| abstract |
Surgical instruments are disclosed. The surgical instrument is an elongated shaft containing a distal end containing a concave surface and an end effector assembly containing a proximal end containing a convex surface, the convex surface being received by the concave surface of the elongated shaft, the convex surface being contained therein. It comprises an end effector assembly and a joint motion assembly, including a first slot and a second slot to be stowed. The joint motion assembly is a first joint motion driver that includes a distal end that includes a first ball, the first ball being received by a first slot, a first joint motion driver, and a first. The end effector assembly comprises a second joint motion driver, including a distal end comprising two balls, wherein the second ball is received by a second slot. , At least one of a first joint motion driver and a second joint motion driver rotates in a plane with respect to an elongated shaft when driven longitudinally. |