CAM actuated surgical device

Abstract

A cam activated surgical device includes a housing, a cam including a cam body and a cam movement translation member, and a first jaw and a second jaw located at a distal end of the housing. The cam rotates within the housing along a central rotation axis. The first jaw includes a retaining unit that opposes a face of the cam body and the retaining unit includes a first movement translation member that is configured to engage with the cam movement translation member. The first jaw moves relative to the second jaw between an open and a closed position in response to the rotation of the cam. In an embodiment, each jaw houses a roller for driving a needle therebetween. In applications, the device can be configured as an end effector of a robotic arm or as an end effector of a manual laparoscopic device.

Description

TITLE OF THE INVENTIONCAM ACTUATED SURGICAL DEVICECROSS REFERENCE TO RELATED APPLICATIONS

[0001] The present application claims the benefit of US Provisional Patent Application 63 / 597,899 filed 10 November 2023; which is incorporated herein by reference for all purposes.TECHNICAL FIELD

[0002] Generally, this disclosure relates to devices, including articulating devices and surgical devices.BACKGROUND

[0003] A user or, in certain instances, a surgeon, operating on an object, such as a tissue of a patient, uses various devices to grasp, suture through, and / or dissect the object, such as, for example, a tissue. For this purpose, in one example, these devices include needle drivers with opposing, hinged jaws.

[0004] Needle drivers can provide many benefits to users, including surgeons or medical professionals during certain activities, including surgical or other medical procedures, such as during laparoscopic surgery. Laparoscopic needle drivers, for example, enable surgeons to grasp and manipulate needles to suture tissue, and to make incisions within a body of a patient. An exemplary needle driver is described in US Pat. App. No. 16 / 447,543 filed on June 20, 2019, now US Pat. No. 11 ,937,806 issued on March 26, 2023 (hereinafter known as the ‘806 patent).SUMMARY

[0005] This present disclosure, in certain embodiments, relates to the ‘806 needle driver, in one example application. Specifically, the present disclosure discloses and describes a cam actuated mechanism for opening and closing the jaws of a device, such as, for example, the jaws of a needle driver as described in the ‘806 patent. In certain embodiments, the cam actuated mechanism is controlled by a rotating shaft.

[0006] This disclosure relates in general, according to one aspect, a device, such as, for example, an articulating device or a surgical device. The device includes a housing with a distal end, a cam, and a first jaw and a second jaw located at the distal end of the housing. The cam includes a cam body that defines a central rotation axis and that has a face that faces the distal end of the housing, where the cam is configured to rotate within the housing along the central rotation axis, and includes a cam movement translation member. The first jaw includes a retaining unit that opposes the face of the cam body, and the retaining unit includes a first movement translation member that is configured to engage with the cam movement translation member. The first jaw can move relative to the second jaw between an open position and a closed position in response to the rotation of the cam.

[0007] In one implementation, the cam movement translation member is a cam boss that extends outward from the face of the cam body, and the first movement translation member is an inside surface of the retaining unit. The cam boss is in contact with the first movement translation member when the first jaw is in the closed position.

[0008] In one or more embodiments, the first jaw is pivotally connected to the second jaw and is biased by a spring to normally be within the open position, and the first jaw is in the open position when the cam boss is not in contact with the first movement translation member. In other embodiments, the first jaw includes a second movement translation mechanism that extends outward from a bottom portion of the retaining unit towards the face of the cam body and is configured to engage with the cam movement translation member. The second movement translation mechanism is in contact with the cam movement translation member when the first jaw is in the open position.

[0009] Typically, the cam movement translation member is a cam boss positioned on the face of the cam body such that an outward side of the boss is adjacent to an edge of the cam body. In example applications, the device can be configured for use as an end effector of a robotic arm in a robotic surgical system and as an end effector in a manual laparoscopic device.

[0010] In certain embodiments, the cam includes a cam shaft connected to the cam body that is aligned along a length of the cam shaft with the central rotation axis, and the cam shaft is configured to engage with a first flexible drive shaft. In certain embodiments,the first jaw also hosts a first roller shaft, a first roller and a first set of teeth. In certain embodiments, the second jaw hosts a second roller shaft, a second roller and a second set of teeth, where the first roller opposes the second roller. In certain embodiments both the first jaw hosts a first roller shaft, a first roller and a first set of teeth and the second jaw hosts a second roller shaft, a second roller and a second set of teeth. In certain embodiments, when the first jaw is in the closed position, the first set of teeth engage the second roller to enable a needle to be driven between the first roller and the second roller as at least one of the first roller shaft or the second roller shaft rotates. In certain embodiments, when the second jaw is in the closed position, the second set of teeth engage the first roller to enable a needle to be driven between the first roller and the second roller as at least one of the first roller shaft or the second roller shaft rotates. In certain embodiments, when the first jaw is in the closed position, the first set of teeth and the second set of teeth are engaged to enable a needle to be driven between the first roller and the second roller as at least one of the first roller shaft or the second roller shaft rotates. In certain embodiments, the first roller shaft can extend outward from a proximal end of the housing and be configured to engage with a first flexible drive shaft. In certain embodiments, the second roller shaft can extend outward from a proximal end of the housing and be configured to engage with a second flexible drive shaft.

[0011] This disclosure also relates in general, according to another aspect, to a method of operation for a cam activated device including a housing with a distal end. The method comprises rotating a cam within the housing along a central rotation axis, the cam including: a cam body that defines the central rotation axis, a cam movement translation member, and a face that faces the distal end of the housing and the cam movement translation member. The method also comprises locating a first jaw and a second jaw at the distal end of the housing, the first jaw including a retaining unit that opposes the face of the cam body, and the retaining unit including a first movement translation member that is configured to engage with the cam movement translation member. The method also comprises moving the first jaw relative to the second jaw between an open position and a closed position in response to the rotating of the cam.

[0012] In certain embodiment, the method further comprises adapting the device for use as an end effector of a robotic arm in a robotic surgical system, and adapting thedevice for use as an end effector of a manual laparoscopic device. In certain embodiments, the method further comprises moving the first jaw relative to the second jaw to the open position under force, and moving the first jaw relative to the second jaw to the closed position under force.BRIEF DESCRIPTION OF DRAWINGS

[0013] FIG. 1 shows a side view of an embodiment of a cam actuated surgical device (“surgical device”) constructed according to principles of the present invention, where the surgical device has a first jaw and a second jaw and the device is shown in an open position, and where the first jaw is shown as an upper jaw and the second jaw is shown as a lower jaw;

[0014] FIG. 2 shows a right side view of a cam in the surgical device of FIG. 1 ;

[0015] FIG. 3 shows a perspective view of a retaining unit of the surgical device, according to one implementation, where the retaining unit is formed within the first jaw and is configured to engage with a cam movement translation member of the cam, and where the retaining unit enables the first jaw to operate as a cam follower of the cam;

[0016] FIG. 4 shows a perspective view of another implementation of the retaining unit;

[0017] FIG. 5 shows a side view of another embodiment of a surgical device, where the device is in an open position and each of the jaws houses a roller for driving a needle therebetween;

[0018] FIG. 6 shows a side section view of the surgical device in FIG. 5, where the figure also shows flexible drive shafts in connection with the device;

[0019] FIG. 7 is an enlarged partial perspective view of the surgical device in FIG. 6, where the figure shows the device in a closed position;

[0020] FIGS. 8A-8E are enlarged partial perspective views of the surgical device in FIG. 6, where the figures show a progression of operation of the device starting from an open position in FIG. 8A to a closed position in FIG. 8E;

[0021] FIG. 9 is an enlarged perspective view of an exemplary surgical device, where the first jaw is removed to show detail for a cam stop configured within a housing of the surgical device;

[0022] FIG. 10 is an enlarged transparent side view of the surgical device in FIG. 5, where the figure shows flexible drive shafts connected to the device but disengaged from the cam shaft and from the second roller shaft;

[0023] FIG. 11 is a block diagram of an exemplary robotic surgical system that includes an exemplary surgical device as an end effector device, where the surgical device adaptably connects to the robotic surgical system via an end effector interface; and

[0024] FIGS. 12-13 are schematic diagrams that show more detail for an exemplary end effector interface in the robotic surgical system of FIG. 11 .DETAILED DESCRIPTION OF PREFERRED EMBODIMENTS

[0025] Generally, this disclosure discloses various surgical devices and methods of manufacture and use thereof. The surgical devices can include a plurality of rollers that can move between a closed position and an open position. The rollers can rotationally drive a needle therebetween when the rollers are in the closed position. The surgical device can be used to grasp an object (e.g., animate, inanimate, tissue, instrument, implantable) when its jaws are in the closed position or in the open position or act (e.g., manipulate, dissect, isolate, separate, intervene, mount, drop, move, drag) with the object when the rollers are in the closed position or in the open position. For example, the object, when animate, can include a tissue, an organ, a body part, whether of human or animal, or others. For example, the tissue can be a muscle tissue, a bone tissue, a nerve tissue, an organ tissue, or others. For example, the object, when inanimate, can include a medical device, a prosthesis, an implantable, a machine, a surgical instrument, or others. The closed position can be a clamping position. Note that this disclosure may be embodied in many different forms and should not be construed as necessarily being limited to various embodiments disclosed herein. Rather, these embodiments are provided so that this disclosure is thorough and complete, and fully conveys various concepts of this disclosure to skilled artisans.

[0026] Note that various terminology used herein can imply direct or indirect, full or partial, temporary or permanent, action or inaction. For example, when an element is referred to as being "on," "connected," or "coupled" to another element, then the element can be directly on, connected, or coupled to another element or intervening elements canbe present, including indirect or direct variants. In contrast, when an element is referred to as being "directly connected" or "directly coupled" to another element, then there are no intervening elements present.

[0027] As used herein, various singular forms "a," "an" and "the" are intended to include various plural forms as well, unless specific context clearly indicates otherwise.

[0028] As used herein, various presence verbs "comprises," “includes” or "comprising," “including” when used in this specification, specify a presence of stated features, integers, steps, operations, elements, or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, or groups thereof.

[0029] As used herein, a term "or" is intended to mean an inclusive "or" rather than an exclusive "or." That is, unless specified otherwise, or clear from context, "X employs A or B" is intended to mean any of a set of natural inclusive permutations. That is, if X employs A; X employs B; or X employs both A and B, then "X employs A or B" is satisfied under any of the foregoing instances.

[0030] As used herein, a term "or others," "combination", "combinatory," or "combinations thereof" refers to all permutations and combinations of listed items preceding that term. For example, "A, B, C, or combinations thereof is intended to include at least one of: A, B, C, AB, AC, BC, or ABC, and if order is important in a particular context, also BA, CA, CB, CBA, BCA, ACB, BAC, or CAB. Continuing with this example, expressly included are combinations that contain repeats of one or more item or term, such as BB, AAA, AB, BBC, AAABCCCC, CBBAAA, CABABB, and so forth. Skilled artisans understand that typically there is no limit on number of items or terms in any combination, unless otherwise apparent from the context.

[0031] As used herein, unless otherwise defined, all terms (including technical and scientific terms) used herein have the same meaning as commonly understood by one of ordinary skill in an art to which this disclosure belongs. Various terms, such as those defined in commonly used dictionaries, should be interpreted as having a meaning that is consistent with a meaning in a context of a relevant art and should not be interpreted in an idealized or overly formal sense unless expressly so defined herein.

[0032] As used herein, relative terms such as "below," "lower," "above," and "upper" can be used herein to describe one element's relationship to another element as illustrated in the set of accompanying illustrative drawings. Such relative terms are intended to encompass different orientations of illustrated technologies in addition to an orientation depicted in the set of accompanying illustrative drawings. For example, if a device in the set of accompanying illustrative drawings were turned over, then various elements described as being on a "lower" side of other elements would then be oriented on "upper" sides of other elements. Similarly, if a device in one of illustrative figures were turned over, then various elements described as "below" or "beneath" other elements would then be oriented "above" other elements. Therefore, various example terms "below" and "lower" can encompass both an orientation of above and below.

[0033] As used herein, a term "about" or "substantially" refers to a + / - 10% variation from a nominal value / term. Such variation is always included in any given value / term provided herein, whether or not such variation is specifically referred thereto.

[0034] FIG. 1 shows an embodiment of a surgical device 20-1 . The surgical device 20- 1 has various components including a housing 400, a first jaw 104, a second jaw 102 and a cam 300. In the drawings of the present disclosure, the first jaw 104 is shown as an upper jaw and the second jaw 102 is shown as a lower jaw, but the arrangement is not limited thereto, and each of the first jaw 104 and the second jaw 102 can be interchangeably an upper jaw or a lower jaw. The first jaw 104 and the second jaw 102 can be independently embodied as a housing or a case, in one example. A coordinate axis 1203 with axes labeled X, Y and Z is also shown for reference.

[0035] More detail for the components of the surgical device 20-1 is as follows. The housing 400 has a proximal end 22 and a distal end 40. The first jaw 104 has a proximal end 211 and a distal end 213, includes a base 116 at its proximal end 211 and has a first working surface 113. The second jaw 102 has a second working surface 103 and opposes the first jaw 104. The cam 300 includes a cam body 306 with a face 303, a cam shaft 302 (partially shown in phantom) and a cam movement translation member 304 (shown in phantom). The cam shaft 302 connects to a side of the cam body 306 that opposes its face 303 and extends outwards from the cam body 306 towards the proximal end 22 of the surgical device. The cam movement translation member 304 connects to the face 303of the cam body 306 and extends outwards from the cam body 306 towards the distal end 40 of the surgical device 20-1. The surgical device 20-1 also includes a hinge 130.

[0036] The housing 400 or case may be opaque, translucent or transparent, and may be solid or perforated. The housing 400 or case may be made of any material that is suitable for a medical use. The material can be, flexible, elastic, or resilient. The material can be suitable to be disinfected, sterilized, or sanitized, which can be with a hot steam, an autoclave, or others. For example, the material can include plastic, metal, metallic material, metal alloy or ceramic, rubber, shape memory, fabric, foam, or others. The housing or case may be integrally formed in the needle driver or may be sectioned into parts covering one or more components of the needle driver. The first jaw 104 and the second jaw 102 can be separate or distinct from each other, or can be unitary or integral therewith.

[0037] The first jaw 104 and the second jaw 102, when closed, collectively has a lateral cross-section that is somewhat circular or oval, but this shaping can vary (e.g., rectangular, square, triangular, oval). The shape of the first jaw 104 and the second jaw 102 can be the same or different. The length of the first jaw 104 can be the same as or different (e.g., longer or shorter) than the length of the second jaw 102. The first jaw 104 and the second jaw 102 can include the same or different materials, and such materials can be a material suitable for a medical use. The material can be, flexible, elastic, or resilient. The material can be suitable to be disinfected, sterilized, or sanitized, which can be with a hot steam, an autoclave, or others. For example, the material can include plastic, metal, metallic material, metal alloy or ceramic, rubber, shape memory, fabric, foam, or others.

[0038] The hinge 130 pivotally connects the second and first jaws 102, 104. The hinge 130 is formed from an upper hinge portion 250 of the base 116, a lower hinge portion (not visible) of the second jaw 102 and a pin 132 that connects the upper hinge portion 250 to the lower hinge portion. A pin axis 220 of the hinge 130 is also shown. The pin axis 220 is along the Z direction of the coordinate axes 12031 comes into and out of the paper. In an embodiment, the hinge 130 may also include a spring that biases the first jaw 104 to remain normally open relative to the second jaw 102 (or can bias the second jaw 102 toremain normally open relative to the first jaw 104). In either case, the use of the spring can hold the surgical device 20-1 normally open.

[0039] The components of the surgical device 20-1 are arranged as follows. The cam body 306 defines a central rotation axis 320 and its face 303 faces the distal end 42 of the housing 400 and the proximal end 211 of the first jaw 104. The cam 300 is configured to rotate within the housing 400 around the central rotation axis 320. The cam shaft 302 connects to a side of the cam body 306 that is opposite its face 303, seats longitudinally within the housing 400 and extends somewhat beyond the proximal end 22 of the housing 400.

[0040] The first jaw 104 includes a base 116 and a retaining unit 200 (not visible in the figure). The retaining unit 200 is included or otherwise formed within a recess of the base 116. In one implementation, as shown, the second jaw 102 connects to the distal end 42 of the housing 400 and is pivotally connected to the first jaw 104 via the hinge 130.

[0041] The cam 300 and the first jaw 104 are respectively configured in a cam / cam follower arrangement. For this purpose, the cam movement translation member 304 is configured to engage with at least a first movement translation member (not shown) of the retaining unit 200 of the first jaw 104. The cam movement translation member 304 can translate the rotary motion of the cam 300 into upwards and downwards motion of the first jaw 104 with respect to the pin axis 220, via at least the first movement translation member. . The movement of the first jaw 104 is thus relative to the second jaw 102 between an open position and a closed position, in the direction of the Y axis of the coordinate axes 1203, in response to the rotation of the cam 300.

[0042] In the illustrated example, the cam movement translation member 304 is a boss that extends outward from the face 303 and defines a boss axis 322. The boss axis 322 is located at a distance 99 from the central rotation axis 320. The first jaw 104 moves relative to the second jaw 102 between an open position and a closed position in response to the rotation of the cam 300. More detail for the retaining unit 200 accompanies the descriptions of FIGS. 3 and 4 hereinbelow.

[0043] The surgical device 20-1 can be used for an open surgery, a minimally invasive surgery, a laparoscopic surgery, or an end effector robotic surgery, in examples. As such, the surgical device 20-1 can be used for manual surgery or automated surgery. Someexamples of surgeries where the surgical device 20-1 can be employed include laparoscopic surgery, robotic surgery, video-assisted or unassisted thoracoscopic surgery, fetal surgery, arthroscopic surgery, natural orifice surgery, endoscopic surgery, gynecologic surgery, cardiac surgery, colorectal surgery, pulmonary surgery, gastric bypass surgery, hysterectomy surgery, dental surgery, urological surgery, brain surgery, or bariatric surgery, or among many others in human (e.g., from newborn and older, male, female) or animal (e.g., mammal, birds, fish, land animals) applications.

[0044] In other examples, the surgical device 20-1 is applicable to any manual / handheld surgical instrument that can be used during open, laparoscopic, and endoluminal surgery. In robotics applications, the surgical device 20-1 may be configured for operation with both straight and endoluminal shafts, in examples.

[0045] The first and second jaws 104, 102 can be used during surgery to perform various tasks and can take many forms. In certain embodiments, including as shown in the illustrated example of FIG. 1 , the working surfaces 113, 103 are substantially smooth and are designed for grasping objects and tissues without damaging the objects or applying trauma to the tissues. Other embodiments include examples of jaws 104, 102 with different bodies that are tailored to the tasks they are designed to perform and / or with different working surfaces 113, 103 which include: rollers integrated with surfaces for driving a needle; a traditional needle driver with flat tips; graspers, scissors, dissectors, trocars and forceps of any type or design; biopsy punches and forceps; clip appliers and clip removers for any type of implant or device; rongeurs, sponge holders, clamps and shears including hot shears that combine cutting with coagulation; towel clips, tissue or bone distractors and compressors, staplers and stapler removers, tissue immobilizers and morcellators; monopolar and bipolar coagulating forceps, hemostats and hooks, and combination devices such as ENSEAL devices that cut and cauterize vessels. ENSEAL is a registered trademark of Johnson & Johnson, Inc.

[0046] FIG. 2 shows more detail for the cam 300. The cam 300 has a distal end 328 and a proximal end 318. The cam body 306 is at the distal end 328 of the cam, and the cam shaft 302 connects to a side of the cam body 306 that opposes its face 303. The cam shaft 302 has a length L that extends from its connection to the cam body 306 to the proximal end 318. The cam shaft 302 also has a flat surface 312 near the proximal end318 of the cam 300. The flat surface 312 can facilitate connection of the cam shaft 302 to a drive shaft for driving I rotating the cam 300. The cam movement translation member 304 has a substantially cylindrical base part 310 that connects to the face 303 of the cam body 306, and a conical part 308 attached to the base part 310.

[0047] Typically, the cam movement translation member 304 is positioned on the face 303 of the cam body 306 such that an outward side of the boss is adjacent to an outside edge 305 of the cam body 306. Such an arrangement maximizes the distance 99 between the boss axis 322 and the central rotation axis 320 of the cam 300 (as shown in FIG. 1 ) and thus maximizes an eccentricity of rotation of the cam movement translation member 304.

[0048] In one or more embodiments, a diameter of the cam body 306 is larger than a diameter of the cam shaft 302 and larger than a diameter the cam movement translation member 304, but is not limited thereto. In one or more embodiments, the diameter of the cam body 306 may be the same as or smaller than the cam shaft 302. In one or more embodiments, the diameter of the cam body 306 may be the same as or smaller than the diameter of the cam movement translation member 304. In an embodiment, the diameter of the cam shaft 302 and the diameter of the cam movement translation member 304 may be the same or different. In an embodiment, the proximal end 318 of the cam shaft 302 may include a flat surface 312, but it is not limited thereto, and the cam shaft 302 may have any suitable shape (cylindrical, rectangular, pentagonal, octagonal, triangular, oval, or others).

[0049] The conical part 308 may have a symmetrical or an asymmetric shape. Typically, the conical part 308 has a tapered shape, with its narrow most portion located furthest away from the face 303 of the cam body 306. In an embodiment, the conical part 308 may be connected to the cylindrical part 310 through any suitable connection or the conical part 308 may be integrally formed with the cylindrical part 310. However, it should be noted that the shape of the cam movement translation member 304, including the conical part 308 and the cylindrical part 310, are not limited, and can be any suitable shape as appropriate for opening and closing of the surgical device 20 of the present disclosure as described herein.

[0050] The cam 300 and any part thereof, including but not limited to the cam shaft 302, the cam movement translation member 304 and the cam body 306 may include any material suitable for a medical use. The material can be, flexible, elastic, or resilient. The material can be suitable to be disinfected, sterilized, or sanitized, which can be with a hot steam, an autoclave, or others. For example, the material can include plastic, metal, metallic material, metal alloy or ceramic, rubber, shape memory, fabric, foam, or others. In an embodiment, the material of the cam movement translation member 304 is beryllium copper but any suitable material that has a low coefficient of friction can be used. In an embodiment, the cam movement translation member 304 further includes a bushing. In yet another example, the cam 300 can be formed from a rigid unitary material such as metal, metallic material, metal alloy or ceramic and having a low coefficient of friction.

[0051] FIGS. 3 and 4 show more detail for the base 116 of the first jaw 104 and the retaining unit 200- 1 , 200-2 within the base 116. A proximal end 211 of the first jaw 104 and a pin axis 220 for alignment of the pin 132 (shown in FIG. 1 ) within the hinge 130 (shown in FIG. 1 ) are also shown.

[0052] FIG. 3 shows a first implementation of a retaining unit 200-1 formed within the base 116 of the first jaw 104. The retaining unit 200-1 is formed in a recess 330 within the base 116 that extends inside and upward from the top hinge portion 250 towards a top 209 of the base 116. The retaining unit 200-1 seats within the recess 330 near the top 209 of the base 116 and has a proximal end 203 and a distal end 205 that opposes the proximal end 203. The retaining unit 200-1 extends from the proximal end 211 of the first jaw 104 partially into the recess 330, so as to not interfere with the pin 132 and pin axis 220. In the illustrated example, the cam 300 is configured to engage with at least a first movement translation member 202 of the retaining unit 200-1. Here, the first movement translation member 202 is a curved inside surface of the retaining unit 200-1 .

[0053] In another embodiment, when the retaining unit 200-1 is used, the hinge 130 (shown in FIG. 1 ) may also be biased with a spring to hold the first jaw 104 in a normally open position.

[0054] Opening and closing of a surgical device 20 (such as the surgical device 20-1 ) that incorporates the first retaining unit 200-1 generally operates as follows. The first and second jaws 104, 102 are in a normally opened state. When the surgical device 20-1 isopen, the cam 300 is oriented such that its cam movement translation member 304 is in a lowest position I is located nearest to the second jaw 102, and the cam movement translation member 304 is not in contact with the first movement translation member 202. As the cam movement translation member 304 rotates upwards, one or both of its surfaces 310, 308 come into contact I interfere with the first movement translation member 202 and imparts a substantially upward force to the retaining unit 200-1 . In response, the first jaw 104 begins to close I move downwards towards the second jaw 102 with respect to the pivot provided by the hinge 130. When the cam movement translation member 304 nears its highest point, the jaws 104, 102 are closed at a maximum clamping force.

[0055] It can also be appreciated that the highest point of the cam translation member 304 is somewhat less than a 12 o’clock position of the cam translation member 304, relative to the face 303 of the cam body 306. Such a highest position of the cam translation member 304 provides a maximum interference of the first movement translation member 202 with the first movement translation member 202 and thus imparts a maximum upward force. In response, the hinge 130 translates the maximum upward force of the cam translation member 304 into a maximum downward clamping force of the first jaw 104 upon the second jaw 102. Otherwise, if the cam movement translation member 304 were able to rotate to a 12 o’clock position as its highest position, the jaws 102, 104 would merely close without a clamping force.

[0056] Once the jaws 104, 102 are closed, an operator reverses the direction of rotation of the cam 300 to begin the process of opening the jaws 104, 102. During this process, the first movement translation member 202 rotates from its highest point back down towards its lowest point, and the amount of force that the cam movement translation member 304 places upon the first movement translation member 202 decreases. Because the jaws 104, 102 are under spring tension, the first jaw 104 begins to open, and returns to the fully open / normally open state when the cam movement translation member 304 is no longer in contact with the first movement translation member 202.

[0057] FIG. 4 shows a second implementation of the retaining unit 200-2 that improves upon the retaining unit 200-1 in FIG. 3. The retaining unit 200-2 is designed to not only close the first jaw 104 under force, as with the retaining unit 200-1 , but also to open thefirst jaw 104 under force. This provides additional benefits during a surgical procedure, such as the ability to spread tissue apart or to manipulate mechanical components such as clips, in examples. Here, the hinge 130 may or may not be spring loaded.

[0058] In the illustrated example, the retaining unit 200-2 includes the first movement translation member 202 and also includes a second movement translation member 204. Here, the second movement translation member 204 is a boss that is located near the top hinge portion 250 of the base 116. The second movement translation member 204 projects outward from the distal end 205 of the retaining unit 200-2 into the recess 330 and is located below the first movement translation member 202.

[0059] The length to which the second movement translation member 204 extends outward from the retaining unit 200-2 is not limited, and any suitable length that provides for movement of the retaining unit upward or downward is acceptable. However, it should be noted that the arrangement is not limited thereto, and the second movement translation member 204 may be connected to the first movement translation member 202 through one or more ends.

[0060] Opening and closing of a surgical device 20 that incorporates the second retaining unit 200-2 generally operates as follows. The cam movement translation member 304 is rotated about the central rotation axis 320. When the first and second jaws 104, 102 are closed, the cam movement translation member 304 is at a highest point and is in contact with the first movement translation member 202. As the cam movement translation member 304 rotates downward, its surfaces 310, 308 impart less force on the retaining unit 200-2 and the first jaw 104 begins to open. The surfaces 310, 308 then begin to engage with the second movement translation member 204 at a top surface 403 of the second movement translation member 204. In response, the first jaw 104 increasingly opens under force. When the cam movement translation member 304 nears its lowest point, the jaws 104, 102 are held open at a maximum force.

[0061] A material of the retaining unit 200-2 and any part thereof, including but not limited to the first movement translation member 202 and the second movement translation member 204 may include any material suitable for a medical use. The material can be, flexible, elastic, or resilient. The material can be suitable to be disinfected, sterilized, or sanitized, which can be with a hot steam, an autoclave, or others. Forexample, the material can include plastic, metal, metallic material, alloy, ceramic, rubber, shape memory, fabric, foam, or others.

[0062] In one or more embodiments, the second movement translation member 204 has a polygon- shaped tip. However, it should be noted that the shape of the second movement translation member 204 is not limited, and can include any suitable shape (cylindrical, rectangular, pentagonal, octagonal, triangular, oval, or others) compatible with the cam movement translation member 304.

[0063] FIG. 5 shows another surgical device 20-2. The device 20-2 includes substantially similar components as the surgical device 20-1 in FIG. 1 and operates in a substantially similar way. However, there are some differences.

[0064] The surgical device 20-2 includes a first roller 112 housed by the first jaw 104 and a second roller 114 housed by the second jaw 102. The first roller 112 connects to a first roller shaft (not visible) and the second roller 114 connects to a second roller shaft 110. The second roller shaft 110 is configured to rotate within the housing 400 and extends somewhat outward from the proximal end 22 of the housing 400. The rollers 112, 114 of the surgical device 20-2 are another form of working surfaces 113, 103, respectively, as shown in the surgical device 20-1 of FIG. 1 and are also forms of working surfaces in the surgical device 20-2.

[0065] FIG. 6 is a side section view of the surgical device 20-2 that shows components that could not be shown in FIG. 5. The surgical device 20-2 is also configured to include the retention unit 200-2 of FIG. 4.

[0066] In the illustrated example, the surgical device 20-2 includes a first roller shaft 106 that connects to the first roller 112 and the second roller shaft 110 connects to the second roller 114. The surgical device 20-2 also includes a second circular gear 142 with teeth and a first circular gear 140 with teeth. These gears 140, 142 oppose one another and are hereinafter known as first and second teeth, respectively. The first teeth 140 are housed within the first jaw 104 and the second teeth 142 are housed within the second jaw 102.

[0067] In the illustrated example, the second roller shaft 110 connects to and passes through a center of the second teeth 142, and the first roller shaft 106 connects to and passes through a center of the first teeth 140. When the surgical device 20-2 is closed,the teeth 140, 142 engage with one another, and rotation of the second roller shaft 110 also causes the first roller shaft 106 to rotate for driving a needle therebetween, in one application.

[0068] Portions of a first flexible drive shaft 502 and a second flexible drive shaft 504 are also shown. The drive shafts 502, 504 are enclosed in a cladding 600. In one implementation, the cladding 600 is a flexible tube with an outside diameter of about 5.6 millimeters (mm) with an inside diameter of about 4.8 mm. The cam shaft 302 is configured to attach to the first flexible drive shaft 502, while the second roller shaft 110 is configured to attach to the second flexible drive shaft 504.

[0069] FIG. 7 shows more detail for the surgical device 20-2 in FIG. 6 when its jaws 104, 102 are closed. The first and second teeth 140, 142 are engaged, and the cam movement translation member 304 is at its highest position, is engaged with the first movement translation member 202 and is not engaged with the second movement translation member 204 of the retaining unit 200-2.

[0070] FIGS. 8A to 8E illustrate the opening and closing mechanism of the surgical device 20-2 in FIG. 6. Starting with FIG. 8A, the surgical device 20-2 in an open position with an opening (channel, space, gap) between the first jaw 104 and the second jaw 102. As the cam 300 rotates, the first jaw 104 moves in a direction toward the second jaw 102, and the opening (channel, space, gap) between the first jaw 104 and second jaw 102 is reduced in size (FIGS. 8B, 8C, 8D) until the first jaw 104 is positioned adjacent to the second jaw 102 in FIG. 8E.

[0071] While FIGS. 8A to 8E show the movement of the cam 300 and the first jaw 104, the surgical device 20-2 of the present disclosure is not limited thereto, and the second jaw 102 may be moved in a similar manner, either independently of or at the same time as the first jaw 104. It should also be noted that in a closed position, the first jaw 104 and the second jaw 102 may be directly in contact with each other, may be in contact with each other including any intervening surgical implement described herein (e.g., needle, suture thread, and the like), may include a space between the first jaw 104 and the second jaw 102, or may include any other configuration suitable for the operation of the surgical device 20 of the present disclosure for its intended purpose.

[0072] It can be appreciated that the closed position of the surgical device 20 can be a terminal position (e.g., last, extreme, lower bound) or the open position can be a terminal position (e.g., last, extreme, upper bound). In an embodiment, the second jaw 102 has a range of motion spanning between the closed position and the open position. In another example, the first jaw 104 has a range of motion spanning between the closed position and the open position. However, this configuration can vary where the closed position is not a terminal position (e.g., within range of positions, between terminal positions) or the open position is not a terminal position (e.g., within range of positions, between terminal positions).

[0073] FIG. 9 is a magnified right side perspective view of the surgical device 20-2 in FIG. 6. The first jaw 104 is removed from the figure to reveal additional features of the device 20-2. The second jaw 102 includes a lower hinge portion 350 that is configured to engage with the upper hinge portion 250 of the first jaw 104 (not shown) to form the hinge 130. The housing 400 can also include a stop 1002 that prevents the cam 300 from turning when the cam movement translation member 304 reaches its lowest position (i.e. , jaws are open). When the cam movement translation member 304 reaches the stop 1002, the operator can reverse the rotation of the cam 300 to begin the process of closing the jaws 104, 102.

[0074] The cam movement translation member 304 translates rotary motion of the cam 300 to upward and downward motion of the first jaw 104 with respect to the pin axis 220. As a result, the first jaw 104 operates as a cam follower of the cam 300. The movement of the first jaw 104 is thus relative to the second jaw 102 between an open position and a closed position, in the direction of the Y axis of the coordinate axes 1203, in response to the rotation of the cam 300.

[0075] Once the cam movement translation member 304 reaches its lowest point and comes into contact with the stop 1002 (i.e., jaws are open), the operator is required to reverse the direction of rotation of the cam 300 in order to begin the process of closing the jaws 104, 102. In a similar vein, once the cam movement translation member 304 reaches its highest point (i.e., jaws are closed), the operator is required to reverse the direction of rotation of the cam 300 in order to begin the process of opening the jaws 104, 102.

[0076] FIG. 10 shows a flexible shaft assembly 402 connected to an exemplary surgical device 20-2. The flexible shaft assembly 402 has a cladding 600 and includes a first flexible shaft 502 and a second flexible shaft 504 within the cladding 600 that can connect to the exemplary surgical device 20-2.

[0077] In more detail, the first flexible shaft 502 connects to the cam shaft 302 and the second flexible shaft 504 connects to the second roller shaft 110. The first flexible shaft 502 and the second flexible shaft 504 are configured to rotate separately, and their rotation correspondingly causes the cam shaft 302 and the second roller shaft 110 to rotate, respectively.

[0078] It can also be appreciated that the cam shaft 302 and the second roller shaft 110 can connect to, and be driven by, mechanical components other than the flexible shafts 502, 504 shown in FIGS. 6 and 10. In one example, separate rigid, rotating shafts could also connect to and drive the cam shaft 302 and the second roller shaft 110. In another example, an adapter that converts substantially linear motion of a cable or chain into rotary motion could also connect to and drive the cam shaft 302 and the second roller shaft 110. Examples of such an adapter are disclosed in FIGS. 12 and 13, the descriptions of which are included hereinbelow.

[0079] FIG. 11 shows an exemplary robotic surgical system 1300 that can incorporate the surgical device 20 as an end effector. The robotic surgical system 1300 includes a computer system 1310, a display module 1306, control devices 1308, and a robotic arm assembly 1302. The robotic arm assembly 1302 includes an end effector interface 1304. An exemplary surgical device 20 is attached to the end effector interface 1304.

[0080] The control devices 1308 enable an operator such as a surgeon of the system 1300 to operate the robotic arm assembly 1302 and to operate any surgical devices 20. During surgery, the operator can view a targeted area of a patient undergoing surgery on the display module 1306.

[0081] It can also be appreciated that the first jaw 104 and the second jaw 102 can be hingedly coupled such that the second jaw 102 can move relative to the first jaw 104 between the open position and the closed position. For example, as shown in FIGS. 1 and 5, the first jaw 104 or the second jaw 102 can host a hinge 130 (e g., spring, barrel, pivot, butt, mortise, case, continuous, piano, concealed, butterfly, flag, strap, biased). Forexample, the first jaw 104 or the second jaw 102 can be attached, fastened, mated, interlocked, adhered, or magnetized to the hinge 130. In one or more embodiments, the first jaw 104 or the second jaw 102 can be coupled to the surgical device 20 using, for example, a pin 132 (e.g., rectilinear pin, arcuate pin, sinusoidal pin) about which the first jaw 104 or the second jaw 102 moves, or both move, relative to the surgical device 20, or each other, between the open position and the closed position.

[0082] Moreover, the second jaw 102 can be hingedly coupled to the first jaw 104 without using a pin (e.g., rectilinear pin, arcuate pin, sinusoidal pin) about which the second jaw 102 moves relative to the first jaw 104 between the open position and the closed position (not shown). However, note that the second jaw 102 can be hingedly coupled to the first jaw 104 via a pin (e.g., rectilinear pin, arcuate pin, sinusoidal pin) about which the second jaw 102 moves relative to the first jaw 104 between the open position and the closed position (not shown), where the pin laterally traverses the first jaw 104 or the second jaw 102.

[0083] In another embodiment, a surgical device 20 can include a second cam that controls opening and closing of the second jaw 102. In this example, the two cams can be constructed to open and close their respective jaws either in unison or independently from each other.

[0084] FIG. 12 shows more detail for the end effector interface 1304 in FIG. 11 , according to one or more implementations. The end effector interface 1304 has a proximal end 1209 that faces and is configured to connect to the robotic surgical system 1300, and a distal end 1211 that opposes the proximal end 1209. The distal end 1211 faces and is configured to connect to the cam shaft 302 and the second roller shaft 110 of an exemplary surgical device 20-1 , 20-2. In more detail, at its proximal end 1209, the end effector interface 1304 includes inputs 1202 and 1204, also labeled as input 1 and input 2, respectively. At its distal end 1211 , the end effector interface 1304 includes rotating members 1206 and 1208, also labeled as output 1 and output 2, respectively.

[0085] By way of background, the robotic arm assembly 1302 of robotic surgical systems 1300 typically includes a “wrist” mechanism that includes a gripper with opening and closing jaws. The wrist is attached to and controlled by at least three cables. These cables are each part of a different cable-pulley mechanism of the robotic system, whereeach cable-pulley mechanism provides tension for and control of different features of the wrist, such as pitch, yaw, and grip opening / closing, in examples. Each cable is also typically controlled by a separate lever or actuator in the robotic surgical system 1300.

[0086] In the illustrated example, the end effector interface 1304 may connect to the robotic arm assembly 1302 as follows. Technicians remove the wrist from the robotic arm assembly 1302 and repurpose two of its cables as inputs to the end effector interface 1304. A first cable is fed into input 1202, while a second cable is fed into input 1204. Inside the end effector interface 1304, various translation mechanisms translate the linear motion of the cables at the inputs 1202, 1204 into rotational motion of the rotating members 1206 and 1208, respectively.

[0087] At the distal end 1211 of the end effector interface 1304, the rotating mechanism 1206 includes a socket or channel designed to accept and engage with the cam shaft 302 and its flat surface 312. Typically, the cam shaft 302 seats within the channel until a face of the rotating mechanism 1206 nearly comes into contact with the proximal end 22 of the surgical device 20. Similarly, the rotating mechanism 1208 includes a socket or channel designed to accept and engage with the second roller shaft 110, where a face of the rotating mechanism 1208 nearly comes into contact with the proximal end 22 of the surgical device 20. In this way, the robotic surgical system 1300 can be adapted to control rotation of the cam shaft 302 for fine control of opening and closing of the jaws 102, 104, and to control rotation of the second roller shaft 110 for fine control of the rollers 110, 114.

[0088] While not shown, it can be appreciated that protective collars might surround the end effector interface 1304 at its proximal end 1209 and its distal end 1211 . A first protective collar might surround both the end effector interface 1304 at its proximal end 1209 and a driving device (e.g., manual laparoscopic handle, robotic arm assembly 1302) that interfaces with the inputs 1202, 1204 at the proximal end 1209. A second protective collar might surround both the end effector interface 1304 at its distal end 1211 and the surgical device 20 at its proximal end 22. The protective collars would protect the components they surround, safeguard against infection, and possibly also provide structural support for the components each collar surrounds.

[0089] FIG. 13 shows an exemplary drive train 1210 within the end effector interface 1304. In the illustrated example, the drive train 1210 enables a cable 1201 from the robotic surgical system 1300 (or a cable from a manual laparoscopy handle) that is fed into input 1202 (input 1 ) to drive the rotating member 1206 (output 1 ).

[0090] The drive train 1210 has various components. These components include a first pulley 1220 and a second pulley 1222, a belt 1218, a first bevel gear 1224 and a second bevel gear 1234. The first bevel gear 1224 has a first shaft 1226 and a first set of teeth 1228. The second bevel gear 1234 has a second shaft 1236 and a second set of teeth 1238.

[0091] The drive train 1210 is arranged as follows. The pulleys 1220, 1222 are arranged apart longitudinally from the input 1 to the output 1 / in the X direction of the coordinate axes 1203, and the belt 1218 attaches to the pulleys 1220, 1222. The cable 1201 wraps around the first pulley 1220 under tension. The first shaft 1226 of the first bevel gear 1224 is attached to a center of the second pulley 1222 and faces the viewer I in the positive Z direction of the coordinate axes 1203. The second shaft 1236 of the second bevel gear 1234 is arranged to be substantially perpendicular to the first shaft 1226, and the second set of teeth 1238 are configured to engage with the first set of teeth 1228. The second shaft 1236 also connects to the rotating member 1206.

[0092] The drive train 1210 generally operates as follows. A surgeon manipulates the cable 1201 , which causes the first pulley 1220 to turn in either a clockwise or a counter clockwise direction. Because the first and second pulleys 1220, 1222 are attached to the belt 1218, the rotation of the first pulley 1220 causes the belt 1218 to move, which correspondingly turns the second pulley 1222 in either a clockwise or counterclockwise direction, respectively. Because the first bevel gear 1224 is attached to the second pulley 1222, the first bevel gear 1224 also turns in either a clockwise or counterclockwise direction in response. The first shaft 1226 rotates around an axis in the Z direction of the coordinate axes 1203. Then, because the first set of teeth 1228 engage the second set of teeth 1238 and the shafts 1226, 1236 are substantially perpendicular to each other, the second shaft 1236 (and thus also the rotating member 1206) rotate around a drive train axis 1240. The drive train axis 1240 is located along the X direction of the coordinate axes 1203.

[0093] While not shown in the figure, it can be appreciated that another drive train that includes the same components as the drive train 1210 can be constructed to drive the rotating member 1208. Other drive train mechanisms could be employed. In examples, each of the drive trains might include combinations of a rack and pinion mechanism, a pair of pulleys connected by a belt, individual pulleys, beveled gears, helix gears, spur gears and worm gears, and other motion translation mechanisms.

[0094] Additionally and / or alternatively, the end effector interface 1304 might include drive trains that are configured to receive rotating shafts at the inputs 1202, 1204. This example may allow interoperability of the surgical device 20 with various manual laparoscopic devices that use rotating shafts as driving mechanisms. Moreover, the end effector interface 1304 might include different drive train implementations for driving each of the rotating members 1206 and 1208.

[0095] Any of the embodiments of the surgical device 20 can also include the ability to provide any of coagulation, irrigation and suction independently or in combination. For this purpose, the devices can apply direct heat or apply coagulation using energy (electrical current) applied to coagulating tips to coagulate tissues using bipolar or monopolar cauteries, and the cauteries can also be irrigating cauteries, in examples. In one implementation, the jaws 104, 102 can include an integrated coagulation capability and additionally operate as coagulating tips. In another implementation, the jaws can be structural carriers of coagulating tips, irrigation lines and suction lines that can be added to or removed from the jaws. The combination of irrigation and coagulation can be used to minimize carbonization of the coagulating tips and may help avoid having charred coagulated tissue become stuck to the coagulation tips, in examples. A suction capability can suction off or otherwise extract fluids and debris including blood, removed tissue, irrigation fluid, and smoke generated during coagulation, in examples.

[0096] It can also be appreciated that the concepts of the surgical device 20 disclosed herein can have applications beyond surgical and / or medical applications. The surgical device 20 can be applied to inanimate objects and has various non-medical uses. These uses can include manual use or for use with commercial robots and aviation drones, in residential, commercial, industrial and / or military settings. Specific applications can include repair, maintenance, cleaning and inspection of electrical wiring and plumbingpipes; archaeology, geology, or other scientific endeavor; as a portion of a vise or vise-like device, or with any other type of manual or automated tool or device that has a pivoting member or jaw-like component that opens and closes.

[0097] Features described with respect to certain embodiments may be combined in or with various other embodiments in any permutational or combinatory manner. Different aspects or elements of example embodiments, as disclosed herein, may be combined in a similar manner.

[0098] Although the terms first, second, third, fourth, can be used herein to describe various elements, components, regions, layers, or sections, these elements, components, regions, layers, or sections should not necessarily be limited by such terms. These terms are used to distinguish one element, component, region, layer or section from another element, component, region, layer or section. Thus, a first element, component, region, layer, or section discussed below could be termed a second, third, or fourth element, component, region, layer, or section without departing from various teachings of this disclosure.

[0099] Features described with respect to certain example embodiments can be combined and sub- combined in or with various other example embodiments. Also, different aspects or elements of example embodiments, as disclosed herein, can be combined and sub-combined in a similar manner as well. Further, some example embodiments, whether individually or collectively, can be components of a larger system, wherein other procedures can take precedence over or otherwise modify their application. Additionally, a number of steps can be required before, after, or concurrently with example embodiments, as disclosed herein. Note that any or all methods or processes, at least as disclosed herein, can be at least partially performed via at least one entity in any manner.

[0100] Example embodiments of this disclosure are described herein with reference to illustrations of idealized embodiments (and intermediate structures) of this disclosure. As such, variations from various illustrated shapes as a result, for example, of manufacturing techniques or tolerances, are to be expected. Thus, various example embodiments of this disclosure should not be construed as necessarily limited to various particular shapes of regions illustrated herein, but are to include deviations in shapes that result, for example, from manufacturing.

[0101] Any or all elements, as disclosed herein, can be formed from a same, structurally continuous piece, such as being unitary, or be separately manufactured or connected, such as being an assembly or modules. Any or all elements, as disclosed herein, can be manufactured via any manufacturing processes, whether additive manufacturing, subtractive manufacturing, or other any other types of manufacturing. For example, some manufacturing processes include three dimensional (3D) printing, laser cutting, computer numerical control routing, milling, pressing, stamping, vacuum forming, hydroforming, injection molding, lithography, and so forth.

[0102] Various corresponding structures, materials, acts, and equivalents of all means or step plus function elements in various claims below are intended to include any structure, material, or act for performing the function in combination with other claimed elements as specifically claimed. Various embodiments were chosen and described in order to best explain various principles of this disclosure and various practical applications thereof, and to enable others of ordinary skill in a pertinent art to understand this disclosure for various embodiments with various modifications as are suited to a particular use contemplated.

[0103] This detailed description has been presented for various purposes of illustration and description, but is not intended to be fully exhaustive or limited to this disclosure in various forms disclosed. Many modifications and variations in techniques and structures will be apparent to those of ordinary skill in an art without departing from a scope and spirit of this disclosure as set forth in various claims that follow. Accordingly, such modifications and variations are contemplated as being a part of this disclosure. Scope of this disclosure is defined by various claims, which include known equivalents and unforeseeable equivalents at a time of filing of this disclosure.

Claims

CLAIMS1 . A cam activated device, the device comprising: a housing with a distal end; a cam including: a cam body that defines a central rotation axis and includes a face that faces the distal end of the housing, wherein the cam is configured to rotate within the housing along the central rotation axis; and a cam movement translation member; and a first jaw and a second jaw located at the distal end of the housing, wherein the first jaw includes a retaining unit that opposes the face of the cam body, and wherein the retaining unit includes a first movement translation member that is configured to engage with the cam movement translation member, wherein the first jaw moves relative to the second jaw between an open position and a closed position in response to the rotation of the cam.

2. The device of claim 1 , wherein the cam movement translation member is a cam boss that extends outward from the face of the cam body and wherein the first movement translation member is an inside surface of the retaining unit, and wherein the cam boss is in contact with the first movement translation member when the first jaw is in the closed position.

3. The device of claim 2, wherein the first jaw is pivotally connected to the second jaw and is biased by a spring to normally be in the open position, and wherein the first jaw is in the open position when the cam boss is not in contact with the first movement translation member.

4. The device of any one of claims 1 -3, wherein the first jaw includes a second movement translation member that extends outward from a bottom portion of the retaining unit towards the face of the cam body and is configured to engage with the cam movement translation member, and wherein the second movement translation member is in contact with the cam movement translation member when the first jaw is in the openposition.

5. The device of any one of claims 1 -4, wherein the cam movement translation member is a cam boss positioned on and extending outwards from the face of the cam body such that an outward side of the boss is adjacent to an outside edge of the cam body.

6. The device of any one of claims 1 -5, wherein the cam movement translation member is a cam boss having a tapered shape.

7. The device of any one of claims 1 -6, wherein the cam body is circular in shape.

8. The device of any one of claims 1 -7, wherein the device is configured for use as an end effector of a robotic arm in a robotic surgical system.

9. The device of any one of claims 1 -8, wherein the cam includes a cam shaft connected to the cam body that is aligned along a length of the cam shaft with the central rotation axis, and wherein the cam shaft is configured to engage with a first flexible drive shaft.

10. The device of any one of claims 1 -9, wherein the first jaw hosts a first roller shaft, a first roller and a first set of teeth and the second jaw hosts a second roller shaft, a second roller and a second set of teeth, and wherein the first roller opposes the second roller, and wherein when the first jaw is in the closed position, the first set of teeth and the second set of teeth are engaged to enable a needle to be driven between the first roller and the second roller as the second roller shaft rotates.11 . The device of claim 10, wherein the second roller shaft extends outwards from a proximal end of the housing and is configured to engage with a second flexible drive shaft.

12. The device of any one of claims 1 -11 , wherein the device is configured as an end effector of a manual laparoscopic device.

13. A method comprising: rotating a cam of a cam activated device within a housing along a central rotation axis, wherein the housing includes a distal end, the cam including: a cam body that defines the central rotation axis, a cam movement translation member, and a face that faces the distal end of the housing and the cam movement translation member; locating a first jaw and a second jaw at the distal end of the housing, the first jaw including a retaining unit that opposes the face of the cam body, and the retaining unit including a first movement translation member that is configured to engage with the cam movement translation member; and moving the first jaw relative to the second jaw between an open position and a closed position in response to the rotating of the cam.

14. The method of claim 13, further comprising adapting the device for use as an end effector of a robotic arm in a robotic surgical system.

15. The method of any one of claims 13-14, further comprising adapting the device for use as an end effector of a manual laparoscopic device.

16. The method of any one of claims 13-15, further comprising the first jaw hosting a first roller shaft, a first roller, and a first set of teeth and the second jaw hosting a second roller shaft, a second roller, and a second set of teeth, and the first roller opposing the second roller; and wherein when the first jaw is in the closed position, engaging the first set of teeth and the second set of teeth to enable a needle to be driven between the first roller and the second roller as the second roller shaft rotates.

17. The method of any one of claims 13-16, further comprising moving the first jaw to the open position relative to the second jaw, under force.

18. The method of any one of claims 13-17, further comprising moving the first jaw to the closed position relative to the second jaw, under force.

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