Patent Publication Number: US-11653943-B2

Title: Deployment mechanisms for surgical instruments

Description:
CROSS-REFERENCE TO RELATED APPLICATIONS 
     This application is a continuation application of U.S. patent application Ser. No. 15/668,096, filed on Aug. 3, 2017, which is a continuation application of U.S. patent application Ser. No. 14/542,858, filed on Nov. 17, 2014, now U.S. Pat. No. 9,724,153, the entire contents of each of which are incorporated herein by reference. 
    
    
     BACKGROUND 
     Technical Field 
     The present disclosure relates to surgical instruments and, more particularly, to deployment mechanisms for deploying, e.g., actuating, one or more components of a surgical instrument. 
     Background of Related Art 
     Many surgical instruments include one or more movable handles, levers, actuators, triggers, etc. for actuating and/or manipulating one or more functional components of the surgical instrument. For example, a surgical forceps may include a movable handle that is selectively compressible relative to a stationary handle for moving first and second jaw members of the forceps between spaced-apart and approximated positions for grasping tissue therebetween. Such a forceps may further include a trigger for selectively deploying a knife between the jaw members to cut tissue grasped therebetween. 
     As can be appreciated, as additional functional components are added to the surgical instrument, additional deployment structures or deployment structures capable of actuating more than one component are required. However, multiple deployment structures and/or combined deployment structures may be limited by spatial constraints within the housing of the surgical instrument, functional constraints of the components (e.g., where a combined deployment structure imparts additional force requirements for deploying one or more of the components coupled thereto), and/or may overly complicate the operable components of the surgical instrument. 
     SUMMARY 
     As used herein, the term “distal” refers to the portion that is being described that is further from a user, while the term “proximal” refers to the portion that is being described that is closer to a user. Further, to the extent consistent, any of the aspects described herein may be used in conjunction with any of the other aspects described herein. 
     Provided in accordance with aspects of the present disclosure is a deployment mechanism for selectively deploying and retracting an energizable member and/or an insulative member relative to an end effector assembly of a surgical instrument. The deployment assembly includes one or more actuators, a clutch assembly, and a drive assembly. The one or more actuators are rotatable in a first direction from an un-actuated position to an actuated position and are rotatable in a second direction from the actuated position back to the un-actuated position. The clutch assembly is associated with the one or more actuators and is configured to couple to the one or more actuators to provide rotational motion in the first direction in response to rotation of the one or more actuators in the first direction. The clutch assembly is further configured to decouple from the one or more actuators in response to rotation of the one or more actuators in the second direction. The drive assembly is operably coupled to the clutch assembly and the energizable member and/or the insulative member. The drive assembly is configured to convert the rotational motion provided by the clutch assembly into longitudinal motion to translate the energizable member and/or the insulative member from a storage position to a deployed position and from the deployed position back to the storage position. 
     In an aspect of the present disclosure, the clutch assembly includes a clutch gear. In such aspects, the drive assembly includes one or more drive gears operably coupled to the clutch gear for transferring rotational motion of the clutch gear to the at least one drive gear. Further, an intermediate gear may be operably disposed between the clutch gear and the one or more drive gears. 
     In another aspect of the present disclosure, the clutch assembly includes a first pulley wheel, the drive assembly includes at second pulley wheel, and a pulley belt is operably coupled between the first and second pulley wheels for transferring rotational motion of the first pulley wheel to the second pulley wheel. 
     In still another aspect of the present disclosure, the drive assembly further includes an arm operably coupled between the clutch assembly and the energizable member and/or the insulative member. The arm is continuously rotatable in one direction such that rotation of the arm through a first portion of a revolution translates the energizable member and/or the insulative member from the storage position to the deployed position, and such that rotation of the arm through a second portion of the revolution translates the energizable member and/or the insulative member from the deployed position back to the storage position. 
     In yet another aspect of the present disclosure, the deployment mechanism is configured to define a ratio of a degree of rotation of the actuator(s) relative to a degree of rotation of the arm of less than or equal to about 1:3. 
     In still yet another aspect of the present disclosure, the arm includes a hand disposed at a free end thereof and drive assembly further includes an upright member and a slider. The upright member defines a slot that extends in generally perpendicular orientation relative to an axis of translation of the energizable member and/or the insulative member and the hand of the arm is engaged within the slot. The slider is coupled to the upright member and the energizable member and/or the insulative member. As a result of the above-noted configuration, rotation of the arm in response to the rotational motion provided by the clutch assembly moves the hand along the slot and urges the upright member to translate the slider to thereby translate the energizable member and/or the insulative member from the storage position to the deployed position and to translate the energizable member and/or the insulative member from the deployed position back to the storage position. 
     In another aspect of the present disclosure, the drive assembly further includes a linkage bar having a first end pivotably coupled to a free end of the arm and a second end, and a slider pivotably coupled to the second end of the linkage bar and coupled to the energizable member and/or the insulative member. As a result of this configuration, rotation of the arm in response to the rotational motion provided by the clutch assembly moves the linkage to translate the slider to thereby translate the energizable member and/or the insulative member from the storage position to the deployed position and to translate the energizable member and/or the insulative member from the deployed position back to the storage position. 
     In yet another aspect of the present disclosure, the clutch assembly and drive assembly are operably mounted on one or more support members. 
     In still another aspect of the present disclosure, the one or more support members include a guide configured to guide translation of the energizable member and/or the insulative member between the storage position and the deployed position. 
     In still yet another aspect of the present disclosure, the one or more support members include at least one locking member configured to releasably lock the energizable member and/or the insulative member in one of the storage position or the deployed position. 
     Also provided in accordance with aspects of the present disclosure is a surgical instrument including a housing, a shaft extending distally from the housing, an end effector assembly disposed at a distal end of the shaft, a deployable assembly including an energizable member and/or an insulative member that is selectively movable relative to the end effector assembly between a storage condition and a deployed condition, and a deployment mechanism for selectively moving the deployable assembly between the storage condition and the deployed condition. The deployment mechanism may include any of the aspects and features of the deployment mechanism detailed above, and/or any of the other aspects and features detailed herein. 
    
    
     
       BRIEF DESCRIPTION OF THE DRAWINGS 
       Various aspects of the present disclosure are described herein with reference to the drawings wherein like reference numerals identify similar or identical elements: 
         FIG.  1    is a front, perspective view of an endoscopic surgical forceps configured for use in accordance with the present disclosure; 
         FIG.  2 A  is an enlarged, front, perspective view of an end effector assembly of the forceps of  FIG.  1   , wherein jaw members of the end effector assembly are disposed in a spaced-apart position and wherein a monopolar assembly is disposed in a storage condition; 
         FIG.  2 B  is an enlarged, front, perspective view of the end effector assembly of  FIG.  2 A , wherein the jaw members are disposed in an approximated position and wherein the monopolar assembly is disposed in the storage condition; 
         FIG.  2 C  is an enlarged, front, perspective view of the end effector assembly of  FIG.  2 B , wherein the jaw members are disposed in the approximated position and wherein the monopolar assembly is transitioning from the storage condition to a deployed condition; 
         FIG.  2 D  is an enlarged, front, perspective view of the end effector assembly of  FIG.  2 B , wherein the monopolar assembly is disposed in the deployed condition; 
         FIG.  3    is a perspective view of the proximal end of the forceps of  FIG.  1    with a portion of the housing and internal components thereof removed to unobstructively illustrate a deployment mechanism provided in accordance with the present disclosure; 
         FIG.  4    is an exploded, perspective view of the deployment mechanism of  FIG.  3   ; 
         FIG.  5    is an exploded, perspective view of a clutch assembly of the deployment mechanism of  FIG.  3   ; 
         FIG.  6    is a perspective view of the guide assembly of the deployment mechanism of  FIG.  3   ; 
         FIG.  7 A  is a perspective view of the deployment mechanism of  FIG.  3    with a support portion removed and wherein the deployment mechanism is disposed in an un-actuated condition; 
         FIG.  7 B  is a perspective view of the deployment mechanism of  FIG.  3    with the support portion removed and wherein the deployment mechanism is disposed in an actuated condition; 
         FIG.  8 A  is a perspective view of the guide assembly of the deployment mechanism of  FIG.  3   , wherein the guide member is approaching a proximal locking member; 
         FIG.  8 B  is a perspective view of the guide assembly of the deployment mechanism of  FIG.  3   , wherein the guide member is approaching a distal locking member of the guide assembly; 
         FIG.  9 A  is a perspective view another deployment mechanism provided in accordance with the present disclosure with a support member removed and wherein the deployment mechanism is disposed in an un-actuated condition; 
         FIG.  9 B  is a perspective view of the deployment mechanism of  FIG.  9 A  with the support member removed and wherein the deployment mechanism is disposed in an actuated condition; 
         FIG.  10 A  is a perspective view another deployment mechanism provided in accordance with the present disclosure with a support portion removed and wherein the deployment mechanism is disposed in an un-actuated condition; 
         FIG.  10 B  is a perspective view of the deployment mechanism of  FIG.  10 A  with the support portion removed and wherein the deployment mechanism is disposed in an actuated condition; 
         FIG.  11    is an exploded, perspective view of a clutch assembly provided in accordance with the present disclosure and configured for use with any of the deployment mechanisms detailed herein; and 
         FIG.  12    is longitudinal, cross-sectional view of the clutch assembly of  FIG.  11   . 
     
    
    
     DETAILED DESCRIPTION 
     Referring generally to  FIG.  1   , a forceps provided in accordance with the present disclosure is shown generally identified by reference numeral  10 . Forceps  10 , as will be described below, is configured to operate in both a bipolar mode, e.g., for grasping, treating, and/or dissecting tissue, and a monopolar mode, e.g., for treating and/or dissecting tissue. Although the present disclosure is shown and described with respect to forceps  10 , the aspects and features of the present disclosure are equally applicable for use with any suitable surgical instrument or portion(s) thereof for selectively actuating, moving, and/or deploying one or more assemblies and/or components of the surgical instrument. Obviously, different connections and considerations apply to each particular instrument and the assemblies and/or components thereof; however, the aspects and features of the present disclosure remain generally consistent regardless of the particular instrument, assemblies, and/or components provided. 
     Continuing with reference to  FIG.  1   , forceps  10  includes a housing  20 , a handle assembly  30 , a trigger assembly  60 , a rotating assembly  70 , a deployment mechanism  80 , an end effector assembly  100 , and a monopolar assembly  200 . Forceps  10  further includes a shaft  12  having a distal end configured to mechanically engage end effector assembly  100  and a proximal end that mechanically engages housing  20 . Forceps  10  also includes an electrosurgical cable  2  that connects forceps  10  to a generator (not shown) or other suitable power source, although forceps  10  may alternatively be configured as a battery powered instrument. Cable  2  includes wires (not shown) extending therethrough that have sufficient length to extend through shaft  12  in order to provide electrical energy to at least one of the electrically-conductive surfaces  112 ,  122  ( FIG.  2 A ) of jaw members  110 ,  120 , respectively, of end effector assembly  100 , e.g., upon activation of activation switch  4  in a bipolar mode. One or more of the wires (not shown) of cable  2  extends through housing  20  in order to provide electrical energy to monopolar assembly  200 , e.g., upon activation of activation switch  4  in a monopolar mode. Rotating assembly  70  is rotatable in either direction to rotate end effector assembly  100  and monopolar assembly  200  relative to housing  20 . Housing  20  houses the internal working components of forceps  10 . 
     Referring to  FIGS.  2 A and  2 B , end effector assembly  100  is attached at the distal end of shaft  12  and includes opposing jaw members  110 ,  120  pivotably coupled to one another. Each of the jaw members  110  and  120  includes a jaw body  111 ,  121  supporting the respective electrically-conductive surface  112 ,  122 , and a respective proximally-extending jaw flange  114 ,  124 . Flanges  114 ,  124  are pivotably coupled to one another to permit movement of jaw members  110 ,  120  relative to one another between a spaced-apart position ( FIG.  2 A ) and an approximated position ( FIG.  2 B ) for grasping tissue between surfaces  112 ,  122 . One or both of surfaces  112 ,  122  are adapted to connect to a source of energy (not shown), e.g., via the wires (not shown) of cable  2  ( FIG.  1   ), and are configured to conduct energy through tissue grasped therebetween to treat, e.g., seal, tissue. More specifically, in some embodiments, end effector assembly  100  defines a bipolar configuration wherein surface  112  is charged to a first electrical potential and surface  122  is charged to a second, different electrical potential such that an electrical potential gradient is created for conducting energy between surfaces  112 ,  122  and through tissue grasped therebetween for treating e.g., sealing, tissue. Activation switch  4  ( FIG.  1   ) is operably coupled between the source of energy (not shown) and surfaces  112 ,  122 , thus allowing the user to selectively apply energy to surfaces  112 ,  122  of jaw members  110 ,  120 , respectively, of end effector assembly  100  during a bipolar mode of operation. 
     End effector assembly  100  is designed as a unilateral assembly, i.e., where jaw member  120  is fixed relative to shaft  12  and jaw member  110  is movable relative to shaft  12  and fixed jaw member  120 . However, end effector assembly  100  may alternatively be configured as a bilateral assembly, i.e., where both jaw member  110  and jaw member  120  are movable relative to one another and to shaft  12 . In some embodiments, a knife channel  125  may be defined within one or both of jaw members  110 ,  120  to permit reciprocation of a knife  64  ( FIG.  2 B ) therethrough, e.g., upon actuation of a trigger  62  of trigger assembly  60 , to cut tissue grasped between jaw members  110 ,  120 . 
     Referring to  FIGS.  1 - 2 D , monopolar assembly  200  includes an insulative sleeve  210 , an energizable rod member  220 , and a proximal hub  230  ( FIG.  3   ). Insulative sleeve  210  is slidably disposed about shaft  12  and is selectively movable about and relative to shaft  12  and end effector assembly  100  between a storage position ( FIGS.  2 A and  2 B ), wherein insulative sleeve  210  is disposed proximally of end effector assembly  100 , and a deployed position ( FIG.  2 D ), wherein insulative sleeve  210  is substantially disposed about end effector  100  so as to electrically insulate surfaces  112 ,  122  of jaw members  110 ,  120 , respectively. With momentary reference to  FIG.  3   , proximal hub  230  is engaged to insulative sleeve  210  at the proximal end of insulative sleeve  210  and also engages the proximal end of energizable rod member  220 . Further, proximal hub  230  is coupled to deployment mechanism  80  ( FIGS.  1  and  3   ) such that, as detailed below, deployment mechanism  80  is selectively actuatable to translate proximal hub  230  along a translation axis through housing  20  and relative to shaft  12  to thereby move monopolar assembly  200  between its storage and deployed conditions ( FIGS.  2 B and  2 D , respectively). The translation axis may be parallel with an axis defined by shaft  12 , may be coaxial with the axis of shaft  12 , or may be non-parallel relative thereto. 
     Referring again to  FIGS.  1 - 2 D , energizable rod member  220  extends from proximal hub  230  ( FIG.  6   ), through sleeve  210 , and distally therefrom, ultimately defining an electrically-conductive distal tip  224 . Energizable rod member  220  and, more specifically, distal tip  224  thereof, functions as the active electrode of monopolar assembly  200 . The one or more wires (not shown) extending from cable  2  through housing  20  (see  FIG.  1   ), are coupled to energizable rod member  220  to provide energy to energizable rod member  220 , e.g., upon actuation of activation switch  4  ( FIG.  1   ) in a monopolar mode, for treating tissue in a monopolar mode of operation. Energizable rod member  220  is movable between the storage position ( FIG.  2 B ) and the deployed position ( FIG.  2 D ). In the storage position ( FIG.  2 B ), distal tip  224  of rod member  220  is disposed within an insulated groove  126  defined within flange  124  of jaw member  120 , although other configurations are also contemplated, e.g., distal tip  224  of rod member  220  may simply be positioned alongside flange  124  in the storage condition. Insulated groove  126  electrically-insulates distal tip  224  of rod member  220  from electrically-conductive surfaces  112 ,  122  of jaw members  110 ,  120 , respectively, and from surrounding tissue when disposed in the storage position. Alternatively, distal tip  224  of rod member  220  may only be insulated from surface  112 . In such configurations, distal tip  224  of rod member  220  is capable of being energized to the same polarity as surface  122 . 
     In the deployed position ( FIG.  2 D ), distal tip  224  of rod member  220  of monopolar assembly  200  extends distally from end effector assembly  100  and insulative sleeve  210 , which substantially surrounds end effector assembly  100 . In this position, energy may be applied to distal tip  224  of rod member  220  to treat tissue, e.g., via activation of activation switch  4  ( FIG.  1   ) in the monopolar mode. Distal tip  224  may be hook-shaped (as shown), or may define any other suitable configuration, e.g., linear, ball, circular, angled, etc. 
     Insulative sleeve  210  and rod member  220  of monopolar assembly  200  are coupled to one another via proximal hub  230  ( FIG.  3   ), as will be described in greater detail below, such that insulative sleeve  210  and rod member  220  move in concert, e.g., together, with one another between their storage positions ( FIGS.  2 A and  2 B ), collectively the storage condition of monopolar assembly  200 , and their deployed positions ( FIG.  2 D ), collectively the deployed condition of monopolar assembly  200 , upon selective translation of proximal hub  230  through housing  20  and relative to shaft  12  (see  FIG.  1   ). 
     With reference again to  FIG.  1   , handle assembly  30  includes a movable handle  40  and a fixed handle  50 . Fixed handle  50  is integrally associated with housing  20  and movable handle  40  is movable relative to fixed handle  50 . Movable handle  40  is movable relative to fixed handle  50  between an initial position, wherein movable handle  40  is spaced from fixed handle  50 , and a compressed position, wherein movable handle  40  is compressed towards fixed handle  50 . A biasing member (not shown) may be provided to bias movable handle  40  towards the initial position. Movable handle  40  is ultimately connected to a drive assembly (not shown) disposed within housing  20  that, together, mechanically cooperate to impart movement of jaw members  110 ,  120  between the spaced-apart position ( FIG.  2 A ), corresponding to the initial position of movable handle  40 , and the approximated position ( FIG.  2 B ), corresponding to the compressed position of movable handle  40 . Any suitable drive assembly for this purpose may be provided such as, for example, the drive assembly disclosed in U.S. patent application Ser. No. 14/052,871, filed on Oct. 14, 2013, the entire contents of which are incorporated herein by reference. 
     Trigger assembly  60  includes trigger  62  that is operably coupled to knife  64  ( FIG.  2 B ). Trigger  62  of trigger assembly  60  is selectively actuatable to advance knife  64  ( FIG.  2 B ) from a retracted position, wherein knife  64  ( FIG.  2 B ) is disposed proximally of jaw members  110 ,  120 , to an extended position, wherein knife  64  ( FIG.  2 B ) extends at least partially between jaw members  110 ,  120  and through knife channel(s)  125  ( FIG.  2 A ) to cut tissue grasped between jaw members  110 ,  120 . 
     Detailed below with respect to  FIGS.  3 - 12   , in conjunction with  FIGS.  1 - 2 D , are various embodiments of deployment mechanisms for selectively deploying monopolar assembly  200  (or similar monopolar assemblies). To the extent consistent, the various deployment mechanisms detailed hereinbelow, although described separately, may include any or all of the features of any or all of the other deployment mechanisms detailed hereinbelow, and may be utilized with forceps  10  or any other suitable surgical instrument. 
     Referring to  FIGS.  3 - 7 B , deployment mechanism  80  is configured for selectively translating proximal hub  230  relative to housing  20  and shaft  12  ( FIG.  1   ) to thereby transition monopolar assembly  200  between its storage condition ( FIGS.  2 A and  2 B ) and its deployed condition ( FIG.  2 D ). Deployment mechanism  80  generally includes a pair of actuators  82 , first and second support members  150 ,  160  (second support member  160  has been removed from  FIGS.  3 ,  7 A, and  7 B  to better illustrate the components of deployment assembly  80 ), respectively, a clutch assembly  170 , and a gear drive assembly  180 . Each of these components will be detailed, in turn, below. 
     Actuators  82  are rotatably mounted on either side of housing  20  ( FIG.  1   ) and are positioned to readily enable distal actuation thereof, e.g., clockwise rotation of either or both actuators  82  from the orientation shown in  FIG.  1   , to transition monopolar assembly  200  ( FIGS.  2 A- 2 D ) between the storage condition ( FIG.  2 B ) and the deployed condition ( FIG.  2 D ). Actuators  82  are engaged about opposite ends of a pin  84  that extends between actuators  82  and through housing  20 , support members  150 ,  160 , and clutch assembly  170 . More specifically, pin  84  is engaged with actuator plate  176  of clutch assembly  170  such that rotation of either or both actuators  82  effects corresponding rotation of pin  84  and, thus, actuator plate  176  of clutch assembly  170 . A torsion spring  85  is disposed about pin  84  and configured to rotationally bias pin  84 , e.g., in a counter-clockwise direction from the orientation shown in  FIG.  1   , thereby biasing actuators  82  towards their un-actuated positions shown in  FIG.  1   . 
     Referring to  FIG.  4   , first and second support members  150 ,  160 , respectively, are configured to support the various components of deployment mechanism  80  therebetween, retain the various components of deployment mechanism  80  in operable engagement with one another, and secure deployment mechanism  80  within housing  20 . First support member  150  defines a plate-like configuration and includes a plurality of mounting aperture  152  defined therethrough. Second support member  160  likewise defines a plurality of mounting apertures  162  configured to align with mounting apertures  152  of first support member  150 . Each pair of aligned mounting apertures  152 ,  162  is configured to receive a securement member  153  ( FIG.  3   ), e.g., screw, pin, etc., for securing first and second support members  150 ,  160  to one another and/or to the interior of housing  20  ( FIG.  3   ). First and second support members  150 ,  160  each further include a pin aperture  154 ,  164  that rotatably receives pin  84 . 
     First support member  150  additionally includes first and second gear drive apertures  155 ,  156  defined therethrough for rotatably mounting first drive gear  182  and second drive gear  184  of gear drive assembly  180  to first support member  150 . An intermediate gear  158  is rotatably mounted on first support member  150  and is positioned between pin aperture  154  and gear drive apertures  155 ,  156  such that, upon assembly, intermediate gear  158  operably couples clutch mechanism  170  and gear drive assembly  180  to one another for transmitting rotational motion therebetween, as detailed below. 
     Second support member  160  includes a cylindrical housing member  166  through which pin  84  extends and that is configured to rotatably receive actuator plate  176  of clutch mechanism  170 . Second support member  160  further includes a guide body  167  defining a guide track  168  and a guide slot  169 . As detailed below, guide body  167  is configured to guide translation of slider  189  of gear drive assembly  180  (see  FIG.  6   ) and, thus, to guide the transition of monopolar assembly  200  between the storage condition ( FIG.  2 B ) and the deployed condition ( FIG.  2 D ). 
     Referring to  FIGS.  3 - 5   , clutch assembly  170  generally includes a base member  172 , a clutch plate  174 , a biasing member  175 , an actuator plate  176 , and an actuator gear  178 . Actuator plate  176 , as noted above, is secured about pin  84  and is rotatably received within cylindrical housing member  166  of second support member  160  such that, upon rotation of either or both actuators  82  to thereby rotate pin  84 , actuator plate  176  is rotated within and relative to cylindrical housing member  166 . 
     Base member  172  of clutch assembly  170  defines a generally cylindrical configuration having an annular wall  172   a  and an end wall  172   b  that cooperate to define a cavity  172   c . End wall  172   b  defines a central aperture  172   d  configured to receive pin  84  therethrough for rotatably mounting base member  172  about pin  84 . Actuator gear  178  is likewise rotatably disposed about pin  84  and is fixed to the outer surface of end wall  172   b  of base member  172  (or otherwise secured thereto) such that rotation of base member  172  effects corresponding rotation of actuator gear  178 . Actuator gear  178  is disposed in meshed engagement with intermediate gear  158  such that rotation of actuator gear  178  effects opposite rotation of intermediate gear  158 . 
     The open end of annular wall  172   a  of base member  172 , e.g., the end of annular wall  172   a  opposite end wall  172   b , defines a plurality of spaced-apart notches  172   e  arranged annularly thereabout. Clutch plate  174  includes a plurality of spaced-apart, radial protrusions  174   a  extending outwardly from the annular outer periphery therefrom and is shaped complementary to the open end of annular wall  172   a  of base member  172 . Such a configuration allows each of the protrusions  174   a  to be received within one of the notches  172   e  defined within base member  172 , thereby inhibiting relative rotation between clutch plate  174  and base member  172 . Biasing member  175  is disposed within cavity  172   c  of base member  172  between end wall  172   b  and clutch plate  174  so as to bias clutch plate  174  apart from end wall  172   b  and into abutment with actuator plate  176 , which is maintained adjacent clutch plate  174  via cylindrical housing member  166  of second support member  160 . 
     Respective opposed surfaces  176   a ,  174   b  of actuator plate  176  and clutch plate  174 , respectively, are maintained in abutment with one another under the bias of biasing member  175 . Actuator plate  176  and clutch plate  174  each further include a plurality of one-way tabs  176   b ,  174   c , respectively, disposed on the opposed surfaces  176   a ,  174   b  thereof that are arranged to define a circumferential pattern. Tabs  176   b ,  174   c  each include a surface  176   c ,  174   d  that extends perpendicularly from the respective opposed surface  176   a ,  174   b  and a curved surface  176   d ,  174   e  that gradually extends from the respective opposed surface  176   a ,  174   b  in a curved manner. Thus, relative rotation between actuator plate  176  and clutch plate  174  is only permitted in one direction, e.g., wherein curved surfaces  176   d ,  174   e  slide past one another (and clutch plate  176  is urged towards base member  172  against the bias of biasing member  175 ), and is inhibited in the second, opposite direction, e.g., wherein the perpendicular surfaces  176   c ,  174   d  abut one another. As a result of the above-detailed configurations of actuator plate  176  and clutch plate  174 , rotation of either or both of actuators  82  in the actuating direction, e.g., clockwise from the orientation shown in  FIG.  1   , urges the perpendicular surfaces  176   c  of tabs  176   b  of actuator plate  176  into abutment with perpendicular surfaces  174   d  of tabs  174   c  of clutch plate  174  such that actuator plate  176  and clutch plate  174  and, thus, base member  172  and actuator gear  178 , are rotated together with one another. On the other hand, return or release (under the bias of torsion spring  85 ) of either or both of actuators  82 , e.g., counter-clockwise from the orientation shown in  FIG.  1   , permits curved surfaces  176   d  of tabs  176   b  of actuator plate  176  to slide over curved surfaces  174   e  of tabs  174   c  of clutch plate  174  such that actuator plate  176 , pin  84 , and actuators  82  are rotated relative to clutch plate  174 , base member  172 , and actuator gear  178  back to their respective initial positions without effecting rotation of clutch plate  174 , base member  172 , or actuator gear  178 . Thus, clutch assembly  170  functions as a one-way drive mechanism wherein actuator gear  178  is rotatable in a single direction while actuators  82  are repeatedly actuatable and releasable to drive such rotation of actuator gear  178 . 
     Referring still to  FIGS.  3 - 5   , gear drive assembly  180  includes a first drive gear  182  that is rotatably mounted on first support member  150 , e.g., via a pin extending through first drive gear  182  and aperture  155 , and is disposed in meshed engagement with intermediate gear  158  such that rotation of intermediate gear  158  effects rotation of first drive gear  182  in the opposite direction. First drive gear  182 , in turn, is disposed in meshed engagement with a second drive gear  184  that is rotatably mounted on first support member  150 , e.g., via a pin extending through second drive gear  184  and aperture  156 . 
     An arm  185  is pinned to second drive gear  184  at a first end thereof such that rotation of second drive gear  184  effects corresponding rotation of arm  185 . Arm  185  includes a hand  186  disposed at the second, opposite end of arm  185 . Hand  186  is slidably received within a vertical slot  187  defined within an upright member  188  and is confined (relative to upright member  188 ) to vertical motion within vertical slot  187 . A slider  189  is engaged to and extends distally from upright member  188 . As a result of the above-configuration, as arm  185  is rotated through a first half of its full circumferential rotation, e.g., wherein arm  185  is moved in a generally distal direction, hand  186  is slid vertically through vertical slot  187  and pushes upright member  188  and, thus, slider  189  distally. On the other hand, as arm  185  is rotated through the second half of its full circumferential rotation, e.g., wherein arm  185  is moved in a generally proximal direction, hand  186  is slid vertically through vertical slot  187  to pull upright member  188  and, thus, slider  189 , proximally. 
     With additional reference to  FIGS.  6 ,  7 A, and  7 B , slider  189  defines a transverse, cross-sectional configuration that is complementary to that of guide track  168  of guide body  167  of second support member  160  and is engaged therein such that slider  189  is confined to longitudinally translation through guide body  167 . Slider  189  is engaged to or formed with proximal hub  230  of monopolar assembly  200  such that, as will be described in greater detail below, translation of slider  189  through guide body  167  urges monopolar assembly  200  through housing  20  and relative to shaft  12  ( FIG.  1   ) between the storage condition ( FIGS.  2 A and  2 B ) and the deployed condition ( FIG.  2 D ). More specifically, as second drive gear  184  rotates arm  185  through its first half of rotation wherein arm is moved in a generally distal direction, hand  185  urges upright member  188  and, thus, slider  189  distally, e.g., from the position shown in  FIG.  7 A  to the position shown in  FIG.  7 B , to urge monopolar assembly  200  from the storage condition ( FIGS.  2 A and  2 B ) towards the deployed condition ( FIG.  2 D ). On the other hand, as second drive gear  184  further rotates arm  185  through its second half of rotation (to complete a full rotation thereof) wherein arm is moved in a generally proximal direction, hand  185  urges upright member  188  and, thus, slider  189  proximally, e.g., from the position shown in  FIG.  7 B  back to the position shown in  FIG.  7 A , to urge monopolar assembly  200  from the deployed condition ( FIG.  2 D ) back towards the storage condition ( FIGS.  2 A and  2 B ). 
     Actuator gear  178 , intermediate gear  158 , first drive gear  182 , and second drive gear  184  are configured to establish an advantageous gear ratio therebetween such that minimal actuation of actuators  82  is required to fully deploy and retract monopolar assembly  200 . Specifically, it has been found that a gear ratio of less than or equal to about 1:3, e.g., wherein at most a 60 degree rotation of either or both actuators  82  effects a one-half rotation (180 degrees) of arm  185 , which is sufficient to fully deploy or fully retract monopolar assembly  200 . With momentary reference to  FIG.  1   , such a configuration, taking into account the ergonomic considerations of the movable handle  40 , trigger  62 , and actuators  82 , enables a user to readily and effectively manipulate and utilize forceps  10  ( FIG.  1   ) with a single hand, e.g., wherein the user&#39;s index finger is positioned to actuate trigger  62 , the thumb is positioned to actuate one of the actuators  82  (in both right and left-handed use), and the remaining fingers are utilized to actuate movable handle  40 . The push to deploy and push to retract (e.g., push-push) configuration of deployment mechanism  80  also facilitates this single-handed use in that retraction does not require an opposite motion and, thus, the user&#39;s thumb can be readily utilized for both deployment and retraction. Other ratios and configurations, including those where two-handed use is required or advantageous, are also contemplated. 
     Referring additionally to  FIGS.  8 A and  8 B , slider  189  may further include a locking pin  190  extending transversely therefrom and guide body  167  may further include proximal and/or distal locking members  192 ,  194  for releasably locking deployment mechanism  80  in the actuated and/or un-actuated conditions, thereby releasably locking monopolar assembly  200  in the deployed and/or storage conditions. Locking pin  190 , more specifically, extends transversely from slider  189  through guide slot  169  of guide body  167 . Locking members  192 ,  194  are pivotably coupled to guide body  167  at a first end thereof and define locking tracks  196 ,  198 , respectively, at the second, opposite ends thereof. Biasing members (not shown) may be provided to bias locking members  192 ,  194  towards an initial position. Upon translation of slider  189  to the proximal or distal position corresponding to the storage or deployed condition, respectively, of monopolar assembly  200 , locking pin  190  enters the respective locking track  196 ,  198  and urges the respective locking member  192 ,  194  to pivot against its bias. Locking tracks  196 ,  198  include “catches” defined therein that are configured to releasably retain locking pin  190  once the proximal or distal position, respectively, has been achieved, thereby releasably locking monopolar assembly  200  in the deployed or storage condition. Release of locking pin  190  from locking tracks  196 ,  198  is effected by further translation of slider  189 , e.g., distally from the distal position or proximally from the proximal position, thereby permitting locking pin  190  to exit the respective locking track  196 ,  198  and translate back in the opposite direction, while the locking member  192 ,  194  is returned under bias to its initial position. Thus, the “distal” and “proximal” positions of slider  189  are not the respective distal-most and proximal-most positions thereof, as a small amount of travel beyond these positions is provided to enable unlocking of locking pin  190 . 
     Referring to  FIGS.  1 - 8 B , the use and operation of forceps  10  in both the bipolar mode, e.g., for grasping, treating (for example, sealing), and/or cutting tissue, and the monopolar mode, e.g., for electrical/electromechanical tissue treatment, is described. Turning to  FIGS.  1  and  2 A- 2 B , with respect to use in the bipolar mode, monopolar assembly  200  is maintained in the storage condition, wherein insulative sleeve  210  is positioned proximally of jaw members  110 ,  120 , and distal tip  224  of energizable rod member  220  is disposed within insulative groove  126  of jaw flange  124  of jaw member  120 . At this point, movable handle  40  is disposed in its initial position such that jaw members  110 ,  120  are disposed in the spaced-apart position ( FIG.  2 A ). Further, trigger  62  of trigger assembly  60  remains un-actuated such that knife  64  ( FIG.  2 B ) remains disposed in its retracted position. 
     Continuing with reference to  FIGS.  1  and  2 A- 2 B , with jaw members  110 ,  120  disposed in the spaced-apart position ( FIG.  2 A ), end effector assembly  100  may be maneuvered into position such that tissue to be grasped, treated, e.g., sealed, and/or cut, is disposed between jaw members  110 ,  120 . Next, movable handle  40  is depressed, or pulled proximally relative to fixed handle  50  such that jaw member  110  is pivoted relative to jaw member  120  from the spaced-apart position to the approximated position to grasp tissue therebetween ( FIG.  2 B ). In this approximated position, energy may be supplied, e.g., via activation of switch  4 , to surface  112  of jaw member  110  and/or surface  122  of jaw member  120  and conducted through tissue to treat tissue, e.g., to effect a tissue seal or otherwise treat tissue in the bipolar mode of operation. Once tissue treatment is complete (or to cut untreated tissue), knife  64  ( FIG.  2 B ) may be deployed from within shaft  12  to between jaw members  110 ,  120 , e.g., via actuation of trigger  62  of trigger assembly  60 , to cut tissue grasped between jaw members  110 ,  120 . 
     When tissue cutting is complete, trigger  62  may be released to return knife  64  ( FIG.  2 B ) to the retracted position. Thereafter, movable handle  40  may be released or returned to its initial position such that jaw members  110 ,  120  are moved back to the spaced-apart position ( FIG.  2 A ) to release the treated and/or divided tissue. 
     For operation of forceps  10  in the monopolar mode, jaw members  110 ,  120  are first moved to the approximated position, e.g., by depressing movable handle  40  relative to fixed handle  50 . A lockout mechanism for inhibiting deployment of monopolar assembly  200  prior to movement of jaw members  110 ,  120  to the approximated positions may also be provided, such as the lockout mechanism described in U.S. patent application Ser. No. 14/276,465, filed on May 13, 2014, the entire contents of which are incorporated herein by reference. Once the approximated position has been achieved, monopolar assembly  200  may be deployed by transitioning deployment mechanism  80  from the un-actuated condition to the actuated condition. More specifically, in order to deploy monopolar assembly  200 , either or both actuators  82  are rotated distally, e.g., clockwise from the orientation shown in  FIG.  1   , from the un-actuated position to the actuated position. 
     Rotation of either or both actuators  82 , as detailed above, effects rotation of pin  84  and actuator plate  176 , which engages clutch plate  174  and urges clutch plate  174 , base member  172 , and actuator gear  178  to rotate similarly as actuators  82 . Being in meshed engagement, rotation of actuator gear  178  effects opposite rotation of intermediate gear  158  which, in turn, effects opposite rotation (relative to intermediate gear  158 ) of first drive gear  182 . Rotation of first drive gear  182  effects opposite rotation of second drive gear  184  (relative to first drive gear  182 ) to thereby rotate arm  185  through its first half of rotation, e.g., distally from the position shown in  FIG.  7 A  to the position shown in  FIG.  7 B . Such rotation of arm  185  slides hand  186  vertically through vertical slot  187  of upright member  188  and urges upright member  188  distally. Distal urging of upright member  188  urges slider  189  distally through guide track  168  of guide body  167 , thereby translating proximal hub  230  of monopolar assembly  200  and, thus, insulative sleeve  210  and energizable rod member  220 , distally relative to housing  20 , shaft  12 , and end effector assembly  100  from their storage positions (the storage condition of monopolar assembly  200 ) ( FIG.  2 B ), to their deployed positions (the deployed condition of monopolar assembly  200 ) ( FIG.  2 D ). 
     Upon full actuation of either or both actuators  82  to deploy monopolar assembly  200 , the actuator(s)  82  can be released, allowing actuator plate  176  to rotate relative to clutch plate  174  (which remains relatively stationary) to thereby return the actuator(s)  82  to their initial position while monopolar assembly  200  remains disposed in the deployed condition via engagement of locking pin  190  within locking member  194  and drive gear assembly  180  remains disposed in the actuated condition shown in  FIG.  7 B . 
     With monopolar assembly  200  locked in the deployed condition, activation switch  4  may be actuated to supply energy to energizable rod member  220  to treat, e.g., dissect or otherwise treat, tissue. During application of energy to tissue via energizable rod member  220 , forceps  10  may be moved relative to tissue, e.g., longitudinally, transversely, and/or radially, to facilitate electromechanical treatment of tissue. 
     At the completion of tissue treatment, either or both of actuators  82  may be actuated a subsequent time, e.g., either or both actuators  82  may once again be rotated distally from the un-actuated position to the actuated position. This subsequent, or re-actuation of either or both actuators  82 , as detailed above, effects rotation of pin  84  and actuator plate  176 , which engages clutch plate  174  and thereby urges clutch plate  174 , base member  172 , and actuator gear  178  to rotate. This rotation, in turn, rotates intermediate gear  158 , first drive gear  182 , and second drive gear  184  to thereby rotate arm  185  through the second half rotation, e.g., proximally from the position shown in  FIG.  7 B  back to the position shown in  FIG.  7 A . Such rotation of arm  185  initially urges slider  189  distally to disengage locking pin  190  from locking member  194 , thereby unlocking monopolar assembly  200  from the deployed condition, and slides hand  185  vertically through vertical slot  187  of upright member  188  while pulling upright member  188  proximally. Proximal pulling of upright member  188  pulls slider  189  proximally through guide track  168  of guide body  167 , thereby translating proximal hub  230  of monopolar assembly  200  and, thus, insulative sleeve  210  and energizable rod member  220 , proximally relative to housing  20 , shaft  12 , and end effector assembly  100  from their deployed positions (the deployed condition of monopolar assembly  200 ) ( FIG.  2 D ) back to their storage positions (the storage condition of monopolar assembly  200 ) ( FIG.  2 B ). 
     Upon return of slider  189  to the proximal position, locking pin  190  enters locking track  192  and is releasably engaged therein, thereby locking monopolar assembly  200  in the storage condition. Further, upon full re-actuation of either or both actuators  82  to deploy monopolar assembly  200 , the actuator(s)  82  can be released, allowing actuator plate  178  to rotate relative to clutch plate  176  to thereby return the actuator(s)  82  to their initial position while monopolar assembly  200  remains disposed in the storage condition via engagement of locking pin  190  within locking member  192 . 
     Turning now to  FIGS.  9 A and  9 B , another embodiment of a deployment mechanism provided in accordance with the present disclosure is shown generally as deployment mechanism  380 . Deployment mechanism  380  is similar to and may include any or all of the features of deployment mechanism  80  ( FIGS.  3 - 8 B ). Accordingly, for purposes of brevity, only the differences between deployment mechanism  380  and deployment mechanism  80  ( FIGS.  3 - 8 B ) will be described in detail below. 
     Rather than providing a hand and upright member coupled to the second end of the arm, as detailed above with respect to deployment mechanism  80  ( FIGS.  3 - 8 B ), deployment mechanism  380  includes a linkage bar  386  pivotably coupled to the second end of arm  385  at its first end and to slider  389  at its second end. In use, as arm  385  is rotated through its first half of rotation, e.g., in a generally distal direction, linkage bar  386  is pushed distally to thereby deploy monopolar assembly  200  ( FIGS.  2 A- 2 D ). On the other hand, as arm  385  is rotated through its second half of rotation, e.g., in a generally proximal direction, linkage bar  386  is pulled proximally to thereby retract monopolar assembly  200  ( FIGS.  2 A- 2 D ). The use and operation of deployment mechanism  380  is otherwise similar to that of deployment mechanism  80  ( FIGS.  3 - 8 B ), detailed above. 
     Turning now to  FIGS.  10 A and  10 B , another embodiment of a deployment mechanism provided in accordance with the present disclosure is shown generally as deployment mechanism  480 . Deployment mechanism  480  is similar to and may include any or all of the features of deployment mechanisms  80  ( FIGS.  3 - 8 B ). Accordingly, for purposes of brevity, only the differences between deployment mechanism  480  and deployment mechanism  80  ( FIGS.  3 - 8 B ) will be described in detail below. 
     Deployment mechanism  480 , rather than providing a hand and upright member coupled to the second end of the arm, as detailed above with respect to deployment mechanism  80  ( FIGS.  3 - 8 B ), includes a linkage bar  486  coupled to arm  485 , similarly as detailed above with respect to deployment mechanism  380  ( FIGS.  9 A and  9 B ). However, it is also contemplated that deployment mechanism  480  be configured similar to deployment mechanism  80  ( FIGS.  3 - 8 B ) in this manner, e.g., that deployment mechanism  480  include a hand and upright member coupled between the arm and slider. 
     Further, rather than providing a plurality of gear members for converting rotation of the actuators into longitudinal translation of the slider and, thus, deployment and retraction of monopolar assembly  200  ( FIGS.  2 A- 2 D ), deployment mechanism  480  includes a pulley system  490 . Pulley system  490  includes a first pulley wheel  492  coupled to clutch assembly  484  (similar to clutch assembly  170  of deployment mechanism  80  ( FIGS.  3 - 8 B )) and a second pulley wheel  494  having the first end of arm  485  coupled thereto. A pulley belt  496  is disposed about first and second pulley wheels  492 ,  494  are configured such that rotation of first pulley wheel  492 , imparted thereto via clutch assembly  484 , urges pulley belt  496  to rotate second pulley wheel  494 . First and second pulley wheels  492 ,  494  and pulley belt  496  may be configured to establish an advantageous pulley ratio therebetween such that minimal actuation of actuators  482  is required to fully deploy and retract monopolar assembly  200  ( FIGS.  2 A- 2 D ), similarly as detailed above with respect to deployment mechanism  80  ( FIGS.  3 - 8 B ). 
     First pulley wheel  492  of pulley system  490 , as mentioned above, is coupled to clutch assembly  484  of deployment mechanism  480  similarly as with actuator gear  178  of clutch assembly  170  of deployment mechanism  80  (see  FIGS.  4  and  5   ). That is, first pulley wheel  492  is engaged with the clutch plate (not shown, similar to clutch plate  174  of deployment mechanism  80  ( FIG.  4   )) of the clutch assembly  484  such that rotation of actuator(s)  482  in a first direction effects rotation of first pulley wheel  492  and such that return of actuators  482  in the second, opposite direction is effected without moving first pulley wheel  492 . Second pulley wheel  494  is coupled to arm  485  which is coupled to linkage bar  486  which, in turn, is coupled to slider  489  such that, similarly as detailed above, rotation of second pulley wheel  494  through a first half of rotation, e.g., generally distally, deploys monopolar assembly  200  ( FIGS.  2 A- 2 D ) and such that further rotation of second pulley wheel  494  through a second half of rotation, e.g., generally proximally, retracts monopolar assembly  200  ( FIGS.  2 A- 2 D ). The use and operation of deployment mechanism  480  is otherwise similar to that detailed above with respect to deployment mechanism  80  ( FIGS.  3 - 8 B ). 
     Referring to  FIGS.  11  and  12   , another embodiment of a clutch assembly  570  provided in accordance with the present disclosure is shown configured for use with deployment mechanism  480  ( FIGS.  10 A and  10 B ), although clutch assembly  570  may similarly be used with deployment mechanism  80  ( FIGS.  3 - 8 B ) and/or deployment mechanism  380  ( FIGS.  9 A and  9 B ). 
     Clutch assembly  570  includes a first pulley wheel  572  that is similar to first pulley wheel  492  of deployment mechanism  480  ( FIGS.  10 A and  10 B ) except as detailed hereinbelow. However, in embodiments where clutch assembly  570  is utilized in deployment mechanism  80  ( FIGS.  3 - 8 B ) and/or deployment mechanism  380  ( FIGS.  9 A and  9 B ), first pulley wheel  572  is instead an actuator gear similarly as detailed above with respect to those deployment mechanism. First pulley wheel  572  of clutch assembly  570  includes a body portion  573  defining an aperture  574  therethrough. A tubular extension  575   a  extends transversely from body portion  573  and is disposed about aperture  574  to define a lumen that is an extension of aperture  574 . A plurality of radially-arranged, one-way teeth  575   b  are disposed about tubular extension  575   a  adjacent body portion  573 . 
     Clutch assembly  570  further includes an actuator hub  576 , and first and second biasing members  578 ,  579 , respectively. Actuator hub  576  defines an inner member  577   a  that is configured to abut tubular extension  575   a  of first pulley wheel  572  and includes an aperture  577   b  extending therethrough. Aperture  577   b  is configured to receive a pin  584  (similar to pin  84  ( FIG.  3   )) to engage actuator hub  576  with the actuator (not shown, similar to actuators  82  ( FIG.  3   ). Pin  584  extends through and is rotatably disposed within aperture  574  of first pulley wheel  572  such that actuator hub  576  and pin  584  are together rotatable relative to first pulley wheel  572 . Actuator hub  576  further includes an outer annular member  577   c  spaced-apart from inner member  577   a  to define a ring-shaped recess  577   d  therebetween. 
     As detailed below, first biasing member  578  is provided to return the actuator to the initial position after actuation, while second biasing member  579 , in conjunction with one-way teeth  575   b , provide the clutch functionality of clutch assembly  570  that enables actuation of the actuator to drive first pulley wheel  572 , while first pulley wheel  572  is retained in position upon return of the actuator to is initial position. First biasing member  578  includes a first end  578   a  that extends into recess  577   d  and is engaged within a slot  577   e  defined within outer annular member  577   c . Likewise, second biasing member  579  includes a first end  579   a  that extends into recess  577   d  and is engaged within a slot  577   f  defined within inner member  577   a . Thus, first ends  578   a ,  579   a  of first and second biasing members  578 ,  579 , respectively, are rotationally fixed relative to actuator hub  576 . First and second biasing members  578 ,  579  are configured as coiled torsion springs wherein first biasing member  578  defines a larger diameter than second biasing member  579  so as to enable first biasing member  578  to be positioned about second biasing member  579  (see  FIG.  12   ). 
     Second end  578   b  of first biasing member  578  is fixed (e.g., secured to one of the support members of the deployment mechanism and/or the housing of the forceps) such that rotation of actuator hub  576  in response to actuation of one or both of the actuators torques first biasing member  578 . Upon release of the actuator(s), the energy built up in first biasing member  578  is released, thereby urging the actuator(s) and actuator hub  576  back to their respective initial positions. 
     Second end  579   b  of second biasing member  579  is operably positioned relative to one-way teeth  575   b  of first pulley wheel  572  such that rotation of actuator hub  576  in a first direct, e.g., in response to actuation of one or both of the actuators, applies torque to second biasing member  579  and urges second end  579   b  of second biasing member  579  to rotate into contact with the perpendicular surface of one of the one-way teeth  575   b  of first pulley wheel  572  to likewise urge first pulley wheel  572  to rotate. Similarly as noted above with respect to deployment mechanism  480  ( FIGS.  10 A and  10 B ), rotation of first pulley wheel  572  ultimately effects deployment or retraction of monopolar assembly  200  ( FIGS.  2 A- 2 D ). Upon release of the actuator(s), the energy built up in second biasing member  579  is released, thereby urging second end  579   b  of second biasing member  579  to rotate back towards its initial position. During such rotation, second end  579   b  of second biasing member  579  cams over the angled surfaces of one-way teeth  575   b  such that second biasing member  579  is returned to its initial position without effecting rotation of first pulley wheel  572 . 
     The various embodiments disclosed herein may also be configured to work with robotic surgical systems and what is commonly referred to as “Telesurgery.” Such systems employ various robotic elements to assist the surgeon in the operating room and allow remote operation (or partial remote operation) of surgical instrumentation. Various robotic arms, gears, cams, pulleys, electric and mechanical motors, etc. may be employed for this purpose and may be designed with a robotic surgical system to assist the surgeon during the course of an operation or treatment. Such robotic systems may include remotely steerable systems, automatically flexible surgical systems, remotely flexible surgical systems, remotely articulating surgical systems, wireless surgical systems, modular or selectively configurable remotely operated surgical systems, etc. 
     The robotic surgical systems may be employed with one or more consoles that are next to the operating theater or located in a remote location. In this instance, one team of surgeons or nurses may prep the patient for surgery and configure the robotic surgical system with one or more of the instruments disclosed herein while another surgeon (or group of surgeons) remotely control the instruments via the robotic surgical system. As can be appreciated, a highly skilled surgeon may perform multiple operations in multiple locations without leaving his/her remote console which can be both economically advantageous and a benefit to the patient or a series of patients. 
     The robotic arms of the surgical system are typically coupled to a pair of master handles by a controller. The handles can be moved by the surgeon to produce a corresponding movement of the working ends of any type of surgical instrument (e.g., end effectors, graspers, knifes, scissors, etc.) which may complement the use of one or more of the embodiments described herein. The movement of the master handles may be scaled so that the working ends have a corresponding movement that is different, smaller or larger, than the movement performed by the operating hands of the surgeon. The scale factor or gearing ratio may be adjustable so that the operator can control the resolution of the working ends of the surgical instrument(s). 
     The master handles may include various sensors to provide feedback to the surgeon relating to various tissue parameters or conditions, e.g., tissue resistance due to manipulation, cutting or otherwise treating, pressure by the instrument onto the tissue, tissue temperature, tissue impedance, etc. As can be appreciated, such sensors provide the surgeon with enhanced tactile feedback simulating actual operating conditions. The master handles may also include a variety of different actuators for delicate tissue manipulation or treatment further enhancing the surgeon&#39;s ability to mimic actual operating conditions. 
     From the foregoing and with reference to the various drawing figures, those skilled in the art will appreciate that certain modifications can also be made to the present disclosure without departing from the scope of the same. While several embodiments of the disclosure have been shown in the drawings, it is not intended that the disclosure be limited thereto, as it is intended that the disclosure be as broad in scope as the art will allow and that the specification be read likewise. Therefore, the above description should not be construed as limiting, but merely as exemplifications of particular embodiments. Those skilled in the art will envision other modifications within the scope and spirit of the claims appended hereto.