| 主权项 |
1. An end effector of a surgical tool, the end effector comprising:
a first jaw and a second jaw each being pivotable about a first axis; a first driven pulley attached to the first jaw and a second driven pulley attached to the second jaw, the first and second driven pulleys being rotatable about the first axis, each driven pulley including a first radial side and a second radial side; a driving pulley rotatable about a second axis; a first cable having a first end portion, a second end portion, and an intermediate portion, the first end portion connected to the first radial side of the first driven pulley, the second end portion connected to the second radial side of the second driven pulley, and the intermediate portion connected to the driving pulley; and a second cable having a first end portion, a second end portion, and an intermediate portion, the first end portion connected to the first radial side of the second driven pulley, the second end portion connected to the second radial side of the first driven pulley, and the intermediate portion connected to the driving pulley, wherein a rotation of the driving pulley about the second axis rotates the first and second driven pulleys in opposite directions about the first axis to one of open and close the first and second jaws. |
