Surgical instruments and end effectors therefor

Abstract

An end effector includes a first jaw and a second jaw, the first jaw movable relative to the second jaw to transition the end effector between an open configuration and an approximated configuration to clamp tissue therebetween. The end effector may also include a camming assembly movable along a curved path. The camming assembly includes a first camming member which includes a first distal camming portion, a first proximal camming portion, and a first flexible portion extending between the first distal camming portion and the first proximal camming portion. The camming assembly includes a second camming member and a connector at least partially disposed between the first camming member and the second camming member, wherein the camming assembly is movable relative to the end effector to exert a camming force against the first jaw and the second jaw to transition the end effector to the approximated configuration.

1 - 21 . (canceled) 
     
     
         22 . A surgical instrument comprising:
 a shaft having a proximal end and a distal end, a longitudinal axis being defined between the proximal and distal ends;   a wrist having a proximal end and a distal end, the proximal end of the wrist being coupled to the distal end of the shaft, the wrist being movable in pitch and yaw degrees of freedom, wherein the pitch degree of freedom is defined orthogonal to the longitudinal axis, and wherein the yaw degree of freedom is defined orthogonal to the longitudinal axis and to the pitch degree of freedom;   a surgical end effector coupled to the wrist, the surgical end effector comprising a jaw mechanism and a translating component, the translating component being movable lengthwise relative to the jaw mechanism;   a jaw mechanism drive element extending through the wrist and coupled to the jaw mechanism; and   a translating component drive element extending through the wrist and coupled to the translating component of the surgical end effector, the translating component being configured to move lengthwise relative to the jaw mechanism in response to the translating component drive element translating along the longitudinal axis.   
     
     
         23 . The surgical instrument of  claim 22 , wherein the jaw mechanism comprises a first jaw member and a second jaw member opposing the first jaw member. 
     
     
         24 . The surgical instrument of  claim 23 , wherein the jaw mechanism is configured to move between open and closed positions in response to a motion of the jaw mechanism drive element. 
     
     
         25 . The surgical instrument of  claim 22 , further comprising a transmission mechanism at a proximal portion of the surgical instrument, the transmission mechanism being configured to receive one or more inputs and, in response to receiving the one or more inputs, transmit force to translate the translating component drive element and transmit torque to rotate the jaw mechanism drive element. 
     
     
         26 . The surgical instrument of  claim 22 , wherein the translating component drive element is flexible in the pitch and yaw degrees of freedom at least at the wrist. 
     
     
         27 . The surgical instrument of  claim 22 , wherein the translating component drive element extends through a center lumen of the shaft and the wrist from the proximal end of the shaft to the end effector. 
     
     
         28 . The surgical instrument of  claim 22 , wherein the jaw mechanism comprises an electrode configured to deliver energy sufficient to fuse tissue. 
     
     
         29 . The surgical instrument of  claim 28 , wherein the jaw mechanism is configured to grip tissue in a closed position with a sufficient pressure to permit fusing of the tissue during delivery of the energy in the closed position. 
     
     
         30 . The surgical instrument of  claim 22 , wherein the translating component drive element includes a wire. 
     
     
         31 . The surgical instrument of  claim 22 , wherein the translating component comprises a cutting member. 
     
     
         32 . The surgical instrument of  claim 22 , wherein the surgical instrument is configured to interface with a power source. 
     
     
         33 . The surgical instrument of  claim 22 , further comprising a transmission mechanism at a proximal portion of the surgical instrument, the transmission mechanism being configured to transmit force along the shaft to move the wrist in at least one of the pitch and yaw degrees of freedom. 
     
     
         34 . A surgical instrument comprising:
 a shaft having a proximal end and a distal end, a longitudinal axis being defined between the proximal and distal ends;   an articulation member having a proximal end and a distal end, the proximal end of the articulation member being coupled to the distal end of the shaft, the articulation member being movable in pitch and yaw degrees of freedom, wherein the pitch degree of freedom is defined orthogonal to the longitudinal axis, and wherein the yaw degree of freedom is defined orthogonal to the longitudinal axis and to the pitch degree of freedom;   a surgical end effector coupled to the articulation member, the surgical end effector comprising a jaw mechanism and a translating component, the translating component being movable lengthwise relative to the jaw mechanism;   a jaw mechanism drive element extending through the articulation member and coupled to the jaw mechanism; and   a translating component drive element extending through the articulation member and coupled to the translating component of the surgical end effector, the translating component being configured to move lengthwise relative to the jaw mechanism in response to the translating component drive element translating along the longitudinal axis.   
     
     
         35 . The surgical instrument of  claim 34 , wherein the jaw mechanism comprises a first jaw member and a second jaw member opposing the first jaw member. 
     
     
         36 . The surgical instrument of  claim 35 , wherein the jaw mechanism is configured to move between open and closed positions in response to a motion of the jaw mechanism drive element. 
     
     
         37 . The surgical instrument of  claim 34 , further comprising a transmission mechanism at a proximal portion of the surgical instrument, the transmission mechanism being configured to receive one or more inputs and, in response to receiving the one or more inputs, transmit force to translate the translating component drive element and transmit torque to rotate the jaw mechanism drive element. 
     
     
         38 . The surgical instrument of  claim 34 , wherein the translating component drive element is flexible in the pitch and yaw degrees of freedom at least at the articulation member. 
     
     
         39 . The surgical instrument of  claim 34 , wherein the translating component drive element extends through a center lumen of the shaft and the articulation member from the proximal end of the shaft to the end effector. 
     
     
         40 . The surgical instrument of  claim 34 , wherein the jaw mechanism comprises an electrode configured to deliver energy sufficient to fuse tissue. 
     
     
         41 . The surgical instrument of  claim 40 , wherein the jaw mechanism is configured to grip tissue in a closed position with a sufficient pressure to permit fusing of the tissue during delivery of the energy in the closed position. 
     
     
         42 . The surgical instrument of  claim 34 , wherein the translating component drive element includes a wire. 
     
     
         43 . The surgical instrument of  claim 34 , wherein the translating component comprises a cutting member. 
     
     
         44 . The surgical instrument of  claim 34 , wherein the surgical instrument is configured to interface with a power source. 
     
     
         45 . The surgical instrument of  claim 34 , further comprising a transmission mechanism at a proximal portion of the surgical instrument, the transmission mechanism being configured to transmit force along the shaft to move the articulation member in at least one of the pitch and yaw degrees of freedom.