End effector

An end effector comprising:

• an outer sleeve defining a central longitudinal axis;
• first and second jaws;
• a jaw pivot, mounted in each of the jaws, rotatably coupling the jaws and defining a jaw axis about which rotation of the jaws achieves opening and closing of the jaws, wherein (i) the jaw axis defines a jaw plane perpendicular thereto in which the jaws move relative to one another and (ii) the coupled jaws form a jaw assembly;
• a split yoke assembly, generally aligned with the longitudinal axis, having first and second yoke segments, each yoke segment having a distal end and a proximal end, the yoke segments being mounted, about a scissors pivot, for scissors-movement with respect to one another;
• a set of first and second rotatable jaw mounts, each jaw mount having proximal and distal ends, the distal end of each rotatable jaw mount being pivotally mounted, via a corresponding jaw mount pivot, to a corresponding one of the first and second jaws, and, the proximal ends of the first and second rotatable jaw mounts being pivotally mounted, via first and second yoke pivots, respectively, to the distal ends of the corresponding first and second yoke segments, wherein the jaw mount pivots define axes of rotation that are parallel to the jaw axis, to support opening and closing of the jaws in the jaw plane, and the first and second yoke pivots define first and second yoke pivot axes respectively and collectively configure rotation of the jaw assembly relative to the longitudinal axis so that, in a straight-ahead position of the jaw assembly about the jaw mount pivots, the jaw plane is aligned with the longitudinal axis, and in an angled position of the jaw assembly about the jaw mount pivots, the jaw plane is at an angle to the longitudinal axis;
• a pushrod having proximal and distal ends, the pushrod being mounted in the outer sleeve for axial motion along the longitudinal axis between a forward position in a direction toward the jaw assembly and a rearward position in a direction away from the jaw assembly;
• a linkage system, coupled (a) to the first and second yoke segments near the proximal ends thereof and (b) to the distal end of the pushrod, the linkage system configured to move the proximal ends of the yoke segments towards each other, and therefore the distal ends of the yoke segments away from each other, so as to cause the jaws to move into an open position, when the pushrod is in a first one of the forward and rearward positions, and to move the proximal ends of the yoke segments away from each other, and therefore the distal ends of the yoke segments toward each other, so as to cause the jaws to move into a closed position, when the pushrod is in a second one of the forward and rearward positions;
• a translatable line, having a distal end thereof coupled to at least one of the rotatable jaw mounts, configured in a manner that translation of its proximal end causes the jaws to pivot about the first and second yoke pivot axes.