Patent Publication Number: US-2022218409-A1

Title: Surgical device with segmented end effector

Description:
CROSS-REFERENCE TO RELATED APPLICATION 
     This application claims the benefit of priority to U.S. Provisional Patent Application Ser. No. 63/136,292, filed Jan. 12, 2021, the contents of which are incorporated herein by reference in their entirety. 
    
    
     TECHNICAL FIELD 
     Embodiments described herein generally relate to end effectors for surgical devices. Specific examples of such end effectors include, but are not limited to, a forceps. 
     BACKGROUND 
     Surgical devices for diagnosis and treatment, such as forceps, are often used for medical procedures such as laparoscopic and open surgeries. Forceps can be used to manipulate, engage, grasp, or otherwise affect an anatomical feature, such as a vessel or other tissue of a patient during the procedure. Forceps often include an end effector that is manipulatable from a handle of the forceps. For example, jaws located at a distal end of a forceps can be actuated via elements of the handle between open and closed positions to thereby engage the vessel or other tissue. Forceps can include an extendable and retractable blade that can be extended distally between a pair of jaws to lacerate the tissue. The handle can also be capable of supplying an input energy, such as electromagnetic energy or ultrasound, to the end effector for sealing of a vessel or tissue during a procedure. Improved forceps and other surgical devices are desired. 
    
    
     
       BRIEF DESCRIPTION OF THE DRAWINGS 
       In the drawings, which are not necessarily drawn to scale, like numerals may describe similar components in different views. Like numerals having different letter suffixes may represent different instances of similar components. The drawings illustrate generally, by way of example, but not by way of limitation, various embodiments discussed in the present document. 
         FIG. 1  is a side view of an electrosurgical forceps in accordance with an example of the present disclosure. 
         FIG. 2A  illustrates an isometric view of an end effector of the forceps articulated to a closed position. 
         FIG. 2B  illustrates an isometric view of the end effector of the forceps articulated to a partially open position. 
         FIG. 2C  illustrates an isometric view of the end effector of the forceps articulated to an open position. 
         FIG. 3  is a partially exploded view of the end effector of  FIGS. 2A-2C . 
         FIG. 4A  is a perspective view of a body of the end effector having a recess forming a portion of a joint between the body and a frame in accordance with an example of the present disclosure. 
         FIG. 4B  is a partial cross-sectional view of the body through the recess and further illustrating a track that forms part of the recess. 
         FIG. 5  is the partial cross-sectional view of  FIG. 4B  but further illustrating the frame received in the recess to form the joint. 
         FIG. 6  illustrates an exemplary plot of an actuator displacement v. jaw displacement having a non-linear (curved) relationship for the end effector of the forceps of  FIGS. 1-5 . 
         FIG. 7  is a partial cross-sectional view through the body illustrating another example of a joint. 
         FIG. 8  is a perspective view of another example of the body with the recess forming a portion of a joint. 
         FIG. 8A  is a cross-sectional view through a track that forms part of the recess of  FIG. 8  showing a curvature of the track in a medial-lateral direction. 
         FIG. 9  is a perspective view of yet another example of the body and further illustrating a tab for fixating the frame to the body according to an example of the present application. 
         FIG. 10  shows a flow diagram of a method of manufacture of a forceps in accordance with some example embodiments. 
     
    
    
     DESCRIPTION OF EMBODIMENTS 
     The following description and the drawings sufficiently illustrate specific embodiments to enable those skilled in the art to practice them. Other embodiments may incorporate structural, logical, electrical, process, and other changes. Portions and features of some embodiments may be included in, or substituted for, those of other embodiments. Embodiments set forth in the claims encompass all available equivalents of those claims. 
     The following disclosure may be used with a number of different types of surgical devices such as tweezers, wound closure devices, etc. One example for illustration shown in  FIG. 1  is an electrosurgical forceps. 
     Electrosurgical forceps can use an articulating jaw to manipulate, engage, grasp, or otherwise affect an anatomical feature, such as a vessel or other tissue of the patient during the procedure. The jaw can include a frame and a body. Typically, the frame and body are constructed of a same material and/or as a single piece construct. However, the body and the frame service different purposes and are subject to different forces. For example, is desirable that the body have an electrically nonconductive property that isolates the electrode from the frame or from another electrode of the opposing jaw to prevent inadvertent shorting from the electrode. The body should also have a stiffness and strength sufficient so that closure force or pressure can be applied by the jaws to the captured anatomical feature. 
     The frame can support the structural loads related to mounting the body to the forceps and for articulating the jaw from the open position of  FIGS. 1 and 2C  toward or to the closed position of  FIG. 2A  to capture the anatomical feature. To accomplish this, the frame can have one or more features (e.g., a through hole to support a pivot pin and slots to interact with a reciprocating camming pin). Considering the above, the strength, toughness, and manufacturability requirements of the frame may not align with those of the body. 
     The present disclosure can help to address these and other issues by using different materials (or a same material that is differently processed) for the body and the frame. Additionally, the present disclosure contemplates the frame can be separated from the body with a joint therebetween. This arrangement allows the manufacturing characteristics and physical properties provided by the material(s) to be selected considering operating criteria. 
     Furthermore, and regardless of the materials for the body and the frame, the present disclosure contemplates that the joint can be tailored to provide a desired amount of force to deflection between the body and the frame as further discussed herein. This can allow the jaws to be actuated to capture, grasp and manipulate the anatomical feature in a tailored manner. Put another way, the joint can allow a grip force used to actuate the jaws to be tailored with a domain of relatively lower grip force per jaw displacement and domain of relatively higher grip force per jaw displacement, for example. 
       FIG. 1  illustrates a side view of a forceps  100  showing jaws in an open position. The forceps  100  can include an end effector  102 , a handpiece  104 , and an intermediate portion  105 . The end effector  102  can include jaws  106  (including electrodes  109 ). In one example, the shaft  108  includes, an inner shaft and an outer shaft, and a blade assembly, although the invention is not so limited. The handpiece  104  can include a housing  114 , a lever  116 , a rotational actuator  118 , a trigger  120 , an activation button  122 , a handle  124 , and a locking mechanism  126 .  FIG. 1  shows orientation indicators Proximal and Distal and a longitudinal axis A 1 . 
     Generally, the handpiece  104  can be located at a proximal end of the forceps  100  and the end effector  102  can be located at the distal end of the forceps  100 . The intermediate portion  105  can extend between the handpiece  104  and the end effector  102  to operably couple the handpiece  104  to the end effector  102 . Various movements of the end effector  102  can be controlled by one or more actuation systems of the handpiece  104 . For example, the end effector  102  can be rotated about the longitudinal axis A 1  of the forceps  100 . Also, the handpiece  104  can operate the jaws  106 , such as by moving the jaws  106  between open and closed position. The handpiece  104  can also be used to operate a cutting blade (not shown) for cutting tissue. The handpiece  104  can also be used to operate the electrode  109  for applying electromagnetic energy to tissue. The end effector  102 , or a portion of the end effector  102  can be one or more of: opened, closed, rotated, extended, retracted, and electromagnetically energized. 
     The housing  114  can be a frame that provides structural support between components of the forceps  100 . The housing  114  is shown as housing at least a portion of the actuation systems associated with the handpiece  104  for actuating the end effector  102 . However, some or all of the actuation components need not necessarily be contained within the housing  114 . 
     The shaft  108  can include a drive shaft  110  and an outer shaft. The drive shaft  110  can extend through the housing  114  and out of a distal end of the housing  114 , or distally beyond housing  114 . The jaws  106  can be connected to a distal end of the drive shaft  110 . The outer shaft can be a hollow tube positioned around the drive shaft  110 . A distal end of the outer shaft can be located adjacent the jaws  106 . A blade shaft can also reside within the shaft  108 . 
     A proximal portion of the trigger  120  can be connected to the blade shaft within the housing  114 . A distal portion of the trigger  120  can extend outside of the housing  114  adjacent, and in some examples, nested with the lever  116  in the default or unactuated positions. The activation button  122  can be coupled to the housing  114  and can include or be connected to electronic circuitry within the housing  114 . Such circuitry can send or transmit electromagnetic energy through the shaft  108  to the electrodes  109 . In some examples, the electronic circuitry may reside outside the housing  114  but may be operably coupled to the housing  114  and the end effector  102 . 
     In operation of the forceps  100 , a user can grip and use a grip force GF to displace the lever  116  proximally to drive the jaws  106  with an articulating movement from an open position to or toward a closed position. This articulating movement of the jaws  106  can allow the jaws  106  to clamp down on and compress a tissue or other anatomical feature. The handpiece  104  can also allow a user to move the rotational actuator  118  to cause the end effector  102  to rotate, such as by rotating the shaft  108 , or inner components associated with the shaft  108 . Although described herein with the example of articulating movement, it is contemplated in various embodiments that the term “movement” of the jaws  106  or other components can include: linear movement (e.g., sliding), non-linear movement, constrained linear movement, constrained nonlinear movement, reciprocal movement, oscillating movement, or a combination of articulating movement with any of the linear movement, non-linear movement, constrained linear movement, constrained nonlinear movement, reciprocal movement, oscillating movement or the like. 
     In some examples, with the tissue compressed, a user can depress the activation button  122  to cause electromagnetic energy, or in some examples, ultrasound, to be delivered to one or more components of the end effector  102 , such as electrodes  109  and in turn to a tissue. Application of such energy can be used to seal or otherwise affect the tissue. In some examples, the electromagnetic energy can cause tissue to be coagulated, sealed, ablated, or can cause controlled necrosis. 
     In some examples, the handpiece  104  can enable a user to extend and retract a blade (not shown), which can be attached to a distal end of a blade shaft. In some examples, the blade shaft can extend an entirety of a length between the handle  104  and the end effector  102 . The blade can be extended by displacing the trigger  120  proximally and the blade can be retracted by allowing the trigger  120  to return distally to a default position. 
     The forceps  100  can be used to perform a treatment on a patient, such as a surgical procedure. In one example, a distal portion of the forceps  100 , including the jaws  106 , can be inserted into a body of a patient, such as through an incision or another anatomical feature of the patient&#39;s body. While a proximal portion of the forceps  100 , including housing  114  remains outside the incision or another anatomical feature of the body. Actuation of the lever  116  causes the jaws  106  to clamp onto a tissue. The rotational actuator  118  can be rotated via a user input to rotate the jaws  106  for maneuvering the jaws  106  at any time during the procedure. Activation button  122  can be actuated to provide electrical energy to jaws  106  to cauterize or seal the tissue within closed jaws  106 . Trigger  120  can be moved to translate a blade assembly distally in order to cut tissue within the jaws  106 . 
     In some examples, the forceps  100 , or other surgical device, may not include all the features described or may include additional features and functions, and the operations may be performed in any order. The handpiece  104  can be used with a variety of other end effectors to perform other methods. 
       FIG. 2A  illustrates an isometric view of the distal portion of the forceps  100  in a closed position.  FIG. 2B  illustrates an isometric view of the distal portion of the forceps  100  in a partially open position.  FIG. 2C  illustrates an isometric view of the distal portion of the forceps  100  in an open position.  FIGS. 2A-2C  are discussed below concurrently. 
     The forceps  100  can include the end effector  102  that can be connected to a handle (such as the handle  104  illustrated and discussed previously). The end effector  102  will now be discussed and illustrated in greater detail with the use of new reference numbers. The end effector  102  can include jaws  206   a  and  206   b , an outer shaft  208 , grip plates  209   a  and  209   b , an inner shaft  210 , a blade assembly  212 , a pivot pin  214 , a drive pin  216 , and a guide pin  218 . The jaw  206   a  can include a body  219   a  and frames  220   a  and  220   b , and the jaw  206   b  can include a body  219   b  and frames  222   a  and  222   b . The grip plate  209   a  can include a blade slot  224   a  and the grip plate  209   b  can include a blade slot  224   b . The blade assembly  212  can include a blade  212   a  and a shaft  212   b .  FIGS. 2A-2C  also show orientation indicators Proximal and Distal and a longitudinal axis A 1 . 
     The jaws  206   a  and  206   b , in particular, the body  219   a  and the body  219   b  can be rigid or semi-rigid members configured to engage tissue. The jaws  206   a  and  206   b  can be coupled to the outer shaft  208 , such as pivotably coupled, via the frames  220   a ,  220   b ,  222   a  and  222   b  and the pivot pin  214 . The pivot pin  214  can extend through the frames  220   a ,  220   b ,  222   a  and  222   b  of the jaws  206   a  and  206   b  (such as a bore of each of the frames  220   a ,  220   b ,  222   a  and  222   b ) such that the pivot pin  214  can be received by outer arms of the outer shaft  208 . In other examples, the frames  220   a ,  220   b ,  222   a  and  222   b  can have bosses or other feature to facilitate connection. Thus, the jaws  206   a  and  206   b  can be pivotably coupled to the outer shaft  208  via a boss or bosses of the outer shaft  208 . In another example, the jaws  206   a  and  206   b  can include a boss (or bosses) receivable in bores of the outer shaft  208  to pivotably couple the jaws  206   a  and  206   b  to the outer shaft  208 . In another example, outer shaft  208  can include a boss (or bosses) receivable in bores of the jaws  206   a  and  206   b  to pivotably couple the jaws  206   a  and  206   b  to the outer shaft  208 . 
     The frames  220   a  and  220   b  (which can be a single frame or a set of frames, that is, two frames, three frames, etc.) can be rigid or semi-rigid members such as flanges located at a proximal portion of the jaw  206   a . Similarly, the frames  222   a  and  222   b  can be rigid or semi-rigid members such as flanges located at a proximal portion of the jaw  206   b . In some examples, the frames  220   a  and  220   b  can be positioned laterally outward of the inner frames  222   a  and  222   b , respectively. In other examples, the frames  220   a  and  220   b  and  222   a  and  222   b  can be interlaced. 
     The grip plates  209   a  and  209   b  of the jaws  206   a  and  206   b  can each be a rigid or semi-rigid member configured to engage tissue and/or the opposing jaw to grasp tissue, such as during an electrosurgical procedure. The grip plates  209   a  and  209   b  can be held in place by the body  219   a  and  219   b , respectively. 
     One or more of the grip plates  209   a  and  209   b  can include one or more of serrations, projections, ridges, or the like configured to increase engagement pressure and friction between the grip plates  209   a  and  209   b  and tissue. The frames  220   a  and  220   b  of the upper jaw  206   a  can extend proximally away from the grip plate  209   a  and  209   b , and in some examples, substantially downward when the upper jaw  206   a  is in the open and partially open positions (as shown in  FIGS. 2B and 2C , respectively). Similarly, the frames  222   a  and  222   b  of the lower jaw  206   b  can extend proximally away from the grip plate, and in some examples, substantially upward when the upper jaw  206   a  is in the open and partially open positions (as shown in  FIGS. 2B and 2C , respectively), such that the jaws  206   a  and  206   b  and frames  220  and  222  operate to open and close in a scissoring manner. The jaws  206   a  and  206   b  can each include an electrode configured to deliver electricity to tissue (optionally through the grip plates  209   a  and  209   b ), and a frame supporting the electrode. The blade slots  224   a  and  224   b  of the grip plates  209   a  and  209   b  can together be configured to receive a blade between the jaws  206   a  and  206   b , when the jaws are moved out of the open position. In some examples, only one blade slot may be used. 
     Each of the inner shaft  210  and the outer shaft  208  can be a rigid or semi-rigid and elongate body having a geometric shape of a cylinder, where the shape of the inner shaft  210  matches the shape of the outer shaft  208 . In some examples, the inner shaft  210  and the outer shaft  208  can have other shapes such as an oval prism, a rectangular prism, a hexagonal prism, an octagonal prism, or the like. In some examples, the shape of the inner shaft  210  can be different from the shape of the outer shaft  208 . 
     The inner shaft  210  can extend substantially proximally to distally along the axis A 1 , which can be a longitudinal axis. In some examples, the axis A 1  can be a central axis. Similarly, the outer shaft  208  can extend substantially proximally to distally along the axis A 1 . In some examples, the axis A 1  can be a central axis of one or more of the inner shaft  210  and the outer shaft  208 . The inner shaft  210  can include an axial bore extending along the axis A 1 . The outer shaft  208  can also include an axial bore extending along the axis A 1 . The inner shaft  210  can have an outer dimension (such as an outer diameter) smaller than an inner diameter of the outer shaft  208  such that the inner shaft  210  can be positioned within the outer shaft  208  and such that the inner shaft  210  can be translatable in the outer shaft  208  along the axis A 1 . The inner shaft  210  can also be referred to as a drive shaft  210 , a cam shaft  210 , or an inner tube  210 . The outer shaft  208  can also be referred to as an outer tube  208 . 
     The blade  212   a  can be an elongate cutting member at a distal portion of the blade assembly  212 . The blade  212   a  can include one or more sharpened edges configured to cut or resect tissue or other items. The blade assembly  212  can be located within the outer shaft  208  (and can be located within the inner shaft  210 ). The blade  212   a  can also be a translating member or electrosurgical component other than a blade. For example, the translating member here blade  212   a  can be an advancing electrosurgical electrode configured to cut tissue, such as a blunt electrode, an electrosurgical blade, a needle electrode, or a snare electrode. 
     The guide  218 , the drive pin  216 , and the pivot pin  214  can each be a rigid or semi-rigid pin, such as a cylindrical pin. The guide  218 , the drive pin  216 , and the pivot pin  214  can have other shapes in other examples, such as rectangular, square, oval, or the like. In some examples, the pivot pin  214  can have a size (such as a diameter) that is larger than the drive pin  216 , as discussed below in further detail. Each pin can have a smooth surface to help reduce surface friction between the pins and components of the forceps  100 , such as between the pivot pin  214  and the outer shaft  208  or the drive pin  216  and the frames  220  and  222 . Each of the guide  218 , the drive pin  216 , and the pivot pin  214  can be other components such as one or more projections, bosses, arms, or the like. 
     The guide  218  can be omitted in some examples, such that the drive pin  216  and the pivot pin  214  can connect the inner shaft  210  to the outer shaft  208  (such as through the jaws  206 ). 
     In operation, the inner shaft  210  can be translated using an actuator (such as the lever  116  of  FIG. 1 ). The inner shaft  210  can translate with respect to the outer shaft  208  to move the drive pin  216 . The drive pin  216  can engage the frames  220   a ,  220   b  and  222   a ,  222   b  to facilitate articulating movement of the frames  220   a ,  220   b  and  222   a ,  222   b , and hence, the body  219   a  and the body  219   b , between open and closed positions illustrated. Thus, to close the jaws  206   a  and  206   b , the inner shaft  210  can be translated proximally to proximally translate the drive pin  216 , which can cause the drive pin  216  to translate proximally within slots. As the drive pin  216  translates proximally in the outer slots, the drive pin  216  can translate proximally along (such as within) the tracks of the frames  220   a  and  220   b  of the upper jaw  206   a  and along the tracks of the frames  222   a  and  222   b  of the lower jaw  206   b . Proximal translation of the drive pin  216  can cause the jaws  206   a  and  206   b  to having articulating movement to close in a scissor type movement. 
     Although the jaws  206   a  and  206   b  are illustrated as having articulating movement between open and closed positions, it is understood that according to further embodiments only one of the jaws  206   a  or  206   b  may be moveable while the other can be stationary (i.e. the jaws can have unilateral implementation rather than bilateral implementation). Furthermore, the jaws  206   a  and/or  206   b  may not fully achieve the closed position due to engagement with tissue. As discussed above, a single frame can be utilized in alternative to the set of frames illustrated. 
     The components of the forceps  100  can each be comprised of materials such as one or more of metals, plastics, foams, elastomers, ceramics, composites, combinations thereof, or the like. Materials of some components of the forceps  100  are discussed below in further detail. 
       FIG. 3  shows a semi-exploded view of the jaws  206   a  and  206   b  from a proximal position. The jaw  206   a  has been exploded to further illustrate the grip plate  209   a , the body  219   a  and the frame  220   a . The frame  220   a  can include a beam  300   a  (also referred to as a strut or arm herein). The frame  220   b  can include a beam  300   b  (again, also referred to as a strut or arm herein). 
     The beams  300   a  and  300   b  can extend distal from a flange portion of the frames  220   a  and  220   b  and can be configured to be received by the body  219   a  as further described herein. The beams  300   a  and  300   b  can form a joint that connects the frames  220   a  and  220   b  to the body  219   a  as further illustrated and described. 
     According to one example the body  219   a  (and/or body  219   b ) can comprise a first material that differs from a second material of the frames  220   a  and  220   b  (and/or frames  222   a  and  222   b ). According to another example, the body  219   a  (and/or body  219   b ) and the frame(s)  220   a  and  220   b  (and/or frame(s)  222   a  and  222   b ) can comprise a same material but can be processed in a different manner so as to have a different modulus of elasticity, tensile strength or other desired property or characteristic. For example, the body  219   a  (and/or body  219   b ) and the frames  220   a  and  220   b  (and/or frames  222   a  and  222   b ) can both be a same material such as a ceramic. However, the frames  220   a  and  220   b  (and/or frames  222   a  and  222   b ) can be subject to hot isostatic pressing (HIP) or other processing that differs from the processing of the body  219   a  (and/or body  219   b ). This can give the frames  220   a  and  220   b  (and/or frames  222   a  and  222   b ) different characteristics and properties (e.g., different modulus of elasticity, tensile strength, etc.) from that of the body  219   a  (and/or body  219   b ). 
     According to one embodiment, the first material for the body  219   a  (and/or body  219   b ) can be electrically non-conductive according to one embodiment. The electrically non-conductive material can be a polymer a ceramic, a composite, combinations thereof, or the like. 
     The second material for the frames  220   a  and  220   b  (and/or frames  222   a  and  222   b ) can be electrically conductive. According to one example, the second material can have a crystalline microstructure or other desired microstructure. The second material can be a metal, metal alloy, a coated metal or metal alloy, a graphite, a carbon, a ceramic, a polymer, a composite, combinations thereof, or the like. Suitable metal and/or metal alloys include Elgiloy® (a non-magnetic Cobalt-Chromium-Nickel-Molybdenum alloy), stainless steel and titanium, for example. Elgiloy® can comprise the second material according to some examples as Elgiloy® has a desirable high modulus of elasticity and a high ultimate tensile strength but can also be subject to a degree of flexure that results from actuation and engagement with anatomical features. Further examples of potential suitable materials are discussed in further detail below. 
     In one example, the modulus of elasticity of the first material for the body  219   a  and the second material for the frames  220   a  and  220   b  substantially governs how the tool feels when compressing a workpiece. For example, when clamping a tissue during a procedure, the body  219   a  and frames  220   a  and  220   b  of the forceps will flex slightly and provide a clamping force. The amount of flexure is determined by the modulus of elasticity of the material of the body  219   a , and also, the modulus of elasticity of the material of the frames  220   a  and  220   b.    
     It is desirable, when choosing the material for the body  219   a  and the material of the frames  220   a  and  220   b , to provide a tool feel that a user is expecting and is desirable for the application of the end effector. If a material has too low of a modulus, the tool may not clamp as effectively. In a sense, it may feel too squishy or forgiving. If a material has too high of a modulus, the tool may clamp too severely, and unintentional tissue damage may occur. In a sense, the tool may feel too harsh, and not be forgiving enough to accommodate limited control of application force. It is also desirable for a tool to withstand clamping forces, and not break during use. 
     As discussed previously, the frames  220   a  and  220   b  can be subject to different loading forces, force distribution, deflection, etc. from those the body  219   a . It is desirable that the material for the frames  220   a  and  220   b  have a high UTS to eliminate plowing in the slot by the drive pin, for example. Furthermore, the beams  300   a  and  300   b  of the frames  220   a  and  220   b  can be subject to high bending moments when clamping tissue that can result in flexure. Thus, a material able to flex and not fail can also be desirable. 
     When comparing potential ceramic materials to metals, titanium or stainless steel are good benchmarks. Ranges of yield strength for titanium and titanium alloys are from about 875 MPa to 925 MPa. Ranges of yield strength for stainless steels are from about 200 MPa to 250 MPa. Ranges of modulus of elasticity for titanium and titanium alloys are from about 110 GPa to 120 GPa. Ranges of modulus of elasticity for stainless steel are from about 190 GPa to 200 GPa. Thus, it can be desirable if ceramic or polymer material is selected for the frames and/or body to have properties (yield strength, modulus etc.) in these ranges. 
     In one example, a ceramic or polymer material can be selected to “feel” like a metal component, with the added advantage of being electrically non-conductive. Selected material can have desired mechanical properties to meet the goal(s) discussed above. 
     In one example, the body  219   a  comprises a ceramic. Ceramic materials or electrically non-conductive polymer in surgical tool applications include a number of advantages. One advantage of ceramic materials includes minimal electrical conduction (dielectric behavior) while maintaining desired mechanical properties. 
     In one example, the body  219   a  or the frames  220   a  and  220   b  can have a sintered ceramic microstructure. This sintered ceramic microstructure can differ from a ceramic microstructure of the other of the body  219   a  or the frames  220   a  and  220   b  as discussed previously. This sintered ceramic microstructure can result from HIP or other processing. Because ceramic is a dielectric, there is no need for separate insulating layers such as a polymer coating, to isolate electrical signals or transmitted energy. A metal body would be coated, or require wires with coated housings to prevent unwanted short circuits. 
     With a ceramic body (or other non-conducting material as discussed herein), a conducting trace can deposited or otherwise formed directly over a surface of the sintered ceramic microstructure. In one example, one or more of the electrodes is deposited or otherwise formed directly over a surface of the sintered ceramic microstructure. Methods of forming include, but are not limited to, plasma spraying, electrodeposition, chemical deposition, sputtering, or other physical vapor deposition. Depositing an electrode or trace from a vapor, plasma, etc. is easy and inexpensive. When depositing over irregular geometries, it is easy to cover any unusual variations without any undue effort or cost. 
     In one example, a sintered ceramic microstructure better facilitates the construction of a heat transfer channel without using porosity. In one example, the heat transfer channel includes a thermal conductive trace that is coupled to the sintered ceramic microstructure. Examples of thermal conductive traces include metallic traces. Metallic traces may be deposited or otherwise attached using methods described above, such as plasma spraying, electrodeposition, chemical deposition, sputtering, or other physical vapor deposition. Further details of the forceps construction and other advantages can be found in U.S. Ser. No. 63/032,141, filed on May 29, 2020, entitled “MONOLITHIC CERAMIC SURGICAL DEVICE AND METHOD”, to U.S. Ser. No. 62/826,532, filed on Mar. 29, 2019, entitled “BLADE ASSEMBLY FOR FORCEPS”, to U.S. Ser. No. 62/826,522 filed on Mar. 29, 2019, entitled “SLIDER ASSEMBLY FOR FORCEPS”, to U.S. Ser. No. 62/841,476, filed on May 1, 2019, entitled “FORCEPS WITH CAMMING JAWS”, and to U.S. Ser. No. 62/994,220, filed on Mar. 24, 2020, entitled “FORCEPS DEVICES AND METHODS”, the disclosure of each of which is hereby incorporated by reference herein in its entirety 
     In one example, the improved ability to construct complex geometries in a green state, then sinter to form a final component better facilitates construction of a heat transfer channel. In one example, the heat transfer channel includes a trench with a metal trace formed within the trench. Such a configuration provides thermal insulation from surrounding tissue or other structures on three sides, with heat conduction being channeled along the metallic trace. 
     In one example, the body  219   a  includes yttria stabilized zirconia. In one example, the body  219   a  includes zirconia toughened alumina. Ranges of modulus of elasticity for yttria stabilized zirconia are from about 200 GPa to 210 GPa. Ranges of modulus of elasticity for zirconia toughened alumina are from about 350 GPa to 370 GPa. Tensile strength for yttria stabilized zirconia is about 500 MPa. Tensile strength for zirconia toughened alumina is about 290 MPa. Although yttria stabilized zirconia and zirconia toughened alumina are used as examples, the invention is not so limited. Other ceramic materials that exhibit dielectric behavior and have elastic moduli similar to metals are also within the scope of the invention. 
     By choosing a ceramic or polymer material with appropriate mechanical properties, a metal component may be replaced with a ceramic component. In one example, this provides a lower cost option of manufacturing. In one example, this provides more options for complex component geometries. In one example, this provides electrical insulation without the need for a separate insulative coating. 
       FIG. 4A  shows a perspective view of the body  219   a  with the frame  220   a  removed to show a part of a joint  400   a  formed by the body  219   a  in further detail.  FIG. 4B  shows the portion of the joint  400   a  formed by the body  219   a  via a cross-section through the body  219   a .  FIGS. 4A and 4B  show a joint  400   b  between the frame  220   b  and the body  219   a , which can be configured in a similar manner as the joint  400   a.    
     The body  219   a  can include an inward surface  401   a  and an outward surface  401   b . As shown in  FIGS. 4A and 4B , the part of the joint  400   a  can comprise a recess  402   a  in the body  219   a . The recess  402   a  can be configured to receive the beam  300   a  of the frame  220   a  ( FIG. 3 ). The joint  400   a  can include a track  403   a . The track  403   a  can be formed by one or more surfaces  404   a . The one or more surfaces  404   a  can include outermost surface(s) toward the outward surface  401   b  that form a bottom of the recess  402   a , for example. The track  403   a  can extend to adjacent a distal end of the recess  402   a  to a proximal opening  406   a  to the recess  402   a.    
     As shown in  FIG. 4B , the recess  402   a  can have a second opening  408   a  along the inward surface  401   a  of the body  219   a . This second opening  408   a  can be covered by the grip plate  209   a  ( FIG. 3 ), for example. The grip plate  209   a  can seat on the inward surface  401   a . A distal most portion of the recess  402   a  can be enclosed on an inward side as shown in  FIG. 4B . 
     The track  403   a  can be arranged opposing the second opening  408   a . As shown in  FIG. 4B , the one or more surfaces  404 A can be arcuately curved such the joint  400   a  is tapered from distal to proximal. Put another way, a proximal-most portion of the joint  400   a  can be relatively larger in cross-section than a distal-most portion of the joint  400   a.    
     The arcuate shape of the track  403   a  can be formed by one, two or more arcuate segments such as arcuate segments  410   a  and  410   b . Arcuate segments can be continuous or can be separated by other features or surface shapes as discussed further herein. The arcuate segment  410   a  can be located distal of the arcuate segment  410   b  and can have a relatively smaller degree of curvature than the arcuate segment  410   b  as measured distal to proximal and radially along axis A 1  (and in the inward/outward radial direction relative to axis A 1 ). The arcuate segment  410   b  can be located proximal of the arcuate segment  410   a  and can connect therewith. The arcuate segment  410   b  can have a relatively greater degree of curvature than the arcuate segment  410   a.    
       FIG. 5  shows the joint  400   a  as formed by the body  219   a  and the frame  220   a . Thus, the frame  220   a , in particular, the beam  300   a , is inserted in the recess  402   a . A distal most portion  301   a  of the beam  300   a  can be snapped in and captured in intimate contact with one or more surfaces that form the recess  402   a . A plug or tab (shown in  FIG. 9 ) may be placed, adhered, or molded into the recess  402   a  after the beam  300   a  is snapped into place. Thus, the distal most portion  301   a  of the beam  300   a  can be captured in a manner such that it may not be in a pivoting relationship with the body  219   a , and in particular, the track  403   a.    
       FIG. 5  shows an arrangement where the distal most portion  301   a  of the beam  300   a  of the frame  220   a  is in intimate contact but a more proximal portion  302   a  of the beam  300   a  is able to deflect under applied load. Thus, the shape of the track  403   a , in particular with the arcuate segment(s)  410   a  and/or  410   b  provide for a gap G between the more proximal portion  302   a  and the one or more surfaces  404   a  adjacent the proximal end portion of the joint  400   a . This gap G can allow for an amount of flexure (i.e. relative movement) of the more proximal portion  302   a  of the beam  300   a  with increased loading until intimate contact between the more proximal portion  302   a  and the beam  300   a  is achieved. Put another way, after an amount of articulating, jaw displacement (from the open position toward the closed position) causes the gap G between the more proximal portion  302   a  and the one or more surfaces  404   a  can be taken up. Once the gap G is taken up, the load v. deflection relationship of the jaw changes and the joint  400   a  stiffens. 
     The joint  400   a  can allow for an amount of relative movement between the body  219   a  and the frame  220   a  during a first regime of closure that imparts a smaller moment upon the body  219   a  so that a lower force/pressure jaw closure can be utilized than would be the case if the body  219   a  and the frame  220   a  were simply in intimate contact for an entirety of the articulating movement of the jaws. 
     Thus, the joint  400   a  can be configured to provide for a relative movement between the body  219   a  and the frame  220   a  for a first portion of actuation of the body  219   a  through a first part of articulating movement. Additionally, the joint  400   a  can be configured to provide for intimate contact between the body  219   a  and the frame  220   a  (in particular the more proximal portion  302   a ) through a second portion of actuation of the body  219   a  through a second part of the articulating movement. 
     Furthermore, the joint  400   a  can be configured to allow a first relative movement between the body  219   a  and the frame  220   a  during a first part of articulating movement of the body  219   a . The joint  400   a  can be configured to allow a second more restrictive relative movement of the body  219   a  relative to the frame  220   a  during a second part of actuation of the body  219   a . This can result from the shape of the track  403   a  with the two (or more) arcuate segments  410   a  and  410   b . Thus, the joint  400   a  can have a first shape at a first portion thereof (e.g. as a result of the arcuate segment  410   a ) such that during a first part of the articulating movement of the body  219   a , the body  219   a  can be subject to a first bending moment (as a result of engaging tissue or other anatomy). The joint  400   a  can have a second shape at a second portion thereof (e.g. as a result of the arcuate segment  410   b ) such that during a second part of the articulating movement of the body  219   a , the body  219   a  can be subject to a second different bending moment. 
     The joint  400   a  can be configured such that at least two different actuation forces (i.e. two different grip forces GF on lever  116  of  FIG. 1 ) are applied to achieve actuation of the body  219   a  from the open position toward the closed position. As discussed, the joint  400   a  can be configured such that the body  219   a  can be subject to at least two different bending moments during actuation of the body  219   a  during articulating movement from the open position toward the closed position. 
     The geometry of the joint  400   a  can be tailored according to desired closure regimes or other requirements. It is understood that the track  403   a  need not be arcuate in some examples. For example, the beam  300   a  along the surface interfacing the track  403   a  could be arcuate (i.e., could have one or more arcuate segments). Other geometries (e.g., flat, undulating, irregular, complex, mixed, etc.) for the joint  400   a  (whether for the track  403   a  and/or the beam  300   a ) are contemplated and further examples are illustrated in  FIGS. 7, 8 and 8A  as examples. It is also contemplated that in some cases rather than stiffness of the joint increasing toward closure, the joint can be configured such that stiffness of the joint could decrease toward and/or to closure relative to that near and adjacent the open jaw position. 
       FIG. 6  shows an exemplary plot of an example of jaw displacement v. actuator displacement. The actuator displacement can correlate to displacement of the lever  116  of  FIG. 1 . As shown in  FIG. 6 , the jaw displacement does not correlate in a linear manner (linear manner indicated with dashed line) with the actuator displacement. As shown from the plot, an early part of the displacement of the actuator results in relatively less jaw displacement (i.e. the curve has slope of less than 1.0). However, during a latter part of displacement of the actuator, relatively more displacement of the jaw occurs (i.e., the curve has a slope of more than 1.0). As a result of the configuration of the joint, various closure force (i.e. grip force GF of  FIG. 1 ) v. jaw displacement characteristics can tailored as desired. As shown in  FIG. 6 . the jaw can have at least two closure regimes including a first regime  499   a  and a second regime  499   b . The plot of  FIG. 6  illustrates that at least two different bending moments (and two different actuation forces) can be applied through articulating movement of the jaw. Thus, the shape of the joint results in a step function curvature between jaw displacement and actuator displacement. Put another way, the bending moment applied to the frames increases dramatically near closure of the jaws to achieve a same relative articulating displacement of the jaw as compared to the bending moment applied during initial closure of the jaw. 
       FIG. 7  shows another example of a joint  500   a  between a body  519   a  and a frame  520   a . The joint  500   a  differs from that of the joint  400   a  previously discussed in that a track  503   a  of the joint  500   a  along the body  519   a  includes a first arcuate segment  510   a , a feature  510   b  and a second arcuate segment  510   c . The feature  510   b  can be positioned between the first arcuate segment  510   a  and the second arcuate segment  510   c . The feature  510   b  can be of any shape as desired. The shape selected can be dependent on the closure regime(s) for the jaws desired. However, in  FIG. 7  the feature  510   b  is illustrated as a non-arcuate (i.e. substantially flat) region of the track  503   a  designed to create a second region of intimate contact that differs from the first region previously discussed with regard to  FIG. 5 . This first region of intimate contact remains in the embodiment of  FIG. 7  and occurs when no gap remains and the beam and second arcuate segment  510   c  come into intimate contact. However, in  FIG. 7  the first region of intimate contact is spaced from the second region along the track  503   a  by the second arcuate segment  510   c . The second arcuate segment  510   c  can be thought of as a region of relatively less (or no) intimate contact as compared with the first and second regions. It is contemplated that the feature  510   b  could be a ridge, bump, tab, mesa or other type of projection extending from the first arcuate segment  510   a . The feature  510   b  could also be a divot or other recess according to other examples. It is understood that the joint  500   a  provides for different closure regimes than that of joint  400   a.    
       FIG. 8  shows yet another example of a joint  600   a  between a body  619   a  and a frame. The frame has been removed in  FIG. 8  to further illustrate a recess  602   a  in the body  619   a . The recess  602   a  can be configured to receive a beam such as the beam  300   a  of the frame  220   a  ( FIGS. 3 and 5 ) as previously described. The joint  600   a  can include a track  603   a . The track  603   a  differs from that of the track  403   a  previously described. 
       FIG. 8A  shows a cross-section of the track  603   a . The track  603   a  has an arcuate segment  610   a  along a surface  604   a  that forms the track  603   a . FIG.  8 A illustrates that the track  603   a  can have an arcuate curvature along an axis perpendicular to a longitudinal axis A 1  of the jaw. This can counteract an off-axis roll of the jaw upon initial contact with tissue of a patient. Thus, the track  603   a  can have a curvature along a third direction (medial/lateral relative to the axis A 1 ) in addition to (or in alternative to) one or both of the curvatures discussed previously as measured distal to proximal and radially along axis A 1  in the inward/outward radial direction relative to axis A 1 . Thus, the track  603   a  and surface  604   a , can have at least one of the plurality of arcuate segments that form them curved along an axis perpendicular to a longitudinal axis of the jaw to counteract an off-axis roll of the jaw upon initial contact with tissue of a patient. 
       FIG. 9  shows another example of a jaws  700   a  with a body  719   a  similar to those as described previously. The body  719   a  includes a lateral opening  701   b  to a recess  702   b . This lateral opening  702   b  can be configured for fabricating the recess  702   b  and connecting the body and the frame according to some examples. The lateral opening  702   b  can be configured to receive a tab  704   b . The tab  704   b  can have a projection  706   b  designed to be received in an aperture  708   b  of the frame  220   b . The tab  704   b  can be placed, adhered, or molded into the recess  702   b  after the beam  300   a  portion of the frame  220   b  is snapped into place as previously described. 
       FIG. 10  illustrates a method of forming an end effector for a surgical device according to on example. The method  800  can include providing  802  a frame having one or more features that couple the end effector to the remainder of the surgical device. The one or more features can be configured to facilitate articulating movement of the end effector. The method  800  can include removing  804  material from a body to create a track for the frame. The track can have a plurality of arcuate segments each having a different degree of curvature relative to one another. 
     The method can further include other steps or features such as shaping the track and frame to provide the body with at least two different bending moments during actuation of the body through the articulating movement. The forming of the body can be of a first electrically non-conductive material. The frame can be formed of a different second material with a crystalline microstructure. The method can include removing material from the body to create the track at least partially through the lateral window ( FIG. 9 ) along a side of the track. 
     To better illustrate the method and apparatuses disclosed herein, a non-limiting list of embodiments is provided here: 
     Example 1 is an end effector for a surgical device, optionally comprising: a first component forming a body of the end effector, wherein the first component is formed of a first electrically non-conductive material; and a second component coupled to the first component at a joint, wherein the second component is formed of a second material or is formed of the first material but is processed differently from the first material, wherein the second component connects the first component to the surgical device and has one or more features that are configured to facilitate articulating movement of the first component. 
     Example 2 is the end effector of Example 1, optionally the first electrically non-conductive material is a ceramic. 
     Example 3 is the end effector of Example 1, optionally the first electrically non-conductive material is one of a ceramic, a polymer or a composite thereof. 
     Example 4 is the end effector of any one of Examples 1-3, optionally further comprising an electrode held by the first component, wherein the first electrically non-conductive material isolates the electrode from one or more of a second electrode or the second component. 
     Example 5 is the end effector of any one of Examples 1-4, wherein the second material is Cobalt-Chromium-Nickel-Molybdenum alloy. 
     Example 6 is the end effector of any one of Examples 1-4, optionally the second material is at least one of a metal, a metal alloy, a graphite or a carbon. 
     Example 7 is the end effector of Example 1, optionally both the first component and the second component are both a same ceramic, and wherein the first component has different material properties than the second component. 
     Example 8 is the end effector of any one of Examples 1-7, optionally the surgical device comprises a forceps, and wherein the first component comprises a jaw body and the second component comprises a frame that facilitates articulating movement of the jaw body. 
     Example 9 is the end effector of Example 8, optionally the one or more features of the frame comprise one or more of a pivot journal or cam interfacing slot. 
     Example 10 is the end effector of any one of Examples 1-9, wherein the joint is configured to allow a first relative movement of the first component relative to the second component during a first part of articulating movement of the first component, and wherein the joint is configured to allow a second more restrictive relative movement of the first component relative to the second component during a second part of the articulating movement of the first component. 
     Example 11 is the end effector of any one of Examples 1-9, optionally the joint has a first shape at a first portion thereof such that, during a first part of the articulating movement of the first component, the first component is subject to a first bending moment, wherein the joint has a second shape at a second portion thereof such that during a second part of the articulating movement of the first component the first component is subject to a second different bending moment. 
     Example 12 is the end effector of any one of Examples 1-9, optionally the joint is configured to provide for a relative movement between the first component and the second component for a first portion of the articulating movement of the first component, and wherein the joint is configured to provide for intimate contact between the first component and the second component through a second portion of the articulating movement of the first component. 
     Example 13 is the end effector of any one of Examples 10-12, optionally the joint is configured such that at least two different actuation forces are applied to achieve articulating movement of the first component. 
     Example 14 is the end effector of any one of Examples 10-12, optionally the joint is configured such that the first component is subject to at least two different bending moments during articulating movement of the first component. 
     Example 15 is the end effector of Example 14, optionally the joint provides the first component with at least two closure regimes such that a plot of the at least two different bending moments through articulating movement has a step function. 
     Example 16 is the end effector of any one of Examples 1-15, optionally the joint has a plurality of arcuate segments each having a different degree of curvature relative to one another. 
     Example 17 is a forceps, optionally comprising: a shaft; an actuator routed along the shaft; and a jaw positioned at an end portion of the shaft and coupled to the actuator, the jaw optionally comprising: a body, an electrode coupled to the body, and a frame coupled to the body at a joint and coupled to the actuator, wherein, when actuated by the actuator, the frame is configured to facilitate articulating movement of the body relative to the shaft, and wherein the joint is shaped such that the actuator applies at least two different forces each of a different degree to the frame through the articulating movement of the body. 
     Example 18 is the forceps of Example 17, optionally the body is formed of a first electrically non-conductive material that electrically isolates the electrode, and wherein the frame is formed of a different second material with a crystalline microstructure. 
     Example 19 is the forceps of any one of Examples 17-18, optionally the joint is shaped to provide the body with at least two different bending moments during articulating movement of the body. 
     Example 20 is the forceps of Example 16, optionally the body has at least two closure regimes such that a plot of the at least two different bending moments during the articulating movement has a step function. 
     Example 21 is the forceps of any one of Examples 17-20, wherein the joint has a plurality of arcuate segments each having a different degree of curvature relative to one another. 
     Example 22 is the forceps of Example 21, optionally at least one of the plurality of arcuate segments is curved along an axis perpendicular to a longitudinal axis of the jaw to counteract an off-axis roll of the jaw upon initial contact with tissue of a patient. 
     Example 23 is the forceps of any one of Examples 17-22, optionally the joint allows relatively more travel of the body per an amount of applied force by the actuator upon initial contact with a tissue of a patient and through a first part of the articulating movement, and wherein the joint allows for relatively less travel of the body with the amount of applied force by the actuator through a second part of the articulating movement of the body. 
     Example 24 is a method of forming an end effector of a surgical device, optionally comprising: providing a frame having one or more features that couple the end effector to the remainder of the surgical device, the one or more features configured to facilitate articulating movement of the end effector; and removing material from a body to create a track for the frame, wherein the track has a plurality of arcuate segments each having a different degree of curvature relative to one another. 
     Example 25 is the method of Example 24, optionally further comprising shaping the track and frame to provide the body with at least two different bending moments during articulating movement of the body. 
     Example 26 is the method of any one of Examples 24-25, optionally further comprising: forming the body of a first electrically non-conductive material; and forming the frame of a different second material with a crystalline microstructure. 
     Example 27 is the method any one of Examples 24-26, optionally shaping the track and frame to provide for two or more regions of intimate contact therebetween during the articulating movement, wherein the two or more regions of intimate contact are spaced by at least one region of relatively less contact between the track and frame. 
     Example 28 is the method of Example 27, optionally the track is configured such that a relatively higher grip force is applied for the articulating of movement of the end effector through one of the two or more regions of intimate contact and a relatively lower grip force is applied for the at least one region. 
     Example 29 is the method of any one of Examples 24-28, optionally removing material from the body to create the track is at least partially performed through one or more windows along a side of the track. 
     Example 30 is the method of Example 29, optionally further comprising affixing the frame to the body with a tab inserted through the one or more windows. 
     Example 31 is an end effector for a surgical device, including: a first component forming a body of the end effector, wherein the first component is formed of a first electrically non-conductive material; and a second component coupled to the first component at a joint, wherein the second component is formed of a second material or is formed of the first material but is processed differently from the first material, wherein the second component connects the first component to the surgical device and has one or more features that are configured to facilitate movement of the first component. 
     Example 32 is the end effector of Example 31, wherein the first electrically non-conductive material is a ceramic. 
     Example 33 is the end effector of any of Examples 31-32, wherein the first electrically non-conductive material is one of a ceramic, a polymer or a composite thereof. 
     Example 34 is the end effector of any of Examples 31-33, further including an electrode held by the first component, wherein the first electrically non-conductive material isolates the electrode from one or more of a second electrode or the second component. 
     Example 35 is the end effector of any of Examples 31-34, wherein the second material is Cobalt-Chromium-Nickel-Molybdenum alloy. 
     Example 36 is the end effector of any of Examples 31-35, wherein the second material is at least one of a metal, a metal alloy, a graphite or a carbon. 
     Example 37 is the end effector of any of Examples 31-36, wherein both the first component and the second component are both a same ceramic, and wherein the first component has different material properties than the second component. 
     Example 38 is the end effector of any of Examples 31-37, wherein the surgical device includes a forceps, wherein the first component includes a jaw body and the second component includes a frame that facilitates an articulating movement of the jaw body, and wherein the one or more features of the frame include one or more of a pivot journal or cam interfacing slot. 
     Example 39 is the end effector of any of Examples 31-38, wherein the joint is configured to allow a first relative movement of the first component relative to the second component during a first part of articulating movement of the first component, and wherein the joint is configured to allow a second more restrictive relative movement of the first component relative to the second component during a second part of the articulating movement of the first component. 
     Example 40 is the end effector of any of Examples 31-39, wherein the joint has a first shape at a first portion thereof such that, during a first part of the movement of the first component, the first component is subject to a first bending moment, wherein the joint has a second shape at a second portion thereof such that during a second part of the movement of the first component the first component is subject to a second different bending moment. 
     Example 41 is the end effector of any of Examples 31-40, wherein the joint is configured to provide for a relative movement between the first component and the second component for a first portion of the movement of the first component, and wherein the joint is configured to provide for intimate contact between the first component and the second component through a second portion of the movement of the first component. 
     Example 42 is the end effector of any of Examples 31-41, wherein the joint is configured to provide the first component with at least two closure regimes such that a plot of at least two different bending moments through the movement has a step function. 
     Example 43 is the end effector of any of Examples 31-42, wherein the joint has a plurality of arcuate segments each having a different degree of curvature relative to one another. 
     Example 44 is a forceps, including: a shaft; an actuator routed along the shaft; and a jaw positioned at an end portion of the shaft and coupled to the actuator, the jaw including: a body, an electrode coupled to the body, and a frame coupled to the body at a joint and coupled to the actuator, wherein, the joint is shaped such that the actuator applies at least two different forces each of a different degree to the frame through a movement of the body. 
     Example 45 is the forceps of Example 44, wherein the body is formed of a first electrically non-conductive material that electrically isolates the electrode, and wherein the frame is formed of a different second material with a crystalline microstructure. 
     Example 46 is the forceps of any of Examples 44-45, wherein, when actuated by the actuator, the frame is configured to facilitate articulating movement of the body relative to the shaft, and wherein the joint is shaped to provide the body with at least two different bending moments during articulating movement of the body. 
     Example 47 is the forceps of any of Examples 44-46, wherein the body has at least two closure regimes such that a plot of the at least two different bending moments during the articulating movement has a step function. 
     Example 48 is the forceps of any of Examples 44-47, wherein the joint has a plurality of arcuate segments each having a different degree of curvature relative to one another, and wherein at least one of the plurality of arcuate segments is curved along an axis perpendicular to a longitudinal axis of the jaw to counteract an off-axis roll of the jaw upon initial contact with tissue of a patient. 
     Example 49 is the forceps of any of Examples 44-48, wherein the joint allows relatively more travel of the body per an amount of applied force by the actuator upon initial contact with a tissue of a patient and through a first part of the movement, and wherein the joint allows for relatively less travel of the body with the amount of applied force by the actuator through a second part of the movement of the body. 
     Example 50 is an end effector for a surgical device, including: a first component forming a body of the end effector; and a second component coupled to the first component at a joint, wherein the second component connects the first component to the surgical device and has one or more features that are configured to facilitate movement of the first component, wherein the joint is shaped such that an actuator applies at least two different forces each of a different degree to the second component through an articulating movement of the body. 
     Throughout this specification, plural instances may implement components, operations, or structures described as a single instance. Although individual operations of one or more methods are illustrated and described as separate operations, one or more of the individual operations may be performed concurrently, and nothing requires that the operations be performed in the order illustrated. Structures and functionality presented as separate components in example configurations may be implemented as a combined structure or component. Similarly, structures and functionality presented as a single component may be implemented as separate components. These and other variations, modifications, additions, and improvements fall within the scope of the subject matter herein. 
     Although an overview of the inventive subject matter has been described with reference to specific example embodiments, various modifications and changes may be made to these embodiments without departing from the broader scope of embodiments of the present disclosure. Such embodiments of the inventive subject matter may be referred to herein, individually or collectively, by the term “invention” merely for convenience and without intending to voluntarily limit the scope of this application to any single disclosure or inventive concept if more than one is, in fact, disclosed. 
     The embodiments illustrated herein are described in sufficient detail to enable those skilled in the art to practice the teachings disclosed. Other embodiments may be used and derived therefrom, such that structural and logical substitutions and changes may be made without departing from the scope of this disclosure. The Detailed Description, therefore, is not to be taken in a limiting sense, and the scope of various embodiments is defined only by the appended claims, along with the full range of equivalents to which such claims are entitled. 
     As used herein, the term “or” may be construed in either an inclusive or exclusive sense. Moreover, plural instances may be provided for resources, operations, or structures described herein as a single instance. Additionally, boundaries between various resources, operations, modules, engines, and data stores are somewhat arbitrary, and particular operations are illustrated in a context of specific illustrative configurations. Other allocations of functionality are envisioned and may fall within a scope of various embodiments of the present disclosure. In general, structures and functionality presented as separate resources in the example configurations may be implemented as a combined structure or resource. Similarly, structures and functionality presented as a single resource may be implemented as separate resources. These and other variations, modifications, additions, and improvements fall within a scope of embodiments of the present disclosure as represented by the appended claims. The specification and drawings are, accordingly, to be regarded in an illustrative rather than a restrictive sense. 
     The foregoing description, for the purpose of explanation, has been described with reference to specific example embodiments. However, the illustrative discussions above are not intended to be exhaustive or to limit the possible example embodiments to the precise forms disclosed. Many modifications and variations are possible in view of the above teachings. The example embodiments were chosen and described in order to best explain the principles involved and their practical applications, to thereby enable others skilled in the art to best utilize the various example embodiments with various modifications as are suited to the particular use contemplated. 
     It will also be understood that, although the terms “first,” “second,” and so forth may be used herein to describe various elements, these elements should not be limited by these terms. These terms are only used to distinguish one element from another. For example, a first contact could be termed a second contact, and, similarly, a second contact could be termed a first contact, without departing from the scope of the present example embodiments. The first contact and the second contact are both contacts, but they are not the same contact. 
     The terminology used in the description of the example embodiments herein is for the purpose of describing particular example embodiments only and is not intended to be limiting. As used in the description of the example embodiments and the appended examples, the singular forms “a,” “an,” and “the” are intended to include the plural forms as well, unless the context clearly indicates otherwise. It will also be understood that the term “and/or” as used herein refers to and encompasses any and all possible combinations of one or more of the associated listed items. It will be further understood that the terms “comprises” and/or “comprising,” when used in this specification, specify the presence of stated features, integers, steps, operations, elements, and/or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and/or groups thereof. 
     As used herein, the term “if” may be construed to mean “when” or “upon” or “in response to determining” or “in response to detecting,” depending on the context. Similarly, the phrase “if it is determined” or “if [a stated condition or event] is detected” may be construed to mean “upon determining” or “in response to determining” or “upon detecting [the stated condition or event]” or “in response to detecting [the stated condition or event],” depending on the context.