Suturing end effector

A stapling end effector includes a jaw assembly including a first jaw having a through hole and a second jaw having a through hole. The jaws are openable and closable relative to each other. The suture end effector may also include a rib and pulley locking mechanism having a first pulley, a first rib, and a first locking element. Wherein pulling the first end of the first rib causes the first locking element to move and be placed in a position traversing at least a portion of the through-hole of the first jaw to engage the suture needle, with a first tip inserted into the through-hole of the first jaw to lock the suture needle to the first jaw, and with a second tip inserted into the through-hole of the first jaw to lock the suture needle to the second jaw. Pulling the second end of the first rib moves the first locking element away from the through hole of the first jaw to disengage the suture needle. 本发明涉及一种缝合末端执行器，包括钳夹组件，该钳夹组件包括具有通孔的第一钳夹和具有通孔的第二钳夹。钳夹相对于彼此是可打开的和可关闭的。缝合末端执行器还可以包括筋和滑轮锁定机构，该筋和滑轮锁定机构具有第一滑轮、第一筋和