An end effector for use and connection to a robot arm (2, 3) of a robotic surgical system, wherein the end effector is controlled and/or articulated by at least one motor (Motor 1...n) of a control device of the robot surgical system, the end effector comprising: a wrist assembly defining a longitudinal axis (X1-X1), the wrist assembly including: at least one support (312a, 312b); and a distal hub assembly pivotally connected to the at least one support (312a, 312b) about a pivot axis (Y1-Y1); a jaw assembly defining a longitudinal axis and including a pair of jaws (332, 334), each jaw including: a proximal portion (332a, 334a) pivotally connected to the distal hub assembly; and a distal portion (332b, 334b) extending distally of the proximal portion thereof; and an actuation cable having a distal end operatively connected to the pair of jaws (332, 334) and a proximal end operatively connected to the at least one motor (Motor 1...n), wherein axial translation of the actuation cable results in one of an opening and a closing of the jaw assembly, wherein each jaw (332, 334) of the pair of jaws defines an angled slot (332c, 334c) therein, and wherein the actuation cable supports a cam pin at a distal end thereof, the cam pin being slidably disposed within the angled slots (332c, 334c) defined in each jaw (332, 334); characterised in that the distal hub assembly includes a housing pivotally connected to the at least one support (312a, 312b), wherein the housing includes a plurality of gear teeth defining a central axis disposed along the pivot axis (Y1-Y1); and the end effector further comprises: 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, wherein rotation of the first torque transmitting tube results in pivoting of the housing about the pivot axis (Y1-Y1); and a second 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 (Motor 1...n), wherein rotation of the second torque transmitting tube results in rotation of the jaw assembly about the longitudinal axis thereof. a wrist assembly defining a longitudinal axis (X1-X1), the wrist assembly including: at least one support (312a, 312b); and a distal hub assembly pivotally connected to the at least one support (312a, 312b) about a pivot axis (Y1-Y1); at least one support (312a, 312b); and a distal hub assembly pivotally connected to the at least one support (312a, 312b) about a pivot axis (Y1-Y1); a jaw assembly defining a longitudinal axis and including a pair of jaws (332, 334), each jaw including: a proximal portion (332a, 334a) pivotally connected to the distal hub assembly; and a distal portion (332b, 334b) extending distally of the proximal portion thereof; and a proximal portion (332a, 334a) pivotally connected to the distal hub assembly; and a distal portion (332b, 334b) extending distally of the proximal portion thereof; and an actuation cable having a distal end operatively connected to the pair of jaws (332, 334) and a proximal end operatively connected to the at least one motor (Motor 1...n), wherein axial translation of the actuation cable results in one of an opening and a closing of the jaw assembly, wherein each jaw (332, 334) of the pair of jaws defines an angled slot (332c, 334c) therein, and wherein the actuation cable supports a cam pin at a distal end thereof, the cam pin being slidably disposed within the angled slots (332c, 334c) defined in each jaw (332, 334); characterised in that the distal hub assembly includes a housing pivotally connected to the at least one support (312a, 312b), wherein the housing includes a plurality of gear teeth defining a central axis disposed along the pivot axis (Y1-Y1); and the end effector further comprises: 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, wherein rotation of the first torque transmitting tube results in pivoting of the housing about the pivot axis (Y1-Y1); and a second 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 (Motor 1...n), wherein rotation of the second torque transmitting tube results in rotation of the jaw assembly about the longitudinal axis thereof. 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, wherein rotation of the first torque transmitting tube results in pivoting of the housing about the pivot axis (Y1-Y1); and a second 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 (Motor 1...n), wherein rotation of the second torque transmitting tube results in rotation of the jaw assembly about the longitudinal axis thereof.