable242is axially translated, said axial translation is transmitted to cam pin236to either open or close jaw assembly230. Actuation cable242is constructed from a material (e.g., stainless steel, etc.) so as to be able to transmit axial compressive and tensile forces. Further, in operation, it is contemplated that as actuation cable242is rotated, said rotation is transmitted to cam pin236to rotate jaw assembly230.

In accordance with the present disclosure and the present embodiment, end effector200includes a pair of articulation cables244,246having a respective distal end connected to distal hub assembly216, and a proximal end (not shown) that is operatively connected to at least one of motors (Motor1. . . n) of control device4. Specifically, the distal ends of articulation cables244,246are connected to cylindrical body216aof distal hub assembly216at opposed radial locations relative to pivot axis “Y1-Y1,” and respective proximal ends of articulation cables244,246extend through robot arm2or3and is operatively connected to at least one of motors (Motor1. . . n) such that as the at least one of motors (Motor1. . . n) is activated, articulation cables244,246are axially translated in opposed directions relative to one another. In operation, as articulation cables244,246are axially translated, said axial translation is transmitted to distal hub assembly216to either pivot distal hub assembly216in either a first direction or a second direction about pivot axis “Y1-Y1.” Each articulation cable244,246may be constructed from a material (e.g., stainless steel, etc.) so as to be able to transmit axial compressive and tensile forces.

Turning now toFIGS. 5 and 6, an end effector for connection to robot arms2,3and for manipulation by control device4, in accordance with another embodiment of the present disclosure, is generally designated as300.

End effector300includes a wrist assembly310, and a jaw assembly330pivotally connected to wrist assembly310. Wrist assembly310includes a proximal hub312, in the form of a distally extending clevis, defining a first longitudinal axis “X1-X1.” Proximal hub312defines a first pivot axis “Y1-Y1” that is oriented orthogonal to the first longitudinal axis “X1-X1.” In an embodiment, first pivot axis “Y1-Y1” may extend through the first longitudinal axis “X1-X1.” Proximal hub312, being in the form of a clevis, includes a pair of spaced apart, opposed upright supports312a,312bthrough which first pivot axis “Y1-Y1” extends.

Wrist assembly310further includes a distal hub assembly316pivotally connected to upright supports312a,312bof proximal hub312. Specifically, distal hub assembly316includes a housing318pivotally connected to upright supports312a,312bof proximal hub312. Housing318includes a proximally extending first gear318a(e.g., crown or bevel gear) defining a central axis that is co-incident with first pivot axis “Y1-Y1”. First gear318aincludes a plurality of teeth318bthat project substantially toward first longitudinal axis “X1-X1.”

Distal hub assembly316includes a second gear320(e.g., crown or bevel gear) rotatably supported in housing318. Second gear320defines an axis of rotation that is co-incident with first pivot axis “Y1-Y1”.

Distal hub assembly316further includes stem322rotatably supported in and extending distally from housing318. Stem322includes a stem gear322a(e.g., crown or bevel gear) non-rotatably supported therein and within housing318. Stem gear322ais in meshing engagement with second gear320. Stem322extends distally from housing318.

With continued reference toFIGS. 5 and 6, as mentioned above, end effector300includes a jaw assembly330that is pivotally supported on distal hub assembly316, and defines a longitudinal jaw axis “X2-X2”. Jaw assembly330includes a pair of jaws332,334pivotally connected to stem322of wrist assembly310. Specifically, each jaw332,334includes a respective proximal end332a,334apivotally connected to stem322of wrist assembly310via a pivot pin322b.

Each jaw332,334includes a respective distal end332b,334bextending distally of pivot pin322b. Each jaw332,334defines a respective transverse cam slot332c,334cformed therein, wherein the cam slots332c,334coverlap one another.

Jaw assembly330includes a cam pin336slidably disposed within cam slots332c,334c. In operation, as will be discussed in detail below, as cam pin336translated axially, in a distal or proximal direction, relative to a longitudinal axis of jaw assembly330, cam pin336acts on jaws332,334to cause jaws332,334to open or close.

End effector300includes a first torque transmitting tube, sleeve, sheath or shaft340having a distal end non-rotatably supporting a gear340athat is in meshing engagement with first gear318aof housing318. First tube340includes a proximal end (not shown) that is operatively connected to at least one of motors (Motor1. . . n) of control device4. Specifically, the proximal end of first tube340extends through robot arm2or3and is operatively connected to at least one of motors (Motor1. . . n) such that as the at least one of motors (Motor1. . . n) is activated, first tube340is rotated along a longitudinal axis thereof. In operation, as first tube340is rotated, said rotation is transmitted to housing318of distal hub assembly316via the meshing engagement of gear340aand gear318ato pivot distal hub assembly316, and jaw assembly330, about first pivot axis “Y1-Y1.”

End effector300also includes a second torque transmitting tube, sleeve, sheath or shaft342having a distal end non-rotatably supporting a gear342athat is in meshing engagement with second gear320of distal hub assembly316. Second tube342includes a proximal end (not shown) that extends through first tube340and that is operatively connected to at least one of motors (Motor1. . . n) of control device4. Specifically, the proximal end of second tube342extends through robot arm2or3and is operatively connected to at least one of motors (Motor1. . . n) such that as the at least one of motors (Motor1. . . n) is activated, second tube342is rotated along a longitudinal axis thereof. In operation, as second tube342is rotated, said rotation is transmitted to second gear320of distal hub assembly316which is transmitted to stem gear322aof stem322. As stem322is rotated, said rotation is transmitted to pivot pin322bwhich transmits rotation to jaws330,332.

Tubes340,342may be constructed from a material (e.g., stainless steel, etc.) so as to be able to transmit rotative forces.

End effector200also includes a force transmitting actuation cable344having a distal end rotatably or non-rotatably connected to cam pin336, and a proximal end (not shown), extending through stem322and second tube342, that is operatively connected to at least one of motors (Motor1. . . n) of control device4. Specifically, the proximal end of cable344extends through robot arm2or3and is operatively connected to at least one of motors (Motor1. . . n) such that as the at least one of motors (Motor1. . . n) is activated, cable344is axially translated along a longitudinal axis thereof. In operation, as actuation cable344is axially translated, said axial translation is transmitted to cam pin336to either open or close jaw assembly330. Actuation cable344is constructed from a material (e.g., stainless steel, etc.) so as to be able to transmit axial compressive and tensile forces.

In accordance with the present disclosure, end effectors that are compact in design, and yet may transmit relatively large forces or achieve a relatively large range of motion of pivoting and rotation, are contemplated and described. The gear trains disclosed herein enable transmission of relatively high loads, and may be accomplished with tight tolerances. Additionally, relatively high precision of control of movement of the end effectors is achieved.

It will be understood that various modifications may be made to the embodiments disclosed herein. For example, while the cam pulleys disclosed herein have been shown and described as being connected to the proximal ends of the jaws, it is contemplated and within the scope of the present disclosure, for the cam pulley to be operatively connected with the distal portion of the jaws. Therefore, the above description should not be construed as limiting, but merely as exemplifications of various embodiments. Those skilled in the art will envision other modifications within the scope and spirit of the claims appended thereto.