Patent attributes
A surgical tool includes a drive housing, a closure tube that extends from the drive housing, an end effector arranged at an end of the closure tube and having opposing jaws, and a closure yoke mounted to the closure tube and having a projection extending therefrom. A gearing assembly includes one or more spur gears attached to a corresponding one or more drive shafts such that rotation of the one or more drive shafts correspondingly rotates the one or more spur gears, and a closure cam gear positioned to intermesh with the one or more spur gears and defining a profile that receives the projection. Rotating the one or more spur gears causes the closure cam gear to rotate, which causes the projection to traverse the profile, and the projection traversing the profile urges the closure yoke and the closure tube to linearly displace and thereby actuate the jaws.
