Instrument for surgery

A surgical instrument comprising:

• a handle for receiving a user input for manipulating the instrument, wherein the handle includes a first handle member configured to rotate along a first input axis and a second handle member configured to rotate along a second input axis, wherein the first handle member includes a first elongated portion and the second handle member includes a second elongated portion, and the handle has an input angle defined by an angular relationship of the two elongated portions;
• an end-effector for performing a surgical operation, wherein the end-effector includes a first jaw member and a second jaw member, each configured to rotate along an output axis,
• wherein the first jaw member includes a first contact surface and the second jaw member includes a second contact surface, the first contact surface and the second contact surface are configured to face each other, and the end-effector has a closed configuration when the two surfaces are contacted to each other or an open configuration when the two surfaces are separated to each other;
• and
• a pulley-wire mechanism for coupling, operatively, the handle and the end-effector, wherein the mechanism includes a first input pulley operatively connected to the first handle member, a first output pulley operatively connected to the first jaw member and operatively coupled to the first input pulley via a first wire, a second input pulley operatively connected to the second handle member, and a second output pulley operatively connected to the second jaw member and operatively coupled to the second input pulley via a second wire;
• and
• wherein when the handle has the input angle being greater than a first predetermined angle, the end-effector has the open configuration and the user input inducing a rotation of at least one of the two handle members changes an angle between the two contact surfaces, and
• when the handle has the input angle being smaller than the first predetermined angle, the end effector has the closed configuration and the user input inducing a rotation of at least one of the two handle members changes a pressure between the two contact surfaces.