End effector assemblies for surgical instruments

A surgical end effector assembly includes first and second jaw members configured to grasp tissue. Each of the first and second jaw members includes a proximal flange portion and a distal body portion. The proximal flange portions are pivotably coupled to one another to move the distal body portions between a spaced-apart position and an approximated position.

FIELD

The present disclosure relates to surgical instruments and, more specifically, to end effector assemblies for surgical instruments, such as for use in robotic surgical systems.

BACKGROUND

Robotic surgical systems are increasingly utilized in various different surgical procedures. Some robotic surgical systems include a console supporting a robotic arm. One or more different surgical instruments may be configured for use with the robotic surgical system and selectively mountable to the robotic arm. The robotic arm provides one or more inputs to the mounted surgical instrument to enable operation of the mounted surgical instrument.

A surgical forceps, one type of instrument capable of being utilized with a robotic surgical system, relies on mechanical action between its jaw members to grasp, clamp, and constrict tissue. Electrosurgical forceps utilize both mechanical clamping action and energy to heat tissue to treat, e.g., coagulate, cauterize, or seal, tissue. Typically, once tissue is treated, the tissue is severed using a cutting element.

SUMMARY

As used herein, the term “distal” refers to the portion that is being described which is further from an operator (whether a human surgeon or a surgical robot), while the term “proximal” refers to the portion that is being described which is closer to the operator. The terms “about,” substantially,” and the like, as utilized herein, are meant to account for manufacturing, material, environmental, use, and/or measurement tolerances and variations, and in any event may encompass differences of up to 10%. Further, to the extent consistent, any of the aspects described herein may be used in conjunction with any or all of the other aspects described herein.

Provided in accordance with aspects of the present disclosure is an end effector assembly of a surgical instrument including first and second jaw members at least one of which is movable relative to the other between a spaced-apart position and an approximated position to grasp tissue between opposing tissue contacting surfaces thereof. Each of the first and second jaw members includes a proximal flange portion and a distal body portion, and each of the proximal flange portions includes at least one pivot aperture disposed axially behind the distal body portion of the second jaw member that are aligned for receiving a pivot pin therethrough. The proximal flange portions are pivotably coupled to one another about the pivot pin.

In an aspect of the present disclosure, the proximal flange portion of the first jaw member includes a single flange defining a pivot aperture therethrough, and the proximal flange portion of the second jaw member includes a pair of spaced-apart flanges defining aligned pivot apertures therethrough. The single flange of the first jaw member is disposed between the pair of spaced-apart flanges of the second jaw member.

In another aspect of the present disclosure, the proximal flange portion of the first jaw member further includes a cam slot defined therethrough. The cam slot is configured to slidably receive a cam pin therein for transitioning the first and second jaw members between the spaced-apart and approximated positions. The proximal flange portion of the first jaw member may include a lip extending around the cam slot. The lip may extend tangentially outward from a side surface of a plate-shaped flange of the proximal flange portion.

In yet another aspect of the present disclosure, the second jaw member includes an internal spacer disposed on a distal portion of a structural jaw and an electrically-conductive plate disposed on the internal spacer. The structural jaw includes a proximal portion forming the proximal flange portion of the second jaw member. The electrically-conductive plate may define the tissue contacting surface of the second jaw member, and the tissue contacting surface may define a longitudinally extending knife channel therethrough. The internal spacer may include a partially-cylindrical cut-out in communication with the longitudinally extending channel defined through the electrically-conductive plate. The partially-cylindrical cut-out may have a generally D-shaped configuration and may be open at a proximal end of the internal spacer to permit insertion of a knife blade and a knife rod therethrough.

In still another aspect of the present disclosure, the internal spacer includes a wing extending from a side edge thereof in spaced relation relative to a side surface of the internal spacer. The wing of the internal spacer may be disposed between the structural jaw and the electrically-conductive plate, and an electrical lead may be attached to a portion of the electrically-conductive plate positioned over the wing.

In yet another aspect of the present disclosure, the first jaw member includes an internal spacer disposed on a distal portion of a structural jaw and an electrically-conductive plate disposed on the internal spacer. The structural jaw includes a proximal portion forming the proximal flange portion of the first jaw member. The electrically-conductive plate of the first jaw member may define the tissue contacting surface of the first jaw member, and the tissue contacting surface may define a longitudinally extending knife channel therethrough.

In still another aspect of the present disclosure, the internal spacer of the first jaw member includes a wing extending from a side edge thereof in spaced relation relative to a side surface of the internal spacer. The wing of the internal spacer of the first jaw member may be disposed between the structural jaw and the electrically-conductive plate of the first jaw member, and an electrical lead wire may be attached to a portion of the electrically-conductive plate of the first jaw member positioned over the wing.

In another aspect of the present disclosure, the first jaw member includes an outer housing disposed about the internal spacer, a distal portion of the structural jaw, and a portion of the electrically-conductive plate. The outer housing of the first jaw member may include a plate extending over a portion of the proximal flange portions of the first and second jaw members.

A surgical instrument provided in accordance with aspects of the present disclosure includes the end effector assembly described above and a shaft extending proximally from the end effector assembly. The shaft includes a distal segment within which the proximal flange portions of the end effector assembly are disposed. The surgical instrument may further include a housing extending proximally from the shaft. The housing may include an actuation assembly operably associated with the shaft and the end effector assembly. The actuation assembly may include a plurality of inputs configured to operably interface with a robotic surgical system.

Another end effector assembly of a surgical instrument provided in accordance with aspects of the present disclosure includes a first jaw member pivotably coupled to a second jaw member. The first jaw member includes: a first structural jaw; a first internal spacer disposed on the first structural jaw, the first internal spacer including a first wing extending from a side edge thereof in spaced relation relative to a side surface of the first internal spacer; a first electrically-conductive plate disposed on the first internal spacer, the first electrically-conductive plate having a first tissue contacting surface defining a first longitudinally extending knife channel therethrough; and a first outer housing disposed about the first internal spacer, a portion of the first structure jaw, and a portion of the first electrically-conductive plate.

In an aspect of the present disclosure, a first electrical lead wire is attached to a portion of the first electrically-conductive plate positioned over the first wing of the first internal spacer.

In another aspect of the present disclosure, the second jaw includes: a second structural jaw; a second internal spacer disposed on the second structural jaw, the second internal spacer including a second wing extending from a side edge thereof in spaced relation relative to a side surface of the second internal spacer; a second electrically-conductive plate disposed on the second internal spacer, the second electrically-conductive plate having a second tissue contacting surface defining a second longitudinally extending knife channel therethrough; and a second outer housing disposed about the second internal spacer, a portion of the second structure jaw, and a portion of the second electrically-conductive plate.

In yet another aspect of the present disclosure, a second electrical lead wire is attached to a portion of the second electrically-conductive plate positioned over the second wing of the second internal spacer.

In still another aspect of the present disclosure, the second internal spacer includes a partially-cylindrical cut-out in communication with the second longitudinally extending knife channel defined through the second electrically-conductive plate. The partially-cylindrical cut-out may have a generally D-shaped configuration and may be open at a proximal end of the second internal spacer to permit insertion of a knife blade and a knife rod therethrough.

In another aspect of the present disclosure, a distal portion of the first structural jaw, the first internal spacer, the first outer housing, and the first electrically-conductive plate form a distal body portion of the first jaw member, and a proximal portion of the first structural jaw forms a proximal flange portion of the first jaw member.

In yet another aspect of the present disclosure, a distal portion of the second structural jaw, the second internal spacer, the second outer housing, and the second electrically-conductive plate form a distal body portion of the second jaw member, and a proximal portion of the second structural jaw forms a proximal flange portion of the second jaw member.

In still another aspect of the present disclosure, the proximal flange portions of the first and second jaw members are pivotably coupled to one another about a pivot pin. Each of the proximal flange portions may include at least one pivot aperture disposed axially behind the distal body portion of the second jaw member, and the pivot apertures may be aligned for receiving the pivot pin therethrough.

In another aspect of the present disclosure, the proximal flange portion of the first jaw member includes a single flange defining a pivot aperture therethrough, and the proximal flange portion of the second jaw member includes a pair of spaced-apart flanges defining aligned pivot apertures therethrough. The single flange of the first jaw member is disposed between the pair of spaced-apart flanges of the second jaw member.

In an aspect of the present disclosure, the proximal flange portion of the first jaw member further includes a cam slot defined therethrough, the cam slot configured to slidably receive a cam pin. The proximal flange portion of the first jaw member may include a lip extending around the cam slot. The lip may extend tangentially outward from a side surface of a plate-shaped flange of the proximal flange portion.

A surgical instrument provided in accordance with aspects of the present disclosure includes the end effector assembly described above and a shaft extending proximally from the end effector assembly. The shaft includes a distal segment within which proximal flange portions of the end effector assembly are disposed, and the first and second jaw members are pivotably coupled to one another and the distal segment of the shaft via a pivot pin extending through the proximal flange portions and the distal segment.

In an aspect of the present disclosure, the first outer housing of the first jaw member includes a plate extending over a portion of the proximal flange portions of the first and second jaw members.

In another aspect of the present disclosure, a housing extends proximally from the shaft. The housing includes an actuation assembly operably associated with the shaft and the end effector assembly.

In yet another aspect of the present disclosure, the surgical instrument further includes a cam-slot assembly including a cam slot defined in the proximal flange portion of at least one of the first or second jaw members, a cam pin slidably received within the cam slot, and a cam bar coupled to the cam pin. The cam bar extends from the housing, through the shaft, and into the end effector assembly.

In still another aspect of the present disclosure, the surgical instrument further includes a knife assembly including a knife blade coupled to a distal end of a knife rod, the knife rod extending from the housing, through the shaft, and into the end effector assembly.

In yet another aspect of the present disclosure, the actuation assembly includes a plurality of inputs configured to operably interface with a robotic surgical system.

DETAILED DESCRIPTION

Referring toFIGS.1and2, a surgical instrument10provided in accordance with the present disclosure generally includes a housing20, a shaft30extending distally from the housing20, an end effector assembly40extending distally from the shaft30, and an actuation assembly100disposed within the housing20and operably associated with the shaft30and the end effector assembly40. The surgical instrument10is detailed herein as an articulating electrosurgical forceps configured for use with a robotic surgical system, e.g., robotic surgical system500(FIG.13). However, the aspects and features of the surgical instrument10provided in accordance with the present disclosure, detailed below, are equally applicable for use with other suitable surgical instruments (including non-robotic surgical instrument) and/or in other suitable surgical systems (including non-robotic surgical systems).

The housing20of the surgical instrument10includes first and second body portions22a,22band a proximal faceplate24(FIG.2) that cooperate to enclose the actuation assembly100therein. The proximal faceplate24includes apertures defined therein through which inputs110,120,130,140of the actuation assembly100extend. A pair of latch levers26(only one of which is illustrated inFIG.1) extends outwardly from opposing sides of the housing20and enables releasable engagement (directly or indirectly) of the housing20with a robotic arm of a surgical system, e.g., robotic surgical system500(FIG.13). An aperture28defined through the housing20permits a thumbwheel440to extend therethrough to enable manual manipulation of the thumbwheel440from the exterior of the housing20to permit manual opening and closing of the end effector assembly40.

The shaft30of the surgical instrument10includes a distal segment32(such as, for example, a collar or clevis), a proximal segment34, and an articulating section36disposed between the distal and proximal segments32,34, respectively. The articulating section36includes one or more articulating components37, e.g., links, joints, etc. A plurality of articulation cables38, e.g., four (4) articulation cables, or other suitable actuators, extends through the articulating section36. More specifically, the articulation cables38are operably coupled to the distal segment32of the shaft30at the distal ends thereof and extend proximally from the distal segment32of the shaft30, through the articulating section36and the proximal segment34of the shaft30, and into the housing20, wherein the articulation cables38operably couple with an articulation assembly200of the actuation assembly100to enable selective articulation of the distal segment32(and, thus the end effector assembly40) relative to the proximal segment34and the housing20, e.g., about at least two axes of articulation (yaw and pitch articulation, for example). The articulation assembly200is operably coupled between the first and second inputs110,120, respectively, of the actuation assembly100and the articulation cables38(FIG.1) such that, upon receipt of appropriate rotational inputs into the first and/or second inputs110,120, the articulation assembly200manipulates the articulation cables38to articulate the end effector assembly40in a desired direction, e.g., to pitch and/or yaw the end effector assembly40. The articulation cables38are arranged in a generally rectangular configuration, although other suitable configurations are also contemplated.

With respect to articulation of the end effector assembly40relative to the proximal segment34of the shaft30, actuation of the articulation cables38is effected in pairs. More specifically, in order to pitch the end effector assembly40, the upper pair of cables38is actuated in a similar manner while the lower pair of cables38is actuated in a similar manner relative to one another but an opposite manner relative to the upper pair of cables38. With respect to yaw articulation, the right pair of cables38is actuated in a similar manner while the left pair of cables38is actuated in a similar manner relative to one another but an opposite manner relative to the right pair of cables38.

With reference toFIGS.3-5, the end effector assembly40includes first and second jaw members42,44, respectively. Each of the first and second jaw members42,44includes a proximal flange portion43a,45aand a distal body portion43b,45b, respectively. Proximal flange portions43a,45aare pivotably coupled to one another about a pivot pin60(FIG.1) and are operably coupled to one another via a cam-slot assembly62(FIG.5). The cam-slot assembly62includes a cam pin64(FIG.1) slidably received within cam slot(s)63defined within at least one of the proximal flange portions43a,45aof the first and second jaw members42,44, respectively, to enable pivoting of the first jaw member42relative to the second jaw member44. Pivoting of the first jaw member42relative to the second jaw member44moves the distal body portions43b,45bbetween a spaced-apart position (e.g., an open position of the end effector assembly40) and an approximated position (e.g. a closed position of the end effector assembly40) for grasping tissue between tissue-contacting surfaces46,48of the first and second jaw members42,44, respectively. As an alternative to this unilateral configuration, a bilateral configuration may be provided whereby both the first and second jaw members42,44are pivotable relative to one another and the distal segment32of shaft30.

As seen inFIGS.3and4, the proximal flange portion43aof the first jaw member42has a single plate-shaped flange50defining a pivot aperture51(FIG.6A) therethrough and an angled or curved clam slot63extending through and along a length thereof. The proximal flange portion45aof the second jaw member44includes a pair of spaced-apart plate-shaped flanges52a,52bdefining aligned pivot apertures53a,53b, respectively, therethrough. The proximal flange portions43a,45aare configured so that the flange50of the first jaw member42is positionable between the flanges52a,52bof the second jaw member44with the pivot aperture51of the first jaw member42aligned with the pivot apertures53a,53bof the second jaw member44.

The pivot apertures53a,53bof the second jaw member44are defined in a portion of the proximal flange portion45aaxially behind the distal body portion45bto minimize the dead space in the distal segment32of the shaft30in which the proximal flange portions43a,45aare disposed. In aspects, the pivot apertures53a,53bof the second jaw member44are disposed in a lower half of the proximal flange portion45adirectly behind the distal body portion45b, and the pivot aperture51of the proximal flange portion43aof the first jaw member42is disposed in a position configured to align with the pivot apertures53a,53bof the second jaw member44when received therebetween. The pivot pin50(FIG.1) is inserted through the pivot apertures51,53a,53b, as well as through a pivot aperture31defined through the distal segment32of the shaft30, to pivotably couple the first and second jaw member42,44to the shaft30and to one another.

With continued reference toFIG.5, the cam-slot assembly62includes a cam bar66having a distal end portion66acoupled to a block68, and a cam pin64extending outwardly from opposing lateral sides of the block68. The block68defines an annular cutout69configured to receive the pivot pin60(FIG.1) when the cam bar66is in a distal, deployed position. The annular cutout69, therefore, allows full distal translation of the cam bar66without interference from the pivot pin60. A first end of the cam pin64is received in a linear cam slot33of the distal segment32of the shaft30to guide and support a linear movement of the cam bar66, and a second end of the cam pin64(not explicitly shown) is received in the cam slot63of the proximal flange portion43aof first jaw member42.

The cam slot63in the proximal flange portion43aof the first jaw member42is shaped such that advancement (e.g., distal translation) of the cam bar66relative to the proximal flange portion43acauses the cam pin64to ride distally through the cam slot63and drives a pivoting of the first jaw member42away from the second jaw member44to transition the end effector assembly40from the closed position to the open position. Similarly, retraction (e.g., proximal translation) of the cam bar66relative to the proximal flange portion43acauses the cam pin64to ride proximally through the cam slot63and drives a pivoting of the first jaw member42towards the second jaw member44to transition the end effector assembly40from the open position to the closed position for grasping tissue between the tissue-contacting surfaces46,48. Alternatively, the cam bar66may be moved distally to transition the end effector assembly40to the closed position and proximally to transition the end effector assembly40to the open position.

The cam bar66extends proximally from the end effector assembly40through the shaft assembly30and into the housing20wherein the cam bar66is operably coupled with a jaw drive assembly400(FIG.2) of the actuation assembly100to enable selective actuation of the end effector assembly40. The jaw drive assembly400is operably coupled between the fourth input140of the actuation assembly100and the cam bar66such that, upon receipt of appropriate rotational input into the fourth input140, the jaw drive assembly400pivots the first and second jaw members42,44between the open and closed positions to grasp tissue therebetween and apply a closure force within an appropriate closure force range.

In aspects, as shown inFIGS.6A and6B, the proximal flange portion43aof the first jaw member42includes a lip41extending around the cam slot63. The lip41extends tangentially outward from a side surface of the proximal flange portion43aaround the entirety of the cam slot63to increase cam slot strength and/or reduce clam slot stress, for example, if the proximal flange portion43ahas a thin-wall construction and/or the first and second jaw members42,44are exposed to a heavy load. The lip41, however, may have other configurations. For example, the lip41may be discontinuous and extend along opposed sides and/or ends of the cam slot63, such as around a proximal end portion of the cam slot63coinciding with closing of the first and second jaw members42,44(or a distal end portion of the cam slot63in aspects where the cam bar66is moved distally for closing of the first and second jaw members42,44). As another example, the lip41may extend outwardly from both side surfaces of the proximal flange portion43a.

Turning again toFIGS.3and4, the distal body portions43b,45bof the first and second jaw members42,44define opposed tissue-contacting surfaces46,48, respectively. The tissue contacting surfaces46,48are at least partially formed from an electrically conductive material and are energizable to different potentials to enable the conduction of electrical energy through tissue grasped therebetween, although the tissue contacting surfaces46,48may alternatively be configured to supply any suitable energy, e.g., thermal, microwave, light, ultrasonic, etc., through tissue grasped therebetween for energy-based tissue treatment. The surgical instrument10(FIG.1) defines a conductive pathway (not shown) through the housing20and the shaft30to the end effector assembly40that includes electric lead wires99a,99b, contacts, and/or electrically-conductive components to enable electrical connection of the tissue contacting surfaces46,48of the first and second jaw members42,44, respectively, to an energy source (not shown), e.g., an electrosurgical generator via an electrosurgical cable extending therebetween, for supplying energy to the tissue contacting surfaces46,48to treat, e.g., seal, tissue grasped between the tissue contacting surfaces46,48.

The tissue contacting surfaces46,48each define a longitudinally extending knife channel47(only the knife channel47of the second jaw member44is explicitly seen inFIG.4). As shown inFIGS.7-8B, a knife assembly80is provided that includes a knife rod82and a knife blade84fixed to or otherwise coupled to a distal end of the knife rod82. The knife assembly80enables cutting of tissue grasped between tissue contacting surfaces46,48of the first and second jaw members42,44, respectively. A ferrule86may be engaged about a distal end portion of the knife rod82and secured within a slot83defined within a proximal portion of the knife blade84to securely engage the knife rod82with the knife blade84such that actuation of the knife rod82reciprocates the knife blade84between the first and second jaw member42,44to cut tissue grasped between the tissue contacting surfaces46,48. The knife rod82and the ferrule86are offset relative to the knife blade84such that the knife rod82and the ferrule86protrude farther (or completely) from one side of the knife blade84and less (or not at all) from the other side.

The knife rod82extends from the housing20(FIG.1) through the shaft30to the end effector assembly40. The knife rod82is operably coupled to a knife drive assembly300(FIG.2) of the actuation assembly100for selective actuation of the knife assembly80to reciprocate the knife blade84through the first and second jaw members42,44. The knife drive assembly300(FIG.2) is operably coupled between the knife rod82of the knife assembly80and the third input130of the actuation assembly100such that, upon receipt of appropriate rotational input into the third input130, the knife drive assembly300manipulates the knife rod82to reciprocate the knife blade84between the first and second jaw members42,44to cut tissue grasped between the tissue contacting surfaces46,48.

Turning now toFIG.9A, the second jaw member44is shown. The second jaw member44, as noted above, includes proximal flange portion45aand distal body portion45b. The second jaw member44, more specifically, includes a structural jaw49a, an internal spacer49b(e.g., an insulative spacer), an outer housing49c, and an electrically-conductive plate49ddefining the tissue contacting surface48. It should be understood that the first jaw member42is configured similar to the second jaw member44and includes similar component parts (e.g., a structural jaw, an internal spacer, an outer housing, and an electrically-conductive plate).

The structural jaw49aprovides structural support to second jaw member44and includes a distal portion that supports the components of the distal body portion45bof the second jaw member44thereon and a proximal portion that extends proximally from the distal body portion45bto form the proximal flange portion45aof the second jaw member44. The distal portion of the structural jaw49a, together with the internal spacer49b, the outer housing49c, and the electrically-conductive plate49d, form the distal body portion45bof the second jaw member44. The internal spacer49bis disposed on the distal portion of the structural jaw49a, the electrically-conductive plate49dis disposed on the internal spacer49b, and the outer housing49cis disposed about the internal spacer49b, the distal portion of the structural jaw49a, and a portion of the electrically-conductive plate49dto secure these components to one another, e.g., via overmolding, although other configurations are also contemplated.

The longitudinally extending channel47of the second jaw member44is formed by cooperating channel portions defined within the electrically-conductive plate49dand the internal spacer49b. The internal spacer49bfurther includes a partially-cylindrical cut-out55that communicates with the longitudinally extending channel47. The cut-out55has a generally D-shaped configuration and is open at the proximal end of the distal body portion45bof the second jaw member44to permit insertion of the knife blade84, and the knife rod82and ferrule86(FIG.8B) therethrough. As shown inFIG.9B, the cut-out55has a ramped distal end55atapering laterally inwardly towards the longitudinal extending channel47for preventing tissue from entering the second jaw member44(e.g., pushing or ejecting tissue out of the longitudinally extending channel47when the knife blade84is deployed). It should be understood that the cut-out55may have other shapes depending, for example, on the configuration of the knife assembly80(FIG.8A).

As shown inFIGS.10A and10B, in conjunction withFIG.9A, the internal spacer49bof the second jaw member44includes a wing90extending from a side edge57athereof. The wing90extends downwardly from the side edge57aof a top surface57bon which the electrically-conductive plate49dis disposed such that the wing90is in spaced relation relative to a side surface57cof the internal spacer49b. A gap “G1” defined between the wing90and the internal spacer49bis sized and shaped to accommodate the structural jaw49atherein to separate the structural jaw49afrom the electrically-conductive plate49d. The electrical lead wire99athat electrically connects the tissue contacting surface48to the energy source (not shown) is attached to the portion of the electrically-conductive plate49dextending over the wing90. The wing90extends from a portion of the internal spacer49bthat covers and isolates the attachment location (e.g., a wire weld strip) of the electrical lead wire99ato the electrically-conductive plate49d.

As shown inFIGS.11A and11B, the internal spacer49b′ of the first jaw member42similarly includes a wing90′ extending from a side edge57a′ thereof. The wing90′ extends downwardly from the side edge57a′ of a top surface57b′ on which an electrically-conductive plate49d′ is disposed such that the wing90′ is in spaced relation relative to a side surface57c′ of the internal spacer49b′. A gap “G2” defined between the wing90′ and the internal spacer49b′ is sized and shaped to accommodate the structural jaw49a′ therein to separate the structural jaw49a′ from the electrically-conductive plate49d′. The electrical lead wire99bthat electrically connects the tissue contacting surface46to the energy source (not shown) is attached to the portion of the electrically-conductive plate49d′ extending over the wing90′. The wing90′ extends from a portion of the internal spacer49b′ that covers and isolates the attachment location (e.g., a wire weld strip) of the electrical lead wire99bto the electrically-conductive plate49d′.

As shown inFIGS.12A and12B, the first jaw member42may further include a plate92extending over a gap “G” defined between the distal segment32of the shaft30and the distal body portion43bof the first jaw member42. The plate92covers the gap “G” and thus, the proximal flange portions43a,45aof the first and second jaw members42,44and the knife blade84, minimizing tissue build up that may otherwise occur in the gap “G” and reducing pinch point between the first and second jaw members42,44. The plate92may be coupled to or integrally formed with the outer housing49cof the first jaw member42e.g., via overmolding, although other configurations are also contemplated.

Turning now toFIG.13, a robotic surgical system500is configured for use in accordance with the present disclosure. Aspects and features of the robotic surgical system500not germane to the understanding of the present disclosure are omitted to avoid obscuring the aspects and features of the present disclosure in unnecessary detail.

The robotic surgical system500generally includes a plurality of robot arms502,503; a control device504; and an operating console505coupled with control device504. The operating console505may include a display device506, which may be set up in particular to display three-dimensional images; and manual input devices507,508, by means of which a person, e.g., a surgeon, may be able to telemanipulate the robot arms502,503in a first operating mode. The robotic surgical system500may be configured for use on a patient513lying on a patient table512to be treated in a minimally invasive manner. The robotic surgical system500may further include a database514, in particular coupled to the control device504, in which are stored, for example, pre-operative data from the patient513and/or anatomical atlases.

Each of the robot arms502,503may include a plurality of members, which are connected through joints, and a mounted device which may be, for example, a surgical tool “ST.” One or more of the surgical tools “ST” may be the surgical instrument10(FIG.1), thus providing such functionality on a robotic surgical system500.

Specifically, the actuation assembly100(FIG.2) is configured to operably interface with the robotic surgical system500when the surgical instrument10is mounted on the robotic surgical system500to enable robotic operation of the actuation assembly100. That is, the robotic surgical system500selectively provides rotational inputs to inputs110,120,130,140of the actuation assembly100to articulate the end effector assembly40, grasp tissue between the first and second jaw members42,44, and/or cut tissue grasped between the first and second jaw members42,44.

The robot arms502,503may be driven by electric drives, e.g., motors, connected to the control device504. The control device504, e.g., a computer, may be configured to activate the motors, in particular by means of a computer program, in such a way that the robot arms502,503, and, thus, their mounted surgical tools “ST” execute a desired movement and/or function according to a corresponding input from the manual input devices507,508, respectively. The control device504may also be configured in such a way that it regulates the movement of the robot arms502,503and/or of the motors.