Surgical clamp

1. A surgical clamp, comprising:

an end effector including,

a head configured to be disposed at a distal end of a shaft,

a first jaw and a second jaw extending from the head,

a first rotating offset, the first rotating offset being rotatably mounted to the head, the first rotating offset being pivotably coupled to the first jaw, and

a second rotating offset, the second rotating offset being rotatably mounted to the head, the second rotating offset being pivotably and slidably coupled to the first jaw;

wherein the first rotating offset and the second rotating offset are configured to articulate the first jaw by rotation of the first rotating offset and the second rotating offset effected by movement of at least one linkage; and

wherein the end effector is configured to move between an open position in which the first jaw and the second jaw are separated and substantially non-parallel, an intermediate position in which the first jaw and the second jaw are separated by a first distance and substantially parallel, and a closed position in which the first jaw and the second jaw are separated by a second distance, less than the first distance, and substantially parallel to one another.

2. The surgical clamp of claim 1 , wherein the first rotating offset is pivotably coupled to the first jaw by a first pin.

3. The surgical clamp of claim 1 , wherein the second rotating offset is pivotably and slidably coupled to the first jaw by a second pin, the second pin being slidable in a slot.

4. The surgical clamp of claim 3 , wherein the slot is disposed in the first jaw; and wherein the second pin is mounted to the second rotating offset.

5. The surgical clamp of claim 1 , wherein the first rotating offset comprises a first pulley.

6. The surgical clamp of claim 1 , wherein the second rotating offset comprises a second pulley.

7. The surgical clamp of claim 1 , further comprising the shaft, the shaft including a proximal end and the distal end, the at least one linkage extending along the shaft.

8. The surgical clamp of claim 7 , further comprising a handle disposed at the proximal end of the shaft, the handle including an actuator operatively connected to the end effector by the at least one linkage.

9. The surgical clamp of claim 1 , wherein the at least one linkage comprises at least one of a band, a rod, a cable, a rope, and a chain.

10. A surgical clamp, comprising:

an end effector including,

a head configured to be disposed at a distal end of a shaft,

a first jaw and a second jaw extending from the head,

a first rotating offset comprising a first pulley, the first rotating offset being rotatably mounted to the head, the first rotating offset being pivotably coupled to the first jaw by a first pin, and

a second rotating offset comprising a second pulley, the second rotating offset being rotatably mounted to the head, the second rotating offset being pivotably and slidably coupled to the first jaw by a second pin mounted to the second rotating offset, the second pin being slidable in a slot disposed in the first jaw;

wherein the first rotating offset and the second rotating offset are configured to articulate the first jaw by rotation of the first rotating offset and the second rotating offset effected by movement of at least one linkage; and

wherein the end effector is configured to move between an open position in which the first jaw and the second jaw are separated and substantially non-parallel, an intermediate position in which the first jaw and the second jaw are separated by a first distance and substantially parallel, and a closed position in which the first jaw and the second jaw are separated by a second distance, less than the first distance, and substantially parallel to one another.

11. The surgical clamp of claim 10 , wherein the at least one linkage comprises at least one rope.

12. A method of operating a surgical device comprising an end effector including a head, a first jaw, and a second jaw, the first jaw and the second jaw coupled to and extending from the head, the method comprising:

repositioning the first jaw from an open position in which the first jaw and the second jaw are separated and substantially non-parallel to an intermediate position in which the first jaw and the second jaw are separated by a first distance and substantially parallel, and to a closed position in which the first jaw and the second jaw are separated by a second distance, less than the first distance, and substantially parallel to one another, where repositioning the first jaw comprises,

rotating a first rotating offset rotatably mounted to the head, the first rotating offset being pivotably coupled to the first jaw, and

rotating a second rotating offset rotatably mounted to the head, the second rotating offset being pivotably and slidably coupled to the first jaw.

13. The method of claim 12 , wherein:

the first rotating offset is pivotably coupled to the first jaw by a first pin; and

rotating the first rotating offset comprises rotating the first jaw relative to the first rotating offset about the first pin.

14. The method of claim 12 , wherein:

the second rotating offset is pivotably and slidably coupled to the first jaw by a second pin slidably disposed in a slot; and

rotating the second rotating offset comprises rotating the first jaw relative to the second rotating offset and translating the first jaw relative to the second rotating offset.

15. The method of 14 , wherein:

rotating the first jaw relative to the second rotating offset comprises rotating the first jaw relative to the second rotating offset about the second pin; and

translating the first jaw relative to the second rotating offset comprises translating the second pin relative to the slot.

16. The method of claim 12 , wherein:

the first rotating offset comprises a first pulley;

the second rotating offset comprises a second pulley;

rotating the first rotating offset comprises rotating the first pulley; and

rotating the second rotating offset comprises rotating the second pulley.

17. The method of claim 12 , further comprising repositioning the second jaw from the open position, to the intermediate position, and to the closed position.

18. A surgical clamp, comprising:

an end effector including,

a first jaw including a first sliding pin slot and a first rotating pin cavity,

a second jaw including a second sliding pin slot and a second rotating pin cavity,

a first rotating offset comprising a first pulley, the first rotating offset being mounted to a head, the first rotating offset being pivotably and slidably coupled to the first jaw by a first pin received within the first sliding pin slot, and

a second rotating offset comprising a second pulley, the second rotating offset being mounted to the head, the second rotating offset being pivotably and slidably coupled to the second jaw by a second pin mounted to the second rotating offset, the second pin received within the second sliding pin slot;

wherein the first rotating offset and the second rotating offset are configured to articulate the first jaw and the second jaw by rotation of the first rotating offset and the second rotating offset effected by movement of at least one linkage; and

wherein the end effector is configured to move between an open position in which the first jaw and the second jaw are separated and substantially non-parallel, an intermediate position in which the first jaw and the second jaw are separated by a first distance and substantially parallel, and a closed position in which the first jaw and the second jaw are separated by a second distance, less than the first distance, and substantially parallel to one another.

19. An end effector, comprising:

a first wheel rotatable about a first axis, the first wheel including a first pin radially spaced from the first axis and parallel to the first axis;

a second wheel rotatable about a second axis, the second wheel including a second pin radially spaced from the second axis and parallel to the second axis;

a first jaw defining a first hole and a first slot, the first pin of the first wheel received in the first slot of the first jaw;

a second jaw defining a second hole and a second slot, the second pin of the second wheel received in the second slot of the second jaw,

wherein the first and second jaws are movable relative to one another between a first open non-parallel state, a second open parallel state, and a third closed parallel state in response to rotation of at least one of the first and second wheels.