An end effector has three degrees of freedom in operation: (1) opening and closing of the jaws, (2) adjustable articulation of the jaw plane relative to the longitudinal axis, and (3) rotation of the jaw assembly, regardless of its articulation, about the longitudinal axis. A split yoke assembly is coupled to rotatable jaw mounts, which in turn are coupled to the jaws. A pushrod is configured to open and close the jaws, and cables coupled to the rotatable jaw mounts cause articulation of the jaw plane.
