End effector with redundant closing mechanisms

A tool for mounting on a manipulator having a first drive, the tool comprising:

• a proximal tool chassis releasably mountable to the manipulator;
• a drive motor coupled with the tool chassis and disposed adjacent the tool chassis;
• a distal end effector comprising a movable jaw;
• an instrument shaft having a proximal end adjacent the chassis, and a distal end adjacent the end effector;
• a first actuation mechanism coupling the first drive to the end effector when the chassis is mounted to the manipulator so as to articulate the end effector between an open configuration and a clamped configurations;
• and
• a second actuation mechanism coupling the drive motor to the end effector so as to articulate the end effector into the clamped configuration from the open configuration;
• wherein the moveable jaw opens and closes on a distal side of a jaw pivot, wherein the first actuation mechanism applies force to the jaw at a proximal side of the jaw pivot to vary position of the moveable jaw, and wherein the second actuation mechanism applies force to the moveable jaw at the proximal side of the jaw pivot to hold the moveable jaw in the clamped configuration.

A surgical instrument comprising:

• an end effector comprising a movable jaw;
• a first jaw actuation mechanism coupled to the movable jaw;
• and
• a second jaw actuation mechanism coupled to the movable jaw;
• wherein the first jaw actuation mechanism moves the movable jaw from an open position to a closed position independently of the second jaw actuation mechanism;
• wherein the second jaw actuation mechanism moves the movable jaw from the open to the closed position independently of the first jaw actuation mechanism;
• and
• wherein the moveable jaw opens and closes on a distal side of a jaw pivot, and wherein the first jaw actuation mechanism applies force to the moveable jaw at a proximal side of the jaw pivot to vary position of the moveable jaw, and wherein the second jaw actuation mechanism applies force to the moveable jaw at the proximal side of the jaw pivot to hold the moveable jaw in a clamped position.