Multifunctional tool and method for minimally invasive surgery

A multifunction end-effector tool for use in minimally invasive surgery, comprising:

• (a) a mechanism adapted to be inserted into a patient's body, the mechanism comprising;
• (b) a tool head, the tool head including a pair of jaws pivotal about a first axis so as to provide a first function and pivotal about a second axis so as to provide a second function;
• and
• (c) an interface adapted for operative communication with a control external of the patient's body and to an actuator operatively connected to the tool head to move the jaws in response to user input from a control, the actuator comprising a compliant mechanism which has an input interface that changes the orientation and plane of movement of the jaws in response to the location and amount of force applied to the interface.

A multifunction tool for use in minimally invasive surgery, comprising:

• (a) an elongated shaft or flexible scope adapted to be inserted into a patient's body, and having opposite first and second ends;
• (b) a control handle on the first end;
• (c) a tool head on the second end, the tool head including a pair of jaws pivotal about a first axis so as to provide a first function and pivotal about a second axis so as to provide a second function;
• and
• (d) an actuator operatively connected to the handle and the tool head to move the jaws in response to user input at the handle, the actuator comprising a compliant mechanism including an interface that changes the orientation and plane of movement of the jaws in response to the location and amount of force applied to the interface.

A multifunction end-effector tool for use in minimally invasive surgery, comprising:

• (a) a mechanism adapted to be inserted into a patient's body, the mechanism comprising;
• (b) a tool head, the tool head including a pair of jaws pivotal about a first axis so as to provide a first function and pivotal about a second axis so as to provide a second function;
• and
• (c) an interface adapted for operative communication with a control external of the patient's body and to an actuator operatively connected to the tool head to move the jaws in response to user input from a control, the actuator comprising a compliant mechanism that changes the orientation and plane of movement of the jaws in response to the location and amount of force applied to the interface.

A multifunction tool for use in minimally invasive surgery, comprising:

• (a) an elongated shaft or flexible scope adapted to be inserted into a patient's body, and having opposite first and second ends;
• (b) a control handle on the first end;
• (c) a tool head on the second end, the tool head including a pair of jaws pivotal about a first axis so as to provide a grasping function and pivotal about a second axis so as to provide a cutting function;
• and
• (d) an actuator operatively connected to the handle and the tool head to move the jaws in response to user input at the control handle, the actuator comprising a compliant mechanism including an interface that changes the orientation and plane of movement of the jaws in response to the location and amount of force applied to the interface.

A multifunction end-effector tool for use in minimally invasive surgery, comprising:

• (a) a mechanism adapted to be inserted into a patient's body, the mechanism comprising;
• (b) a tool head, the tool head including a pair of jaws pivotal about a first axis so as to provide a grasping function and pivotal about a second axis so as to provide a cutting function;
• and
• (c) an interface adapted for operative communication with a control external of the patient's body and to an actuator operatively connected to the tool head to move the jaws in response to user input from a control, the actuator comprising a compliant mechanism that changes the orientation and plane of movement of the jaws in response to the location and amount of force applied to the interface.