Surgical device for grasping and shearing

Abstract

The present disclosure relates to a surgical device including a body portion and an end effector. The body portion defines a longitudinal axis. The end effector is disposed adjacent a distal end of the body portion and includes first and second jaw members. At least one jaw member is pivotable with respect to the other jaw member between open and approximated positions along a first plane. Each jaw member is independently movable with respect to the other jaw member between a first position where the jaw members are aligned with the longitudinal axis and a second position where at least one jaw member is disposed at an angle with respect to the longitudinal axis and with respect to the first plane.

1 - 20 . (canceled) 
     
     
         21 . A surgical device, comprising:
 a body portion defining a longitudinal axis; and   an end effector supported on the body portion, the end effector including:
 a first jaw member; 
 a first jaw mount supporting a first distal pulley coupled to the first jaw member and a first proximal pulley coupled to the body portion to pivotally couple the first jaw member to the body portion; 
 a second jaw member; and 
 a second jaw mount supporting a second distal pulley coupled to the second jaw member and a second proximal pulley coupled to the body portion to pivotally couple the second jaw member to the body portion, the first jaw member and the second jaw member being independently pivotable relative to one another along a first plane to selectively grasp tissue between the first and second jaw members, the first and second jaw members being independently pivotable relative to one another in a second plane that is transverse to the first plane to selectively cut tissue between the first and second jaw members. 
   
     
     
         22 . The surgical device of  claim 21 , wherein the first distal pulley is pinned to a distal end portion of the first jaw mount. 
     
     
         23 . The surgical device of  claim 22 , wherein the first distal pulley rotates about a pivot axis that is transverse to the longitudinal axis of the body portion to enable the first jaw member to pivot along the second plane and relative to the first jaw mount. 
     
     
         24 . The surgical device of  claim 23 , wherein the first proximal pulley is pinned to a distal end portion of the body portion. 
     
     
         25 . The surgical device of  claim 24 , wherein the first proximal pulley rotates about a pivot axis that is transverse to the longitudinal axis of the body portion and transverse to the pivot axis of the first distal pulley to enable the first jaw member to pivot along the first plane with the first jaw mount and relative to the body portion. 
     
     
         26 . The surgical device of  claim 25 , wherein the second distal pulley is pinned to a distal end portion of the second jaw mount. 
     
     
         27 . The surgical device of  claim 26 , wherein the second distal pulley rotates about a pivot axis that is transverse to the longitudinal axis of the body portion to enable the second jaw member to pivot along the second plane and relative to the second jaw mount. 
     
     
         28 . The surgical device of  claim 27 , wherein the second proximal pulley is pinned to the distal end portion of the body portion. 
     
     
         29 . The surgical device of  claim 28 , wherein the second proximal pulley rotates about the pivot axis that is transverse to the longitudinal axis of the body portion and transverse to the pivot axis of the first distal pulley to enable the second jaw member to pivot along the first plane with the second jaw mount and relative to the body portion. 
     
     
         30 . The surgical device of  claim 29 , wherein the end effector includes a first set of distal and proximal idler pulleys associated with the first jaw member and a second set of distal and proximal idler pulleys associated with the second jaw member, the first and second sets of distal and proximal idler pulleys supported on an outer surface of the body portion, and the first and second proximal pulleys supported on an inner surface of the body portion between the first and second sets of distal and proximal idler pulleys. 
     
     
         31 . A robotic surgical system comprising:
 a master station including an input device;   a slave station including a surgical device, the surgical device comprising:
 a body portion defining a longitudinal axis; and 
 an end effector supported by the body portion, the end effector including:
 a first jaw member; 
 a first jaw mount supporting a first distal pulley coupled to the first jaw member and a first proximal pulley coupled to the body portion to pivotally couple the first jaw member to the body portion; 
 a second jaw member; and 
 a second jaw mount supporting a second distal pulley coupled to the second jaw member and a second proximal pulley coupled to the body portion to pivotally couple the second jaw member to the body portion, the first jaw member and the second jaw member being independently pivotable relative to one another along a first plane to selectively grasp tissue between the first and second jaw members, the first and second jaw members being independently pivotable relative to one another in a second plane that is transverse to the first plane to selectively cut tissue between the first and second jaw members; 
 and 
 
   a controller coupled between the master station and the slave station and being configured for receiving a command from the input device and for controlling movement of the surgical device.   
     
     
         32 . The robotic surgical system of  claim 31 , wherein the first distal pulley is pinned to a distal end portion of the first jaw mount so that the first distal pulley rotates about a pivot axis that is transverse to the longitudinal axis of the body portion to enable the first jaw member to pivot along the second plane and relative to the first jaw mount. 
     
     
         33 . The robotic surgical system of  claim 32 , wherein the first proximal pulley is pinned to a distal end portion of the body portion so that the first proximal pulley rotates about a pivot axis that is transverse to the longitudinal axis of the body portion and transverse to the pivot axis of the first distal pulley to enable the first jaw member to pivot along the first plane with the first jaw mount and relative to the body portion. 
     
     
         34 . The robotic surgical system of  claim 33 , wherein the second distal pulley is pinned to a distal end portion of the second jaw mount so that the second distal pulley rotates about a pivot axis that is transverse to the longitudinal axis of the body portion to enable the second jaw member to pivot along the second plane and relative to the second jaw mount. 
     
     
         35 . The robotic surgical system of  claim 34 , wherein the second proximal pulley is pinned to the distal end portion of the body portion so that the second proximal pulley rotates about the pivot axis that is transverse to the longitudinal axis of the body portion and transverse to the pivot axis of the first distal pulley to enable the second jaw member to pivot along the first plane with the second jaw mount and relative to the body portion. 
     
     
         36 . The robotic surgical system of  claim 35 , wherein the end effector includes a first set of distal and proximal idler pulleys associated with the first jaw member and a second set of distal and proximal idler pulleys associated with the second jaw member, the first and second sets of distal and proximal idler pulleys supported on an outer surface of the body portion, and the first and second proximal pulleys supported on an inner surface of the body portion between the first and second sets of distal and proximal idler pulleys. 
     
     
         37 . An end effector of a surgical device, the end effector comprising:
 a first jaw member; and   a second jaw member, the first and second jaw members defining a longitudinal axis, at least a first one of the first or second jaw members being movable along a first plane with respect to a second one of the first or second jaw members between open and closed positions, and movable between a first position in which the first and second jaw members are aligned with the longitudinal axis and a second position in which at least one of the first or second jaw members is disposed at an angle with respect to the longitudinal axis and with respect to the first plane, and wherein the at least one of the first or second jaw members is movable along a second plane through an angle greater than 90 degrees relative to the longitudinal axis and the other jaw member, the second plane transverse to the first plane.   
     
     
         38 . The end effector of  claim 37 , wherein each jaw member is pivotable with respect to the other jaw member. 
     
     
         39 . The end effector of  claim 37 , wherein the first and second jam members are robotically controlled. 
     
     
         40 . The end effector of  claim 37 , wherein the first jaw member and the second jaw member are concurrently movable in opposite directions from each other within the second plane.