Jaw assembly for surgical devices
Surgical devices are disclosed herein that generally include an intracorporeal elbow joint to facilitate translational movement of an end effector while allowing a body portion of the surgical device and a trocar or working channel through which the device is inserted to be maintained in a fixed angular orientation relative to the patient. This allows a plurality of such devices to be used effectively with a single incision or access device. Such devices also generally provide end effector movement with six degrees of freedom, while maintaining a mechanical linkage between the user and the end effector and while mimicking and/or mirroring natural user movement. Various methods related to such devices are also disclosed.
1. An end effector assembly comprising:
first and second major jaws pivotally coupled to each other about a first pivot joint;
first and second minor jaws pivotally coupled to each other about a second pivot joint;
wherein a distal end of the first minor jaw is pivotally coupled to the first major jaw by a first pivot pin that extends through the first minor jaw and a distal end of the second minor jaw is pivotally coupled to the second major jaw by a second pivot pin that extends through the second minor jaw.
2. The end effector assembly of claim 1 , wherein closure of the first and second major jaws at a first rate causes closure of the first and second minor jaws at a second rate that is greater than the first rate.
3. The end effector assembly of claim 1 , wherein the first major jaw includes a first recess sized to receive the first minor jaw.
4. The end effector assembly of claim 3 , wherein the second major jaw includes a second recess sized to receive the second minor jaw.
5. The end effector assembly of claim 4 , wherein the first and second major jaws can be positioned in a closed configuration in which the first and second minor jaws are completely received within the first and second recesses.
6. The end effector assembly of claim 1 , wherein the first pivot pin extends in a direction transverse to a longitudinal axis of the first minor jaw and the second pivot pin extends in a direction transverse to a longitudinal axis of the second minor jaw.
7. The end effector assembly of claim 1 , wherein a proximal end of the first major jaw is coupled to a proximal end of the second major jaw and wherein a proximal end of the first minor jaw is coupled to a proximal end of the second minor jaw.
8. The end effector assembly of claim 7 , wherein the proximal end of the first minor jaw is coupled to the proximal end of the second minor jaw by a cylinder and cup joint.
9. The end effector assembly of claim 1 , wherein the first and second minor jaws are shorter than the first and second major jaws.
10. The end effector assembly of claim 1 , wherein the first major jaw has a proximal cylindrical portion disposed between upper and lower proximal cylindrical portions of the second major jaw.
11. The end effector assembly of claim 1 , wherein proximal ends of the first and second minor jaws are positioned distal to proximal ends of the first and second major jaws.