IMPROVED END EFFECTOR MECHANISM FOR A SURGICAL INSTRUMENT

摘要

Improved end effector mechanisms for a surgical instrument used in minima lly invasive surgical instruments as well as instruments for general surgery or as part of robotically controlled end effectors. These end effector mech anisms include multiple grasping elements paired with drive links. Each gras ping element also serves as a stabilizing link for the next most distal gras ping element, forcing it to maintain its relative angle with respect to the opposing grasping elements.