The embodiments disclosedherein relate to various medical devicecomponents, including components thatcan be incorporated into robotic and/or invivo medical devices, and more specificallyincluding end effectors that can be incorporatedinto such devices. Certain end effectorembodiments include various vesselcautery devices that have rotational movementas well as cautery and cutting functionswhile maintaining a relatively compactstructure. Other end effector embodimentsinclude various dual end effectordevices that have more than one end effector.
