Patent ID: 8585734

Claim:
A laparoscopic apparatus, the apparatus comprising: a handle having a body portion, a top surface, an opposite bottom surface, a proximal and distal end; a shaft projecting from the distal end of the handle, the shaft having a proximal and distal end; an end effector located at the distal end of the shaft; a control sphere located on the handle opposite from the shaft, the control sphere being movable with multiple degrees of freedom relative to the handle so as to actuate both pitch and yaw motions of the end effector, wherein the pitch of the end effector is changed when the control sphere is moved upward and downward relative to the handle, and wherein the yaw of the end effector is changed when the control sphere is moved right and left relative to the handle; and a collet rotatable about a longitudinal axis of the shaft, wherein rotation of the collet mechanism drives rotation of the shaft relative to the handle, wherein the end effector and the control sphere rotate with the shaft relative to the handle.