Patent Description:
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.

The surgical instruments or portions thereof may be configured as single-use instruments or portions that are discarded after use, or may be configured as reusable instruments or portions that are cleaned and sterilized between uses. Regardless of the configurations of the surgical instruments, the console and robotic arm are capital equipment configured for long-term, repeated use. The console and robotic arm may be protected by a sterile barrier during use and/or wiped clean after use to ensure cleanliness for subsequent uses.

End effector assemblies used for various surgical procedures often need to be manually activatable by the operating staff for cleaning and sterilization and/or for operably engaging various hardware to the robotic instrument. As a result, robotic surgical instruments need to be designed and manufactured with this in mind. Documents <CIT>, <CIT>, <CIT>, <CIT>, <CIT>, <CIT> and <CIT> disclose relevant background art.

The invention is defined in the appended independent claim <NUM>. 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 <NUM>%.

Provided in accordance with aspects of the present disclosure is a robotic surgical instrument including a housing having a shaft extending therefrom having an end effector assembly at a distal end thereof, the shaft including a drive rod extending therethrough configured to actuate the end effector assembly upon translation thereof. A spring compression assembly is supported within the housing, the spring compression assembly including: a proximal hub configured to secure a proximal end of the drive rod disposed therethrough, the proximal hub including a plurality of teeth disposed along an inner peripheral surface thereof; a distal hub spaced from the proximal hub and including a plurality of teeth disposed along an inner peripheral surface thereof; and a compression spring mounted between the proximal and distal hubs. A drive gear is included having a proximal portion extending therefrom including a plurality of threads disposed thereabout configured to matingly engage the corresponding plurality of teeth of the proximal and distal hubs such that rotation thereof translates the proximal and distal hubs relative to one another and actuates the end effector assembly. A thumb wheel is included having a portion thereof exposed outside the housing for external manipulation thereof. The thumb wheel is selectively positionable between a first, disengaged position spaced relative to the drive gear and a second, engaged position to matingly engage the drive gear and allow manual actuation of the end effector assembly.

In aspects according to the present disclosure, the drive gear is configured to matingly engage a corresponding gear of an input shaft that operably connects to a drive input adapted to connect to a robot surgical system.

In aspects according to the present disclosure, the thumb wheel is biased in the disengaged position. In other aspects according to the present disclosure, moving the thumb wheel relative to the housing and rotating the thumb wheel correspondingly rotates the drive gear which, in turn, translates the proximal hub relative to the distal hub to actuate the end effector assembly. In yet other aspects according to the present disclosure, translation of the proximal hub relative to the distal hub moves the drive rod to actuate the end effector assembly.

In aspects according to the present disclosure, moving the thumb wheel relative to the housing and rotating the thumb wheel correspondingly rotates the drive gear which, in turn, rotates a corresponding gear of an input shaft that operably connects to a drive input adapted to connect to a robot surgical system.

In aspects according to the present disclosure, the end effector assembly includes a pair of first and second jaw members, at least one of the jaw members moveable relative to the other jaw member.

Provided in accordance with aspects of the present disclosure is a robotic surgical instrument including a housing having a shaft extending therefrom including an end effector assembly at a distal end thereof, the shaft including a drive rod extending therethrough configured to actuate the end effector assembly upon translation thereof. A spring compression assembly is supported within the housing, the spring compression assembly including: a proximal hub configured to secure a proximal end of the drive rod disposed therethrough, the proximal hub including a plurality of teeth disposed along an inner peripheral surface thereof; a distal hub spaced from the proximal hub and including a plurality of teeth disposed along an inner peripheral surface thereof; and a compression spring mounted between the proximal and distal hubs. A drive gear is included having a proximal portion extending therefrom including a plurality of threads disposed thereabout configured to matingly engage the corresponding plurality of teeth of the proximal and distal hubs such that rotation thereof translates the proximal and distal hubs relative to one another and actuates the end effector assembly. A drive input is included having a drive input shaft having an input gear configured to matingly engage the drive gear such that rotation of the drive input shaft correspondingly rotates the drive gear, the drive input shaft including a mechanical interface disposed thereabout. A thumb wheel is included having a portion thereof exposed outside the housing for external manipulation thereof. The thumb wheel includes a corresponding mechanical interface disposed about an inner periphery thereof, the mechanical interface of the drive input shaft configured to matingly engage the corresponding mechanical interface of the thumb wheel upon selective translation of the thumb wheel. The thumb wheel is selectively translatable between a first, disengaged position spaced relative to the mechanical interface disposed on the drive input shaft and a second, engaged position to matingly engage the thumb wheel with the drive input shaft and allow manual actuation of the end effector assembly.

In aspects according to the present disclosure, the thumb wheel is biased in the disengaged position. In other aspects according to the present disclosure, translating the thumb wheel along the drive input shaft and rotating the thumb wheel correspondingly rotates the drive input shaft and the drive gear which, in turn, translates the proximal hub relative to the distal hub to actuate the end effector assembly. In yet other aspects according to the present disclosure, translation of the proximal hub relative to the distal hub moves the drive rod to actuate the end effector assembly.

In aspects according to the present disclosure, the end effector assembly includes a pair of first and second jaw members, at least one of the jaw members moveable relative to the other jaw member. In aspects according to the present disclosure, the drive input shaft includes a plurality of castellations defined thereabout that is configured to matingly engage a corresponding plurality of teeth disposed along an inner peripheral surface of the thumb wheel upon selective translation of the thumb wheel.

In aspects according to the present disclosure, the thumb wheel is disposed distally of the spring compression assembly. In other aspects according to the present disclosure, movement of the thumb wheel distally engages the plurality of teeth with the corresponding plurality of castellations defined about the drive input shaft.

Various aspects and features of the present disclosure are described hereinbelow with reference to the drawings wherein:.

Referring to <FIG>, a surgical instrument <NUM> provided in accordance with the present disclosure generally includes a housing <NUM>, a shaft <NUM> extending distally from housing <NUM>, an end effector assembly <NUM> extending distally from shaft <NUM>, and an actuation assembly <NUM> disposed within housing <NUM> and operably associated with shaft <NUM> and end effector assembly <NUM>. Instrument <NUM> is detailed herein as an articulating electrosurgical forceps configured for use with a robotic surgical system, e.g., robotic surgical system <NUM> (<FIG>). However, the aspects and features of instrument <NUM> provided in accordance with the present disclosure, detailed below, are equally applicable for use with other suitable surgical instruments and/or in other suitable surgical systems.

Housing <NUM> of instrument <NUM> includes first and second body portion 22a, 22b and a proximal face plate <NUM> that cooperate to enclose actuation assembly <NUM> therein. Proximal face plate <NUM> includes apertures defined therein through which inputs <NUM>-<NUM> of actuation assembly <NUM> extend. A pair of latch levers <NUM> (only one of which is illustrated in <FIG>) extends outwardly from opposing sides of housing <NUM> and enables releasable engagement of housing <NUM> with a robotic arm of a surgical system, e.g., robotic surgical system <NUM> (<FIG>). An aperture <NUM> defined through housing <NUM> permits thumbwheel <NUM> to extend therethrough to enable manual manipulation of thumbwheel <NUM> from the exterior of housing <NUM> to permit manual opening and closing of end effector assembly <NUM>.

Shaft <NUM> of instrument <NUM> includes a distal segment <NUM>, a proximal segment <NUM>, and an articulating section <NUM> disposed between the distal and proximal segments <NUM>, <NUM>, respectively. Articulating section <NUM> includes one or more articulating components <NUM>, e.g., links, joints, etc. A plurality of articulation cables <NUM>, e.g., four (<NUM>) articulation cables, or other suitable actuators, extends through articulating section <NUM>. More specifically, articulation cables <NUM> are operably coupled to distal segment <NUM> of shaft <NUM> at the distal ends thereof and extend proximally from distal segment <NUM> of shaft <NUM>, through articulating section <NUM> of shaft <NUM> and proximal segment <NUM> of shaft <NUM>, and into housing <NUM>, wherein articulation cables <NUM> operably couple with an articulation assembly <NUM> of actuation assembly <NUM> to enable selective articulation of distal segment <NUM> (and, thus end effector assembly <NUM>) relative to proximal segment <NUM> and housing <NUM>, e.g., about at least two axes of articulation (yaw and pitch articulation, for example). Articulation cables <NUM> are arranged in a generally rectangular configuration, although other suitable configurations are also contemplated.

With respect to articulation of end effector assembly <NUM> relative to proximal segment <NUM> of shaft <NUM>, actuation of articulation cables <NUM> is effected in pairs. More specifically, in order to pitch end effector assembly <NUM>, the upper pair of cables <NUM> is actuated in a similar manner while the lower pair of cables <NUM> is actuated in a similar manner relative to one another but an opposite manner relative to the upper pair of cables <NUM>. With respect to yaw articulation, the right pair of cables <NUM> is actuated in a similar manner while the left pair of cables <NUM> is actuated in a similar manner relative to one another but an opposite manner relative to the right pair of cables <NUM>.

End effector assembly <NUM> includes first and second jaw members <NUM>, <NUM>, respectively. Each jaw member <NUM>, <NUM> includes a proximal flange portion 43a, 45a and a distal body portion 43b, 45b, respectively. Distal body portions 43b, 45b define opposed tissue-contacting surfaces <NUM>, <NUM>, respectively. Proximal flange portions 43a, 45a are pivotably coupled to one another about a pivot <NUM> and are operably coupled to one another via a cam-slot assembly <NUM> including a cam pin slidably received within cam slots defined within the proximal flange portion 43a, 45a of at least one of the jaw members <NUM>, <NUM>, respectively, to enable pivoting of jaw member <NUM> relative to jaw member <NUM> and distal segment <NUM> of shaft <NUM> between a spaced-apart position (e.g., an open position of end effector assembly <NUM>) and an approximated position (e.g. a closed position of end effector assembly <NUM>) for grasping tissue between tissue-contacting surfaces <NUM>, <NUM>. As an alternative to this unilateral configuration, a bilateral configuration may be provided whereby both jaw members <NUM>, <NUM> are pivotable relative to one another and distal segment <NUM> of shaft <NUM>.

In some configurations, longitudinally-extending knife channels (not shown) are defined through tissue-contacting surfaces <NUM>, <NUM>, respectively, of jaw members <NUM>, <NUM>. In such configurations, a knife assembly <NUM> is provided that includes a proximal knife drive tube <NUM>, a distal knife rod <NUM>, an intermediate elongated collar <NUM>, and a knife blade <NUM> (see <FIG> and <FIG>). The connector components <NUM>-<NUM> of knife assembly <NUM> (see <FIG> and <FIG>) extend from housing <NUM> through shaft <NUM> to end effector assembly <NUM>. Knife blade <NUM> (<FIG>) is disposed within end effector assembly <NUM> between jaw members <NUM>, <NUM> is provided to enable cutting of tissue grasped between tissue-contacting surfaces <NUM>, <NUM> of jaw members <NUM>, <NUM>, respectively. Proximal knife tube <NUM> (<FIG> and <FIG>) is operably coupled to a knife drive assembly <NUM> of actuation assembly <NUM> (<FIG> and <FIG>) at a proximal end thereof to enable selective actuation thereof to, in turn, reciprocate the knife blade <NUM> (<FIG>) between jaw members <NUM>, <NUM> to cut tissue grasped between tissue-contacting surfaces <NUM>, <NUM>.

Continuing with reference to <FIG>, a drive rod <NUM> is operably coupled to cam-slot assembly <NUM> of end effector assembly <NUM>, e.g., engaged with the cam pin thereof, such that longitudinal actuation of drive rod <NUM> pivots jaw member <NUM> relative to jaw member <NUM> between the spaced-apart and approximated positions. More specifically, urging drive rod <NUM> proximally pivots jaw member <NUM> relative to jaw member <NUM> towards the approximated position while urging drive rod <NUM> distally pivots jaw member <NUM> relative to jaw member <NUM> towards the spaced-apart position. However, other suitable mechanisms and/or configurations for pivoting jaw member <NUM> relative to jaw member <NUM> between the spaced-apart and approximated positions in response to selective actuation of drive rod <NUM> are also contemplated. Drive rod <NUM> extends proximally from end effector assembly <NUM> through shaft <NUM> and into housing <NUM> wherein drive rod <NUM> is operably coupled with a jaw drive assembly <NUM> of actuation assembly <NUM> (<FIG> and <FIG>) to enable selective actuation of end effector assembly <NUM> to grasp tissue therebetween and apply a closure force within an appropriate jaw closure force range.

Tissue-contacting surfaces <NUM>, <NUM> of jaw members <NUM>, <NUM>, respectively, are 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 tissue-contacting surfaces <NUM>, <NUM> may alternatively be configured to supply any suitable energy, e.g., thermal, microwave, light, ultrasonic, etc., through tissue grasped therebetween for energy-based tissue treatment. Instrument <NUM> defines a conductive pathway (not shown) through housing <NUM> and shaft <NUM> to end effector assembly <NUM> that may include lead wires <NUM>, contacts, and/or electrically-conductive components to enable electrical connection of tissue-contacting surfaces <NUM>, <NUM> of jaw members <NUM>, <NUM>, respectively, to an energy source (not shown), e.g., an electrosurgical generator via an electrosurgical cable extending therebetween, for supplying energy to tissue-contacting surfaces <NUM>, <NUM> to treat, e.g., seal, tissue grasped between tissue-contacting surfaces <NUM>, <NUM>.

As noted above, actuation assembly <NUM> is disposed within housing <NUM> and includes an articulation assembly <NUM>, a knife drive assembly <NUM>, and a jaw drive assembly <NUM>. Articulation assembly <NUM> is operably coupled between first and second inputs <NUM>, <NUM>, respectively, of actuation assembly <NUM> and articulation cables <NUM> (<FIG>) such that, upon receipt of appropriate rotational inputs into first and/or second inputs <NUM>, <NUM>, articulation assembly <NUM> manipulates cables <NUM> (<FIG> and <FIG>) to articulate end effector assembly <NUM> in a desired direction, e.g., to pitch and/or yaw end effector assembly <NUM>. Knife drive assembly <NUM> is operably coupled between third input <NUM> of actuation assembly <NUM> and knife tube <NUM> (<FIG>) such that, upon receipt of appropriate rotational input into third input <NUM>, knife drive assembly <NUM> manipulates knife tube <NUM> to reciprocate the knife blade <NUM> (<FIG>) between jaw members <NUM>, <NUM> to cut tissue grasped between tissue-contacting surfaces <NUM>, <NUM>. Jaw drive assembly <NUM> is operably coupled between fourth input <NUM> of actuation assembly <NUM> and drive rod <NUM> such that, upon receipt of appropriate rotational input into fourth input <NUM>, jaw drive assembly <NUM> pivots jaw members <NUM>, <NUM> between the spaced-apart and approximated positions to grasp tissue therebetween and apply a closure force within an appropriate closure force range.

Actuation assembly <NUM> is configured to operably interface with a robotic surgical system <NUM> (<FIG>) when instrument <NUM> is mounted on robotic surgical system <NUM> (<FIG>), to enable robotic operation of actuation assembly <NUM> to provide the above-detailed functionality. That is, robotic surgical system <NUM> (<FIG>) selectively provides rotational inputs to inputs <NUM>-<NUM> of actuation assembly <NUM> to articulate end effector assembly <NUM>, grasp tissue between jaw members <NUM>, <NUM>, and/or cut tissue grasped between jaw members <NUM>, <NUM>. However, it is also contemplated that actuation assembly <NUM> be configured to interface with any other suitable surgical system, e.g., a manual surgical handle, a powered surgical handle, etc. For the purposes herein, robotic surgical system <NUM> (<FIG>) is generally described.

Turning to <FIG>, robotic surgical system <NUM> is configured for use in accordance with the present disclosure. Aspects and features of robotic surgical system <NUM> not germane to the understanding of the present disclosure are omitted to avoid obscuring the aspects and features of the present disclosure in unnecessary detail.

Robotic surgical system <NUM> generally includes a plurality of robot arms <NUM>, <NUM>; a control device <NUM>; and an operating console <NUM> coupled with control device <NUM>. Operating console <NUM> may include a display device <NUM>, which may be set up in particular to display three-dimensional images; and manual input devices <NUM>, <NUM>, by means of which a person, e.g., a surgeon, may be able to telemanipulate robot arms <NUM>, <NUM> in a first operating mode. Robotic surgical system <NUM> may be configured for use on a patient <NUM> lying on a patient table <NUM> to be treated in a minimally invasive manner. Robotic surgical system <NUM> may further include a database <NUM>, in particular coupled to control device <NUM>, in which are stored, for example, preoperative data from patient <NUM> and/or anatomical atlases.

Each of the robot arms <NUM>, <NUM> may 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 instrument <NUM> (<FIG>), thus providing such functionality on a robotic surgical system <NUM>.

Robot arms <NUM>, <NUM> may be driven by electric drives, e.g., motors, connected to control device <NUM>. Control device <NUM>, e.g., a computer, may be configured to activate the motors, in particular by means of a computer program, in such a way that robot arms <NUM>, <NUM>, and, thus, their mounted surgical tools "ST" execute a desired movement and/or function according to a corresponding input from manual input devices <NUM>, <NUM>, respectively. Control device <NUM> may also be configured in such a way that it regulates the movement of robot arms <NUM>, <NUM> and/or of the motors.

With reference to <FIG>, <FIG>, <FIG>, and <FIG>, articulation assembly <NUM> of actuation assembly <NUM> including a lead screw sub-assembly <NUM>, a first gear sub-assembly <NUM>, a second gear sub-assembly <NUM>, a third gear sub-assembly <NUM>, and first and second input shafts <NUM>, <NUM>. Although articulation assembly <NUM> is detailed herein as including a plurality of gears, such gearing components may be replaced or supplemented with the use of belts instead of directly meshed gears, without departing from the present disclosure. Further, multiple gears (and/or belts) may be provided in place of single gears (and/or belts) to provide a desired amplification or attenuation effect.

Lead screw sub-assembly <NUM> of actuation assembly <NUM> includes four lead screws <NUM> arranged to define a generally square configuration wherein diagonally-opposed lead screws <NUM> define opposite thread-pitch directions. Each lead screw <NUM> includes a collar <NUM> threadingly engaged thereabout such that rotation of the lead screw <NUM> translates the corresponding collar <NUM> longitudinally therealong. Each collar <NUM>, in turn, secures a proximal end portion of one of the articulation cables <NUM> therein, e.g., via a crimp or other suitable engagement (mechanical fastening, adhesion, welding, etc.). Thus, distal translation of a collar <NUM> slackens the corresponding articulation cable <NUM> by pushing the corresponding articulation cable <NUM> in a distal direction, while proximal translation of a collar <NUM> tensions the corresponding articulation cable <NUM> by pulling the corresponding articulation cable <NUM> in a proximal direction.

Lead screw sub-assembly <NUM> further includes a distal plate <NUM> including four bushings <NUM> each of which rotatably retains the distal end portion of one of the four lead screws <NUM>. The proximal end portions of lead screws <NUM> define keyed, e.g., semi-circular inputs, such that rotational inputs provided thereto similarly rotate the lead screws <NUM>. In some configurations, a proximal end portion of shaft <NUM> is fixedly engaged (directly or indirectly) with distal plate <NUM>.

First gear sub-assembly <NUM> includes a distal housing body <NUM> and a proximal housing body <NUM> that cooperate to operably support a first pair of diagonally-opposed gears mounted on keyed outputs such that such that rotation of one of the gears rotates the corresponding keyed output. The proximal end portions of a first diagonally-opposed pair of lead screws <NUM> of lead screw sub-assembly <NUM> are engaged with corresponding keyed outputs of first gear sub-assembly <NUM>, thereby rotatably coupling each of the gears of first gear sub-assembly <NUM> with one of the lead screws <NUM> of the first diagonally-opposed pair of lead screws <NUM> such that rotation of one of the gears rotates the corresponding lead screw <NUM>.

Second gear sub-assembly <NUM> includes a distal housing body <NUM> and a proximal housing body <NUM> that cooperate to operably support a second pair of diagonally-opposed gears mounted on keyed outputs, a central compound gear, and a first coupling gear mounted on a first coupling shaft. The first coupling gear <NUM> is disposed in meshed engagement with a proximal gear of the central compound gear.

The first diagonal pair of articulation cables <NUM> is pre-tensioned prior to engagement of second gear sub-assembly <NUM> with first gear sub-assembly <NUM>. Upon such engagement, the keyed outputs of second gear sub-assembly <NUM> are rotationally coupled with the proximal end portions of the second diagonally-opposed pair of lead screws <NUM>, thereby rotatably coupling each of the gears of second gear sub-assembly <NUM> with one of the lead screws <NUM> of the second diagonally-opposed pair of lead screws <NUM> such that rotation of one of the gears rotates the corresponding lead screw <NUM>. Engagement of second gear sub-assembly <NUM> with first gear sub-assembly <NUM> also disposes a distal gear of the central compound gear into meshed engagement with and between the diagonally-opposed gears of first gear sub-assembly <NUM> to thereby couple the diagonally-opposed gears with one another, coupling the lead screws <NUM> of the first diagonally-opposed pair of lead screws <NUM> with one another and locking in the pre-tension of the first pair of articulation cables <NUM>.

Third gear sub-assembly <NUM> includes a distal housing body <NUM> and a proximal housing body <NUM> that operably support a central compound gear and a second coupling gear mounted on a second coupling shaft. The second coupling shaft includes the second coupling gear mounted thereon and has a proximal end portion that defines a keyed input. Prior to engagement of third gear sub-assembly <NUM> with second gear sub-assembly <NUM>, the second diagonal pair of articulation cables <NUM> is pre-tensioned. Once the pre-tension threshold for the second diagonal pair of articulation cables <NUM> is reached, third gear sub-assembly <NUM> is engaged with second gear sub-assembly <NUM> such that a distal gear of the central compound gear of third gear sub-assembly <NUM> is disposed in meshed engagement with and between the second pair of diagonally-opposed gears of second gear sub-assembly <NUM> to couple the diagonally-opposed gears with one another, thereby coupling the second diagonally-opposed pair of lead screws <NUM> with one another, and locking the pre-tension on the second pair of articulation cables <NUM>.

With first, second, and third gear sub-assemblies <NUM>, <NUM>, <NUM>, respectively, assembled with one another and lead screw sub-assembly <NUM>, as detailed above, input shafts <NUM>, <NUM> can be connected between inputs <NUM>, <NUM> and the keyed outputs of first and second gear sub-assemblies <NUM>, <NUM>, respectively. Thus, in use, rotational input provided to inputs <NUM>, <NUM> can be utilized to move collars <NUM> about lead screws <NUM> in diagonal pairs. Depending upon the direction of rotational input provided to inputs <NUM>, <NUM> and whether the inputs to the pairs are the same or opposite, pitch articulation (in either direction), yaw articulation (in either direction), and/or any combination thereof can be achieved. Articulation assembly <NUM> is described in greater detail in <CIT>.

Continuing with reference to <FIG>, <FIG>, <FIG>, and <FIG>, knife drive assembly <NUM> includes an input shaft <NUM>, an input gear <NUM> engaged on input shaft <NUM>, a central gear <NUM> defining external threading disposed in meshed engagement with input gear <NUM> and internal threading, and a lead screw <NUM> extending through the central gear <NUM> in meshed engagement with the internal threading thereof. As a result of this configuration, a rotational input provided to third input <NUM> rotates input shaft <NUM>, thereby rotating input gear <NUM> to, in turn, rotate central gear <NUM>, which results in translation of lead screw <NUM>. Lead screw <NUM> is fixedly engaged about a proximal end portion of knife tube <NUM> such that translation of lead screw <NUM> translates knife tube <NUM>, e.g., to thereby translate the knife blade <NUM> (<FIG>) between jaw members <NUM>, <NUM> (<FIG>) to cut tissue grasped therebetween. Lead screw <NUM> and knife tube <NUM> are coaxially disposed about drive rod <NUM>.

Jaw drive assembly <NUM> includes an input shaft <NUM> operably coupled to fourth input <NUM> at a proximal end portion thereof, an input gear <NUM> fixedly engaged on input shaft <NUM> at a distal end portion thereof, a drive gear <NUM> disposed in meshed engagement with input gear <NUM>, a thumbwheel <NUM> disposed in meshed engagement with drive gear <NUM>, a lead screw <NUM> is fixedly engaged, e.g., monolithically formed with, drive gear <NUM>, and a spring force assembly <NUM> operably coupling lead screw <NUM> with drive rod <NUM>. Spring force assembly <NUM> includes a proximal hub <NUM> engaged with a proximal end portion of drive rod <NUM>, a distal hub <NUM> threadingly engaged about lead screw <NUM>, and a compression spring <NUM> disposed between proximal and distal hubs <NUM>, <NUM>, respectively. As a result of this configuration, in response to an input to close end effector assembly <NUM>, e.g., rotational input to fourth input <NUM> or a manual input to rotation wheel <NUM>, drive shaft <NUM> is rotated to thereby rotate input gear <NUM> which, in turn, rotates drive gear <NUM> such that distal hub <NUM> is translated proximally towards proximal hub <NUM>. Initially, where forces resisting approximation of jaw members <NUM>, <NUM> are below a threshold corresponding to the spring value of compression spring <NUM>, the closure force applied by jaw members <NUM>, <NUM> is relatively l8w such that the urging of distal hub <NUM> proximally against compression spring <NUM> urges compression spring <NUM> proximally which, in turn, urges drive rod <NUM> proximally to pivot jaw member <NUM> relative to jaw member <NUM> from the spaced-apart position towards the approximated position to grasp tissue therebetween. Upon further approximation of jaw members <NUM>, <NUM> to grasp tissue therebetween, the forces resisting approximation of jaw members <NUM>, <NUM>, e.g., tissue resisting compression, may reach the threshold and, thus the closure force applied by jaw members <NUM>, <NUM> may reach a corresponding threshold. In order to maintain the closure force applied by jaw members <NUM>, <NUM> within a closure force range such as, for example, from about <NUM>/cm<NUM> to about <NUM>/cm<NUM>, application of further closure force by jaw members <NUM>, <NUM> is inhibited beyond this point despite further rotational input to fourth input <NUM>. More specifically, once the threshold has been reached, further rotational input to fourth input <NUM> rotates drive shaft <NUM>, input gear <NUM>, and drive gear <NUM> to translate distal hub <NUM> further proximally into compression spring <NUM>. However, rather than compression spring <NUM> urging proximal hub <NUM> further proximally to continue approximation of jaw members <NUM>, <NUM> and increase the closure force applied therebetween, compression spring <NUM> is compressed, enabling proximal hub <NUM> and, thus, drive rod <NUM> to remain in position despite the continued movement of distal hub <NUM>, thus inhibiting application of additional closure force between jaw members <NUM>, <NUM>. With tissue grasped between jaw members <NUM>, <NUM> under an appropriate closure force, energy may be supplied to jaw members <NUM>, <NUM> to treat, e.g., seal tissue. Thereafter, the knife <NUM> (<FIG>) may be advanced between jaw members <NUM>, <NUM> to cut the treated tissue.

Turning to <FIG>, in conjunction with <FIG>, as noted above, shaft <NUM> extends distally from housing <NUM> and includes distal segment <NUM>, proximal segment <NUM>, and articulating section <NUM>. In some configurations, as also noted above, a proximal end portion of proximal segment <NUM> of shaft <NUM> extends into housing <NUM> wherein it is fixedly engaged (directly or indirectly) with distal plate <NUM> of articulation assembly <NUM> (see <FIG>) within housing <NUM>. Articulation cables <NUM> (<FIG>, <FIG>, and <FIG>), knife tube <NUM> (<FIG> and <FIG>), and electrically-conductive structures (e.g., lead wires <NUM> (<FIG>)) extend through proximal segment <NUM> of shaft <NUM> to articulating section <NUM>, distal segment <NUM>, or end effector assembly <NUM> to enable articulation of end effector assembly <NUM> in pitch and jaw directions and to enable operation of end effector assembly <NUM> to grasp, treat, and/or cut tissue. In order to provide support for these components extending through shaft <NUM> and maintain proper position, spacing, and/or orientation of these components extending through shaft <NUM>, one or more internal structures <NUM> are disposed or formed within shaft <NUM>. The one or more internal structures <NUM> may include, for example, any combination of one or more of supports, spacers, guides, bushings, etc., and may extend along a portion or the entirety of shaft <NUM> continuously or intermittently.

Referring generally to <FIG>, during use of instrument <NUM>, fluids (blood, other bodily fluids, surgical fluids, etc., including fluids carrying tissue, surgical debris, etc.) from the surgical site may enter instrument <NUM>, e.g., via end effector assembly <NUM>, articulating section <NUM> of shaft <NUM>, and/or at other locations, and travel proximally within and/or about shaft <NUM> towards or into housing <NUM>. In order to protect capital equipment such as the robotic arm of the robotic surgical system, e.g., robotic surgical system <NUM> (<FIG>), to which instrument <NUM> is mounted (and/or for other purposes such as, for example, to facilitate cleaning all or a portion of instrument <NUM> in preparation for reuse), the present disclosure provides various seal configurations (one-part seals, multi-part seals, plural seals, seal assemblies including one or more seals and one or more support/retention parts, etc.) disposed in various different locations along instrument <NUM> to inhibit proximally-traveling fluid from contaminating the robotic arm (and/or portions of instrument <NUM>).

More specifically, one or more seals may be disposed at one or more of the following locations: location "A" at a proximal end portion of shaft <NUM> within or adjacent to housing <NUM>; location "B" at one or more positions along a portion of proximal segment <NUM> of shaft <NUM>; location "C" at or near proximal end portions of knife assembly <NUM>, knife drive assembly <NUM>, and/or jaw drive assembly <NUM>; location "D" at or near distal end portions of knife assembly <NUM> and/or jaw drive assembly <NUM>; and/or location "E" at or near articulating section <NUM> of shaft <NUM>. Further, although a seal may be detailed herein for use at one location, it is contemplated that any such seals, to the extent practicable, may be used at any of the other identified locations or other suitable locations. Likewise, any suitable combination of seals at one or more of the identified locations and/or other suitable locations may be provided.

With reference to <FIG>, a seal configuration <NUM> provided in accordance with the present disclosure is shown in use at location "A" (<FIG>, <FIG>, and <FIG>). More specifically, seal configuration <NUM> includes an enlarged proximal end portion <NUM> of proximal segment <NUM> of shaft <NUM> and a seal <NUM> disposed therein. Enlarged proximal end portion <NUM> is disposed within housing <NUM> and secured, e.g., welded or otherwise attached, to distal plate <NUM> of lead screw sub-assembly <NUM> (see <FIG>). Enlarged proximal end portion <NUM> defines a larger internal diameter as compared to the body of proximal segment <NUM> of shaft <NUM>. The relatively larger internal diameter of enlarged proximal end portion <NUM> facilitates the manufacture of seal <NUM> and/or assembly of seal <NUM> within enlarged proximal end portion <NUM>. Further, upon assembly, seal <NUM> is substantially retained in position within enlarged proximal end portion <NUM> of proximal segment <NUM> of shaft <NUM> as distal plate <NUM> inhibits substantial proximal movement of seal <NUM> while the smaller diameter body of proximal segment <NUM> of shaft <NUM> inhibits substantial distal movement of seal <NUM>. Seal <NUM> may be formed as a solid piece of material, e.g., an elastomeric material, as a single piece of material that is inserted into enlarged proximal end portion <NUM> or multiple pieces of material coupled to one another before or during insertion into enlarged proximal end portion <NUM>. In some configurations, seal <NUM> may include a greased or otherwise lubricated plug to facilitate insertion and formation of a seal. Grease or other lubrication may likewise be utilized to facilitate sealing with any of the other configurations detailed herein. Seal <NUM> may alternatively be a semi-solid material, e.g., a gel, or may be a material that is injected into enlarged proximal end portion <NUM> in one form, state, or condition before transitioning to another form, state, or condition e.g., foam, injectable silicone, etc. Combinations of the above may also be utilized. Regardless of the particular configuration of seal <NUM>, seal <NUM> serves to establish a seal within enlarged proximal end portion <NUM> and about the actuation components <NUM> extending therethrough, e.g., articulation cables <NUM> (<FIG>, <FIG>, and <FIG>), knife tube <NUM> (<FIG> and <FIG>), and lead wires <NUM> (<FIG>). Thus, seal <NUM> functions to inhibit the passage of fluids proximally across seal <NUM> while still enabling operation of the actuation components <NUM> extending therethrough. Other suitable configurations of seal <NUM> such as those detailed hereinbelow are also contemplated.

Referring to <FIG>, another seal configuration <NUM> provided in accordance with the present disclosure is shown in use at location "A" (<FIG>, <FIG>, and <FIG>). More specifically, seal configuration <NUM> includes a connector shaft <NUM> including a seal <NUM> disposed therein. Connector shaft <NUM> is disposed within housing <NUM> and secured, e.g., welded or otherwise attached, to distal plate <NUM> of lead screw sub-assembly <NUM> (see <FIG>) and proximal segment <NUM> of shaft <NUM> to thereby secure proximal segment <NUM> of shaft <NUM> to distal plate <NUM>. Connector shaft <NUM> defines a larger internal diameter as compared to proximal segment <NUM> of shaft <NUM>. The relatively larger internal diameter of connector shaft <NUM> facilitates the manufacture of seal <NUM> and/or assembly of seal <NUM> within connector shaft <NUM>. Further, upon assembly, seal <NUM> is substantially retained in position within connector shaft <NUM> proximal segment <NUM> of shaft <NUM> as distal plate <NUM> inhibits substantial proximal movement of seal <NUM> while the smaller diameter proximal segment <NUM> of shaft <NUM> inhibits substantial distal movement of seal <NUM>. Seal <NUM> may be formed, inserted, assembled, and/or configured similarly as detailed above with respect to seal <NUM> (<FIG>) or in any other suitable manner.

<FIG> illustrate still another seal configuration <NUM> provided in accordance with the present disclosure for use at location "A" (<FIG>, <FIG>, and <FIG>) or any other suitable location. More specifically, seal configuration <NUM> includes an enlarged proximal end portion <NUM> of proximal segment <NUM> of shaft <NUM> and a two-part seal <NUM> disposed therein. Enlarged proximal end portion <NUM> is disposed within housing <NUM> (see <FIG> and <FIG>) and may be secured, e.g., welded or otherwise attached, to distal plate <NUM> of lead screw sub-assembly <NUM> (see <FIG>). Enlarged proximal end portion <NUM> defines a larger internal diameter as compared to the body of proximal segment <NUM> of shaft <NUM>. The relatively larger internal diameter of enlarged proximal end portion <NUM> facilitates the manufacture of seal <NUM> and/or assembly of seal <NUM> within enlarged proximal end portion <NUM>. Enlarged proximal end portion <NUM> includes one or more retention slots <NUM> defined therein, each defining an L-shaped configuration. Although two diametrically-opposed, L-shaped retention slots <NUM> are shown in <FIG>, other number and/or configuration of retention slots <NUM> are also contemplated such as, for example, T-shaped slots.

Two-part seal <NUM> includes an outer collar <NUM> and an inner plug <NUM>. Outer collar <NUM> includes one or more retention protrusion <NUM> extending radially outwardly therefrom, each defining an L-shaped configuration. Although two diametrically-opposed, L-shaped protrusions <NUM> are shown in <FIG>, other number and/or configuration of retention protrusions <NUM> complementary to retention slots <NUM> are also contemplated. Retention protrusions <NUM> are configured for receipt within retention slots <NUM> to fixedly seat outer collar <NUM> within enlarged proximal end portion <NUM> in sealed relation against an inner annular surface thereof. Outer collar <NUM> further includes an irregular, e.g., non-circular, lumen <NUM> defined therethrough.

Inner plug <NUM> of seal <NUM> is configured for complementary receipt within irregular lumen <NUM> of outer collar <NUM>. Outer collar <NUM> and inner plug <NUM>, with inner plug <NUM> received within irregular lumen <NUM> of outer collar <NUM>, define complementary features <NUM>, e.g., protrusions and recesses, and/or other suitable features or configurations such that inner plug <NUM> is fixedly retained within outer collar <NUM> and forms a seal therewith (notwithstanding any defined passages therethrough). Outer collar <NUM> and inner plug <NUM> may also cooperate to define one or more radial lumens <NUM> therebetween and/or inner plug <NUM> may define a central lumen <NUM>. Lumens <NUM>, <NUM> are configured to establish a seal with actuation components extending therethrough, e.g., articulation cables <NUM> (<FIG>, <FIG>, and <FIG>), knife tube <NUM> (<FIG> and <FIG>), and lead wires <NUM> (<FIG>).

Outer collar <NUM> and inner plug <NUM> of seal <NUM> may be formed from the same or different materials and are configured to cooperate to establish a seal within enlarged proximal end portion <NUM> and about the actuation components extending therethrough. Thus, seal <NUM> functions to inhibit the passage of fluids proximally across seal <NUM> while still enabling operation of the actuation components extending therethrough.

Turning to <FIG>, various seal configurations <NUM>, <NUM>, <NUM>, <NUM> provided in accordance with the present disclosure are shown. Seal configurations <NUM>, <NUM>, <NUM>, <NUM> may be utilized with or without an enlarged proximal end portion of proximal segment <NUM> of shaft <NUM> and include retention features defined on, within, or otherwise associated with a proximal end portion <NUM>, <NUM>, <NUM>, <NUM> of proximal segment <NUM> of shaft <NUM> to facilitate maintaining the corresponding seals <NUM>, <NUM>, <NUM>, <NUM> in sealing relation and substantially fixed position within proximal segment <NUM> of shaft <NUM>. Seal configurations <NUM>, <NUM>, <NUM>, <NUM> may be duplicated and/or used in combination with one another and, although described for use at location "A," may alternatively or additionally, to the extent consistent, be utilized at location "B" and/or any other suitable location(s) (see <FIG>, <FIG>, and <FIG>).

Seal configuration <NUM> illustrated in <FIG> includes a lock ring <NUM> having a proximal flange <NUM> configured to proximally abut distal plate <NUM> of lead screw sub-assembly <NUM> (see <FIG>) and a distal body <NUM> configured to extend through distal plate <NUM> and into proximal end portion <NUM> of proximal segment <NUM> of shaft <NUM>, e.g., in press-fit fashion. Distal body <NUM> reduces the effective inner diameter of proximal end portion <NUM>, thus inhibiting proximal movement of seal <NUM>. Seal <NUM> may be similar to seal <NUM> (<FIG>) or any other suitable seal.

As illustrated in <FIG>, seal configuration <NUM> includes a plurality of protrusions <NUM> disposed annularly about and extending radially outwardly from seal <NUM> and a plurality of corresponding apertures <NUM> defined annularly about proximal end portion <NUM> of proximal segment <NUM> of shaft <NUM>, although the opposite configuration or protrusions and apertures on both seal <NUM> and proximal end portion <NUM> are also contemplated. Upon insertion of seal <NUM> into proximal end portion <NUM>, protrusions <NUM> are compressed radially inwardly to enable insertion of seal <NUM> into proximal end portion <NUM>. Upon alignment of protrusions <NUM> with apertures <NUM>, protrusions <NUM> are resiliently returned to extend through apertures <NUM>, thereby retaining seal <NUM> in position within proximal end portion <NUM>. Seal <NUM> may otherwise be similar to seal <NUM> (<FIG>) or any other suitable seal.

Seal configuration <NUM> illustrated in <FIG> includes one or more annular ribs <NUM> extending radially inwardly into proximal end portion <NUM> of proximal segment <NUM> of shaft <NUM>. Ribs <NUM> may be formed via indenting the outer surface of proximal end portion <NUM>, adding additional material within proximal end portion <NUM>, or in any other suitable manner. Further, ribs <NUM> may be disposed proximally, distally, or on both sides of seal <NUM>. Upon insertion of seal <NUM> into proximal end portion <NUM>, seal <NUM> is compressed radially inwardly to enable seal <NUM> to pass through ribs <NUM> to a position more-distal of ribs <NUM>. Once seal <NUM> clears ribs <NUM>, seal <NUM> is resiliently returned to seal against the inner surface proximal end portion <NUM>. The reduced effective diameter of proximal end portion <NUM> provided by ribs <NUM> inhibits seal <NUM> from moving proximally. Seal <NUM> may be similar to seal <NUM> (<FIG>) or any other suitable seal.

Illustrated in <FIG> is seal configuration <NUM> which is similar to seal configuration <NUM> (<FIG>) except that, rather than ribs inhibiting proximal movement of the seal, seal configuration <NUM> includes a plurality of radially and axially arranged protrusions <NUM> protruding radially inwardly into the interior of proximal end portion <NUM> to reduce the effective inner diameter thereof.

Turning to <FIG>, yet another seal configuration <NUM> in accordance with the present disclosure is provided for use at location "A," location "C," a location therebetween, or any other suitable location(s) (see <FIG>, <FIG>, and <FIG>). Seal configuration <NUM> includes a seal <NUM> and a lock plate <NUM>. Seal <NUM> includes a proximal flange <NUM> configured to proximally abut distal plate <NUM> and a distal body <NUM> configured to extend through distal plate <NUM> and into proximal end portion <NUM> of proximal segment <NUM> of shaft <NUM>. Seal <NUM> may include one or more lumens <NUM> extending completely therethrough, one or more apertures <NUM> extending through proximal flange <NUM>, and/or one or more channels <NUM> extending along distal body <NUM> that individually or in cooperation sealingly engage the actuation components extending therethrough, e.g., articulation cables <NUM>, knife tube <NUM>, and lead wires <NUM> (<FIG>). Slits defined within proximal flange <NUM> and/or distal body <NUM> provide sealable connections between the lumens <NUM>, apertures <NUM>, and/or exterior annular surfaces of proximal flange <NUM> and/or distal body <NUM> to facilitate the insertion and engagement of the actuation components therein. Such slits may likewise be used for similar purposes in other seal configurations detailed herein.

Lock plate <NUM> includes a body <NUM> defining one or more apertures <NUM> that align with the lumens, <NUM>, apertures <NUM>, and channels <NUM> of seal <NUM> to enable passage of the actuation components, e.g., articulation cables <NUM>, knife tube <NUM>, and lead wires <NUM> (<FIG>), therethrough. Lock plate <NUM> is configured to proximally abut proximal flange <NUM> of seal <NUM> to at least partially compress proximal flange <NUM> between lock plate <NUM> and distal plate <NUM>, thereby establishing a seal about the passage extending through distal plate <NUM> and shaft <NUM>. Alternatively or additionally, any gap(s) may be filed with grease or other suitable material to establish the seal. Lock plate <NUM> is secured in position relative to distal plate <NUM>, this maintaining the seal, via screwing lock plate <NUM> onto distal plate <NUM> and/or using any other suitable fasteners or engagement features. Distal body <NUM> of seal <NUM> may additionally or alternatively extend through distal plate <NUM> and into proximal end portion <NUM> of proximal segment <NUM> of shaft <NUM> in sealing relation with an inner surface of proximal end portion <NUM> to establish a seal therein.

Referring to <FIG>, still yet other configurations <NUM>, <NUM>, <NUM> are provided in accordance with the present disclosure configured for use at location "A" and/or any other suitable location(s) (see <FIG>, <FIG>, and <FIG>). Configurations <NUM>, <NUM>, <NUM> may each include one or more portions <NUM>, <NUM>, <NUM> of housing <NUM> that are sealed off, e.g., via a bulkhead <NUM>, <NUM> or other suitable structure or combination of structures, to define a sealed volume within housing <NUM>; in some configurations, the entirely of the interior of housing <NUM> defines the sealed volume. Although portions <NUM>, <NUM>, <NUM> are illustrated at the distal end of housing <NUM>, additional and/or alternative locations are also contemplated.

With respect to configuration <NUM> in <FIG>, one or more apertures <NUM> or other openings are defined through proximal end portion <NUM> of proximal segment <NUM> of shaft <NUM> that fluidly communicate with the sealed volume defined by portion <NUM>. Thus, fluids traveling proximally through proximal segment <NUM> of shaft <NUM> and into housing <NUM> may exit proximal end portion <NUM> and enter portion <NUM> via apertures <NUM>. Alternatively or additionally, a drain tube <NUM> connected to one of the apertures <NUM> and/or in fluid communication with portion <NUM> of housing <NUM> may be provide to enable drainage of such fluids. In such configuration, a fitting or other suitable connection (not shown) may be provided on housing <NUM> to enable connection of a drainage line (not shown).

Configuration <NUM> illustrated in <FIG> likewise includes one or more apertures <NUM> or other openings are defined through proximal end portion <NUM> of proximal segment <NUM> of shaft <NUM> that fluidly communicate with the sealed volume defined by portion <NUM>. Configuration <NUM> difference from configuration <NUM> (<FIG>) in that, rather than providing a drain tube, configuration <NUM> includes one or more sponges <NUM> or other suitable fluid-absorbing materials disposed within portion <NUM> so as to absorb fluids entering portion <NUM> via apertures <NUM>.

<FIG> illustrates a configuration <NUM> wherein the portion <NUM> of housing <NUM> or the entirety of housing <NUM> is filled with an injectable material <NUM>, e.g., a sealant material and/or absorbent material, to form a seal against passage fluids and/or to absorb fluids. The injectable material <NUM> may be a foam, gel, grease, phase-change material, etc. As shown in <FIG>, in other configurations, apertures <NUM> defined within shaft <NUM> (or other components) may be provide to enable injection of the injectable material <NUM> to provide additional seals and/or absorbent areas, e.g., at locations "B" or "E" (see <FIG>, <FIG>, and <FIG>), e.g., sealing shaft <NUM> and the components extending therethrough.

Turning to <FIG>, another seal <NUM> provided in accordance with the present disclosure is configured for use at locations "A," "B," "E" (<FIG>, <FIG>, and <FIG>) and/or any other suitable location(s). Seal <NUM> includes a pair of wedge seal members <NUM>, <NUM>. Wedge seal members <NUM>, <NUM> may define complementary engagement features <NUM>, e.g., interlocking tabs, protrusion and apertures, etc., configured to engage one another to secure wedge seal members <NUM>, <NUM> to one another. Each wedge seal member <NUM>, <NUM> further defines one or more lumens <NUM> extending therethrough that align with one another upon engagement of wedge seal members <NUM>, <NUM>. When wedge seal members <NUM>, <NUM> are engaged with one another, seal <NUM> may define a rectangular cross-sectional configuration, a circular cross-sectional configuration, or any other suitable configuration to enable sealing of seal <NUM> within an area, e.g., within shaft <NUM> (<FIG>). Lumens <NUM> are configured to receive one or more actuation components, e.g., articulation cables <NUM> (<FIG>, <FIG>, and <FIG>), knife tube <NUM> (<FIG> and <FIG>), and lead wires <NUM> (<FIG>), in sealing relation therewith while still enabling operation thereof.

In use with respect to shaft <NUM> (<FIG>), for example, wedge seal member <NUM> is inserted in a first direction, e.g., distally, through a portion of shaft <NUM> and about the one or more actuation components while wedge seal member <NUM> is inserted in a second opposite direction, e.g., proximally, through a portion of shaft <NUM> and about the one or more actuation components until wedge seal members <NUM>, <NUM> meet and engage one another via complementary engagement features <NUM>, thereby forming a seal within shaft <NUM> and about the one or more actuation components. Wedge seal members <NUM>, <NUM> may be formed from the same or different materials including elastomeric materials or other suitable materials.

Referring to <FIG>, another seal <NUM> provided in accordance with the present disclosure is configured for use at locations "A," "B," "E" (<FIG>, <FIG>, and <FIG>) and/or any other suitable location(s). Seal <NUM> includes a seal body <NUM>. Seal body <NUM> is configured to establish a seal against an inner surface of a structure, e.g., an inner surface of shaft <NUM> (<FIG>). Seal body <NUM> has one or more lumens <NUM> extending therethrough. Each lumen <NUM> defines a diameter equal to or larger than a diameter of the actuation component(s), e.g., articulation cables <NUM> (<FIG>, <FIG>, and <FIG>), knife tube <NUM> (<FIG> and <FIG>), and lead wires <NUM> (<FIG>), configured for passage therethrough. A plurality of duckbill seals <NUM> extend from either or both sides of seal body <NUM> with each duckbill seal <NUM> surrounding an end of one of the lumens <NUM>. Duckbill seals <NUM> may be zero-closure seals or may close to a diameter less than the actuation component(s), e.g., articulation cables <NUM> (<FIG>, <FIG>, and <FIG>), knife tube <NUM> (<FIG> and <FIG>), and lead wires <NUM> (<FIG>), configured for passage therethrough. In this manner, seal body <NUM> seals against the outer structure, e.g., shaft <NUM>, while duckbill seals <NUM> seal about the inner structure(s), e.g., the actuation component(s). Duckbill seals <NUM> may additionally or alternatively establish a seal about the actuation component(s) when there is a pressure differential across seal <NUM>, e.g., when shaft <NUM> (<FIG>) is inserted into an insufflated body cavity.

Turning to <FIG>, another seal <NUM> provided is configured for use at locations "A," "B," "E" (<FIG>, <FIG>, and <FIG>) and/or any other suitable location(s) and includes a compressible seal body <NUM> captured between a pair of rigid plates <NUM>. Body <NUM> and plates <NUM> may cooperate to define lumens <NUM> therethrough to enable passage of actuation components in sealed relation with seal body <NUM>. During assembly, seal body <NUM> may be inserted into an outer structure, e.g., shaft <NUM>, and/or about an inner structure, e.g., one or more actuation components, prior to positioning of plates <NUM>. Plates <NUM> may then be positioned on either side of seal body <NUM> and moved towards one another to axially compress seal body <NUM>, urging seal body <NUM> to seal within the outer structure and/or about the inner structure. Plates <NUM> may be retained in position via engagement with one another and/or the outer structure.

With reference to <FIG>, still yet another seal <NUM> is configured for use at locations "A," "B," "E" (<FIG>, <FIG>, and <FIG>) and/or any other suitable location(s). Seal <NUM> includes a plurality of seal components <NUM> each sealed about and disposed in fixed relation, e.g., via overmolding, relative to an actuation component, e.g., one of the articulation cables <NUM>. Seal components <NUM> cooperate to act as wipers that maintain a seal about an outer structure, e.g., shaft <NUM>, and/or an inner structure, e.g., knife tube <NUM>, even where relative translation therebetween occurs.

Referring to <FIG>, an absorbent and/or seal member <NUM> provided in accordance with the present disclosure for use at locations "A," "B," "E" (<FIG>, <FIG>, and <FIG>) and/or any other suitable location(s) is initially disposed in a contracted configuration. Member <NUM> is disposed, e.g., sealingly disposed, about an inner actuation component, e.g., knife tube <NUM>, and may define a slit <NUM> to enable transverse insertion of member <NUM> about knife tube <NUM>. Member <NUM> is configured for positioning within shaft <NUM> (or other suitable outer component) and is initially disposed in non-sealing relation therewith, occupying a relatively small volume within shaft <NUM>. Slit <NUM> may be a zero-closure slit. As fluids contact and are absorbed by member <NUM>, member <NUM> expands to fill a relatively larger volume within shaft <NUM> and, in some configurations, when sufficiently saturated and expanded, established a seal therein.

<FIG> illustrates another seal <NUM> provided in accordance with the present disclosure for use at locations "A," "B," "E" (<FIG>, <FIG>, and <FIG>). For example, seal <NUM> may be configured for positioning within an outer structure, e.g., shaft <NUM> (<FIG>) to establish a seal about an inner surface thereof. Seal <NUM> includes a central aperture <NUM> and a plurality of radial apertures <NUM>. Apertures <NUM>, <NUM> are configured to receive and sealingly engage actuation component(s), e.g., articulation cables <NUM> (<FIG>, <FIG>, and <FIG>), knife tube <NUM> (<FIG> and <FIG>), and lead wires <NUM> (<FIG>). Each aperture <NUM>, <NUM> includes a slit <NUM>, <NUM>, respectively, connecting the aperture <NUM>, <NUM> with an outer annular periphery of seal <NUM> such that each of the actuation components may be slid transversely through one of the slits <NUM>, <NUM> and into sealing engagement within the corresponding aperture <NUM>, <NUM>, respectively. Slits <NUM>, <NUM> may be zero-closure slits.

As shown in <FIG>, another seal configuration <NUM> is provided including a seal member <NUM> defining one or more apertures <NUM> extending longitudinally therethrough. Seal configuration <NUM> may be used at locations "A," "B," "E" (<FIG>, <FIG>, and <FIG>) and/or any other suitable location(s). Seal member <NUM> is configured for insertion into a structure and to establish a seal against an inner surface of the structure, e.g., an inner surface of shaft <NUM> (<FIG>). The one or more apertures <NUM> may be configured to receive an actuation component(s), e.g., articulation cables <NUM> (<FIG>, <FIG>, and <FIG>), knife tube <NUM> (<FIG> and <FIG>), and lead wires <NUM> (<FIG>). A portion of seal member <NUM> is compressed radially inwardly, e.g., via a band <NUM> disposed about a portion of seal member <NUM>, such that the one or more apertures <NUM> are collapsed and seal member <NUM> establishes a sealed engagement with the actuation component(s). While the compressed portion of seal member <NUM> is no longer sufficiently expanded to seal shaft <NUM> (<FIG>), other portions of seal member <NUM> or another seal may be utilized to seal shaft <NUM> (<FIG>).

<FIG> provides a seal configuration <NUM> including a seal member <NUM> similar to seal member <NUM> (<FIG>) except that, rather than radial inward compression, seal member <NUM> may be configured to compress axially inwardly from opposed ends, e.g., via compression of seal member <NUM> between two guide structures <NUM> disposed within shaft <NUM>, to establish a seal within shaft <NUM> and/or about actuation component(s). Alternatively, seal member <NUM> may be configured to any other seal detailed herein, e.g., seal <NUM> (<FIG>,) and retained in substantially fixed position within shaft <NUM> between the guide structures <NUM> (with or without compression).

Turning to <FIG>, as noted above, one or more seals may be provided at location "C" at or near proximal end portions of knife assembly <NUM>, knife drive assembly <NUM>, and/or jaw drive assembly <NUM> (see <FIG>). More specifically, a seal <NUM> may be provided to seal the annular area between knife drive lead screw <NUM> (and/or knife tube <NUM>) and jaw drive rod <NUM>.

Knife drive lead screw <NUM> may include a pair of diametrically opposed T-slots <NUM> defined within an un-threaded proximal sleeve portion <NUM> thereof. Seal <NUM> may define a pair of diametrically opposed T-protrusions <NUM> extending therefrom and configured for complementary engagement within the T-slots <NUM> to engage seal <NUM> with knife drive lead screw <NUM>. Seal <NUM> functions as a cap to sealingly enclose the open proximal ends of knife drive lead screw <NUM> and knife tube <NUM> disposed therein, with the exception of an aperture <NUM> defined through a proximal wall thereof that sealingly receives jaw drive rod <NUM>. Thus, fluids travelling proximally through knife tube <NUM> are inhibited from passing proximally beyond seal <NUM>.

<FIG> illustrate alternative sealing arrangements for sealing between an inner component, e.g., jaw drive rod <NUM>, and an outer component, e.g., knife tube <NUM> or knife drive lead screw <NUM>, such as, for example, at location "C" at or near proximal end portions of knife assembly <NUM>, knife drive assembly <NUM>, and/or jaw drive assembly <NUM> (see <FIG>). An end of the outer component <NUM>, <NUM> is formed with an internal annular pocket <NUM>, <NUM> surrounding the lumen <NUM>, <NUM> extending therethrough, e.g., via machining. The pocket <NUM>, <NUM> may be semi-circular as shown with respect to pocket <NUM>, may be V-shaped as shown with respect to pocket <NUM>, or may define any other suitable configuration that enables capture of an O-ring <NUM>, <NUM> therein. O-rings <NUM>, <NUM> protrude into lumens <NUM>, <NUM>, respectively, to sealingly engage the inner component, e.g., jaw drive rod <NUM> extending through lumen <NUM>, <NUM>.

With reference to <FIG>, a seal configuration <NUM> is provided for establishing a seal at location "D," at or near distal end portions of knife assembly <NUM> and/or jaw drive assembly <NUM>, although other locations are also contemplated (see <FIG>). More specifically, by sealing the open distal end of knife tube <NUM> about jaw drive rod <NUM> extending therefrom with seal configuration <NUM>, fluids are inhibited from entering and traveling proximally through knife tube <NUM>.

Referring also reference to <FIG>, momentarily, knife tube <NUM> extends through housing <NUM> and proximal segment <NUM> of shaft <NUM> to a position proximally adjacent articulating section <NUM> of shaft <NUM> (see <FIG>) wherein intermediate elongated collar <NUM> is engaged about the distal end portion of knife tube <NUM>. Distal knife rod <NUM> is engaged to intermediate elongated collar <NUM>, e.g., via a crimp tube <NUM>, in an offset position and extends distally therefrom through articulating section <NUM> of shaft <NUM> to end effector assembly <NUM> (see <FIG>) wherein knife blade <NUM> is engaged to distal knife rod <NUM>, distally of articulating section <NUM> of shaft <NUM>. Distal knife rod <NUM> is flexible and/or includes one or more joints or articulating portions to permit articulation of articulating section <NUM> of shaft <NUM> with distal knife rod <NUM> extending therethrough. Jaw drive rod <NUM> extends through and distally from knife tube <NUM>, through articulating section <NUM> of shaft <NUM> to end effector assembly <NUM> (see <FIG>) wherein jaw drive rod <NUM> operably couples with cam-slot assembly <NUM> including to enable pivoting of jaw member <NUM> relative to jaw member <NUM> and distal segment <NUM> of shaft <NUM> between a spaced-apart position (e.g., an open position of end effector assembly <NUM>) and an approximated position (e.g. a closed position of end effector assembly <NUM>) in response to translation of jaw drive rod <NUM>. The offset engagement of distal knife rod <NUM> with intermediate collar <NUM> allows jaw drive rod <NUM> to extend distally from knife tube <NUM> to end effector assembly <NUM>. Jaw drive rod <NUM> is flexible and/or includes one or more joints or articulating portions to permit articulation of articulating section <NUM> of shaft <NUM> with jaw drive rod <NUM> extending therethrough.

Referring again to <FIG>, seal configuration <NUM> includes a proximal seal member <NUM> and a distal seal member <NUM>. Proximal seal <NUM> is disposed about knife tube <NUM> proximally of intermediate elongated collar <NUM> and may also receive a proximal end portion of distal knife rod <NUM> therein. Distal seal <NUM> is disposed about crimp tube <NUM> (which includes distal knife rod <NUM> extending therethrough) or directly about knife rod <NUM> (for example, in configurations where crimp tube <NUM> is omitted or otherwise positioned). Distal seal <NUM> is also disposed about jaw drive rod <NUM> and is positioned distally of intermediate elongated collar <NUM>.

Proximal and distal seals <NUM>, <NUM> are configured to slide towards one another and about intermediate elongated collar <NUM> to a partially-overlapping condition wherein one of the seals, e.g., proximal seal <NUM>, is partially received within the other seal, e.g., distal seal <NUM>. Further, proximal and distal seals <NUM>, <NUM> include complementary engagement features, e.g., lock tabs <NUM> extending from the inner seal, e.g., proximal seal <NUM>, and lock apertures <NUM> defined within the outer seal, e.g., distal seal <NUM>. In this manner, as proximal and distal seals <NUM>, <NUM> are moved to the partially-overlapping condition, lock tabs <NUM> are engaged within lock apertures <NUM> to second proximal and distal seals <NUM>, <NUM> with one another, collectively establishing a seal about intermediate elongated collar <NUM>, the open distal end of knife tube <NUM>, and jaw drive rod <NUM>. Seal configuration <NUM> may move together with knife tube <NUM> and/or may allow translation of jaw drive rod <NUM> relative thereto. Further, proximal and distal seals <NUM>, <NUM> may be formed from the same or different materials.

<FIG> illustrate another seal configuration <NUM> provided for establishing a seal at location "D," at or near distal end portions of knife assembly <NUM> and/or jaw drive assembly <NUM>, although other locations are also contemplated (see <FIG>). Seal configuration <NUM> is configured to seal the annular area defined between the open distal end of intermediate elongated collar <NUM> (and/or the open distal end of knife tube <NUM>) and jaw drive rod <NUM>.

Seal configuration <NUM> includes a plug <NUM> including a body <NUM> configured to establish a seal about the inner surface of intermediate elongated collar <NUM> when inserted therein. Plug <NUM> further includes a pair of diametrically opposed wings <NUM> each defining a T-shaped configuration. Wings <NUM> are configured for receipt within complementary diametrically opposed T-shaped slots <NUM> defined within a distal end portion of intermediate elongated collar <NUM>. Plug <NUM> is inserted into intermediate elongated collar <NUM> such that body <NUM> seals against the inner surface of intermediate elongated collar <NUM> while wings <NUM> are engaged within slots <NUM> to fixedly retain plug <NUM> in sealing engagement within intermediate elongated collar <NUM>. Plug <NUM> further includes a central lumen <NUM> extending therethrough that is configured to sealingly engage jaw drive rod <NUM> (<FIG>) while still allowing relative translation thereof. Plug <NUM> may be formed from an elastomeric material or other suitable material.

Turning to FIGS. 31A-13C, another seal configuration <NUM> provided for establishing a seal at location "E," at or near articulating section <NUM> of shaft <NUM> (see also <FIG>) is shown. Shaft <NUM>, more specifically, includes articulating section <NUM> having one or more articulating components <NUM> (see <FIG>). For example, one of the articulating components <NUM> (<FIG>) may be a proximal link <NUM> including a proximal body portion <NUM>, a distal face <NUM> disposed at a distal end of proximal body portion <NUM>, and a pair of spaced-apart pivot flags <NUM> extending distally from distal face <NUM>. Pivot flags <NUM> include bosses <NUM> to enable pivotable connection of proximal link <NUM> with another articulating component <NUM> of articulating section <NUM> of shaft <NUM> (see <FIG>). Proximal body portion <NUM> may be configured for insertion into proximal segment <NUM> of shaft <NUM> with distal face <NUM> abutting the open distal end of proximal segment <NUM> of shaft <NUM> (see <FIG>).

Continuing with reference to <FIG>, seal configuration <NUM> includes a plug <NUM>, a seal ring <NUM>, and a clip <NUM>. Seal ring <NUM> may be formed an elastomeric or other suitable material; plug <NUM> and clip <NUM> may be formed from elastomeric materials or from more rigid materials. Plug <NUM> includes a base <NUM> configured to proximally abut proximal body portion <NUM> of proximal link <NUM> and a pair of opposed arms <NUM> extending distally from base <NUM>. Arms <NUM> are configured for engagement within corresponding slots <NUM> defined within proximal body portion <NUM> of proximal link <NUM>. Seal ring <NUM> is configured to proximally abut base <NUM> of plug <NUM> and clip <NUM> includes a base <NUM> configured to proximally abut seal ring <NUM> and arms <NUM> extending through seal ring <NUM> and configured to engage, e.g., in snap-fit manner, slots <NUM> of base <NUM> of plug <NUM> to thereby secure seal <NUM> and clip <NUM> with one another with seal ring <NUM> disposed therebetween.

In the assembled condition, plug <NUM>, seal ring <NUM>, and clip <NUM> cooperate with one another and proximal body portion <NUM> of proximal link <NUM> to establish a seal within the inner surface of proximal segment <NUM> of shaft <NUM> (see <FIG>), e.g., via an outer annular surface of seal ring <NUM>, and to seal and guide the actuation components extending through proximal segment <NUM> of shaft <NUM> (see <FIG>). More specifically, seal ring <NUM> defines: a central aperture <NUM> configured to sealingly receive jaw drive rod <NUM> (<FIG>); a plurality, e.g., four (<NUM>), radially-arranged apertures <NUM> configured to sealingly receive articulation cables <NUM> (<FIG>); a pair of adjacent apertures <NUM> configured to sealingly receive the lead wires <NUM> (<FIG>); and an offset aperture <NUM> configured to sealingly receive distal knife rod <NUM> or crimp tube <NUM> disposed thereabout (see <FIG>). Clip <NUM> may define apertures <NUM> and/or cut-outs <NUM> to provide access to the various apertures <NUM>-<NUM> defined through seal ring <NUM>. Plug <NUM> may likewise include passages <NUM>, e.g., apertures and/or channels, for passage of the actuation components therethrough.

<FIG> illustrates still another seal configuration <NUM> similar to seal configuration <NUM> (<FIG>) and configured for operable engagement with proximal body portion <NUM> of proximal link <NUM> to establish a seal at location "E," at or near articulating section <NUM> of shaft <NUM> (see also <FIG>). Seal configuration <NUM> includes an engagement plug <NUM>, an outer seal ring <NUM>, and an inner seal plug <NUM>. Seal ring <NUM> and seal plug <NUM> may be formed from elastomeric or other suitable materials; engagement plug <NUM> may be formed from an elastomeric material or from a more rigid material. Engagement plug <NUM> includes a base <NUM>, a pair of opposed arms <NUM> extending distally from base <NUM>, and a central cylinder <NUM> extending distally from base <NUM> between arms <NUM>. Outer seal ring <NUM> is configured for positioning about central cylinder <NUM> and between arms <NUM> while inner seal plug <NUM> is configured for distally abutting a distal end portion of central cylinder <NUM>. Engagement plug <NUM> is configured to engage proximal body portion <NUM> of proximal link <NUM>, e.g., via engagement of arms <NUM> within slots similarly as detailed above with respect to seal configuration <NUM> (<FIG>), with seal ring <NUM> disposed therebetween in sealing engagement therewith, and with central cylinder <NUM> and seal plug <NUM> extending into proximal body portion <NUM> of proximal link <NUM> in sealing engagement therewith to form a seal against an inner surface of proximal link <NUM>. In use, outer seal ring <NUM> establishes a seal within the inner surface of proximal segment <NUM> of shaft <NUM> (see <FIG>) and seals about articulation cables <NUM> (<FIG>) while inner seal plug <NUM> seals about jaw drive rod <NUM> (<FIG>), the lead wires <NUM> (<FIG>), and distal knife rod <NUM> (see <FIG>).

Referring to <FIG>, still another seal configuration <NUM> similar to seal configurations <NUM>, <NUM> (<FIG> and <FIG>, respectively) configured for operable engagement with proximal body portion <NUM> of proximal link <NUM> to establish a seal at location "E," at or near articulating section <NUM> of shaft <NUM> (see also <FIG>), is provided.

Seal configuration <NUM> includes a plug <NUM>, an outer seal ring <NUM>, and an O-ring seal <NUM>. Plug <NUM> includes a base <NUM> and a conical body <NUM> extending distally from base <NUM>. Conical body <NUM> is configured for insertion into proximal body portion <NUM> of proximal link <NUM>. Plug <NUM> may be configured to engage proximal body portion <NUM> in any suitable manner, e.g., press-fit, via arm and slot engagement, etc. Outer seal ring <NUM> is configured for engagement within a slot <NUM> defined within plug <NUM> between base <NUM> and conical body <NUM> thereof. Outer seal ring <NUM> protrudes radially outwardly from plug <NUM> and proximal body portion <NUM> of proximal link <NUM> to enable formation of seal within the inner surface of proximal segment <NUM> of shaft <NUM> (see <FIG>). Outer seal ring <NUM> further defines radial lumens to sealingly engage articulation cables <NUM> and distal knife rod <NUM> or crimp tube <NUM> (see <FIG>). O-ring seal <NUM> is disposed within central lumen <NUM> of plug and is configured to seal jaw drive rod <NUM>.

<FIG> show various mechanisms for manually actuating the end effector assembly <NUM> (e.g., jaw members <NUM>, <NUM>) for inspection, cleaning and sterilization or for loading various hardware onto the end effector assembly <NUM> for use during an operation. It is contemplated that one or more of the below-described mechanisms and features may be applied to other aspects of the surgical instrument <NUM> depending upon a particular purpose and to allow manual actuation thereof.

Each of the below figures briefly describes the actuation of the end effector assembly <NUM> in relation to its respective manual actuation features. A more detailed explanation of the robot-assisted actuation of the end effector assembly <NUM> is describe above and, as such, only those details necessary for a complete understanding of the manual actuation components are described herein.

<FIG> is an internal cross section of the various jaw actuation components described generally in detail above showing one general procedure for manually actuating the end effector assembly <NUM> utilizing one or more of the above-described designs. More particularly, jaw actuation assembly <NUM> includes a compression assembly <NUM> configured to house the spring force assembly <NUM> and the jaw drive assembly <NUM> including the jaw input gear <NUM> operably coupled to the jaw drive input <NUM>. Spring force assembly <NUM> includes a distal hub <NUM>, a proximal hub <NUM>, a drive gear <NUM> and a locking tab <NUM>. Each hub <NUM>, <NUM> includes an inner peripheral surface having a plurality of teeth <NUM>, <NUM>, respectively, configured to matingly engage a corresponding plurality of teeth or threads <NUM> of the drive gear <NUM>.

Manual actuation of the jaw drive input <NUM> rotates jaw input gear <NUM> which couples to drive gear <NUM>. Rotation of the drive gear <NUM> forces the proximal hub <NUM> of the spring force assembly <NUM> to linearly translate against the bias of the compression spring <NUM> relative to the distal hub <NUM> which, in turn, linearly translates the jaw drive rod <NUM> by virtue of the mechanical engagement of the proximal end of the jaw drive rod <NUM> and the locking tab <NUM>. The jaw members <NUM>, <NUM> may be manually opened and closed as needed in this fashion.

<FIG> are a side view and an internal perspective view, respectively, of one embodiment of a manual jaw actuation assembly <NUM>. In this embodiment, a thumb wheel <NUM> is provided that extends through the jaw housing <NUM> for external access by an operator. The thumb wheel <NUM> operably mates with the plurality of threads <NUM> on the jaw input shaft <NUM> distal to the spring compression assembly <NUM>. Rotation of the thumb wheel <NUM> rotates the jaw input shaft <NUM> which, in turn, translates the proximal hub (not shown but see <FIG> above) of the spring compression assembly <NUM>.

<FIG> are internal sides views of yet another embodiment of a manual jaw actuation assembly <NUM>. In this embodiment and similar to the previous embodiment, a thumb wheel <NUM> is included and extends outside of the jaw housing <NUM> for external manual actuation. The thumb wheel <NUM> is operably engageable with the spring compression assembly <NUM> and is mounted thereto via a support axle <NUM> that is configured to sit within a slot <NUM> defined therein. More particularly, axle <NUM> is supported within slot <NUM> atop a leaf spring <NUM> which is configured to bias the thumb wheel <NUM> in a disengaged position. Thumb wheel <NUM> is selectively moveable relative to the spring compression assembly <NUM> (e.g., in the direction "P") between the disengaged position wherein the thumb wheel <NUM> is spaced relative to the drive gear <NUM> of the spring compression assembly <NUM> (<FIG>) and an engaged position wherein the thumb wheel <NUM> operably meshes with the drive gear <NUM> to allow manual rotation of the drive gear <NUM> to translate the proximal hub <NUM> of the spring compression assembly <NUM> relative to the distal hub <NUM> of the spring compression assembly <NUM> against the bias of the leaf spring <NUM> (<FIG>). As noted above, translation of the jaw drive rod <NUM> via translation of the proximal hub <NUM> relative to the distal hub <NUM> compresses spring <NUM>.

Manual rotation of the thumb wheel <NUM> when disposed in the engaged position correspondingly translates the jaw drive rod <NUM> to open and close the jaw members <NUM>, <NUM>. Upon release of the thumb wheel <NUM>, the thumb wheel <NUM> disengages the drive gear <NUM> under the bias of the leaf spring <NUM> and returns to the disengaged position (<FIG>).

<FIG> are various views of yet another embodiment of a manual jaw actuation assembly <NUM>. In this embodiment and similar to the previous embodiments, a thumb wheel <NUM> is included and extends outside of the jaw housing <NUM> for external manual actuation. The thumb wheel <NUM> is operably engageable with the jaw input shaft <NUM> of the jaw drive input <NUM>. More particularly, thumb wheel <NUM> is positioned atop the jaw input shaft <NUM> distal to the compression assembly <NUM> and is laterally moveable thereon by the user to engage manual actuation. A spring (not shown) may be included to bias the thumb wheel <NUM> in a disengaged position.

The jaw input shaft <NUM> includes a series of castellations <NUM> defined therein that are configured to matingly engage a corresponding series of teeth <NUM> disposed on an inner peripheral surface of the thumb wheel <NUM>. The user pushes the thumb wheel <NUM> distally to engage the castellations <NUM> and the corresponding teeth <NUM> and then rotates the thumb wheel <NUM> to rotate the jaw input shaft <NUM> and open or close the jaw members <NUM>, <NUM>. Other mechanical interfaces are also envisioned to accomplish this purpose. The user can manually engage and disengage the jaw input shaft <NUM> as needed to actuate the jaw members <NUM>, <NUM>. If the thumb wheel <NUM> is engaged under a spring bias, when the user releases the thumb wheel <NUM>, the thumb wheel <NUM> automatically disengages from the jaw input shaft <NUM> allowing unimpeded robotic actuation during surgery.

<FIG> are schematic views of yet another embodiment of a manual jaw actuation assembly <NUM>. In this embodiment and similar to the previous embodiments, a thumb wheel <NUM> is included and extends outside of the jaw housing <NUM> for external manual actuation. Similar to the embodiment shown in <FIG>, the thumb wheel <NUM> is manually engageable and disengageable with the jaw input shaft <NUM>. In this embodiment, the thumb wheel <NUM> is radially movable to engage and disengage the jaw input shaft <NUM> (See arrow "R").

More particularly, the thumb wheel <NUM> includes a series of teeth <NUM> disposed on an inner peripheral surface of the thumb wheel <NUM> and the jaw input shaft <NUM> includes a gear <NUM> having series of corresponding teeth <NUM> disposed on an outer periphery thereof. The user pushes the thumb wheel <NUM> toward the jaw input shaft <NUM> to engage the series of teeth <NUM> of the gear <NUM> with the corresponding teeth <NUM> of the thumb wheel <NUM> and then rotates the thumb wheel <NUM> to rotate the jaw input shaft <NUM> and open or close the jaw members <NUM>, <NUM>. The user can manually engage and disengage the jaw input shaft <NUM> as needed to actuate the jaw members <NUM>, <NUM>. If the thumb wheel <NUM> is engaged under a spring bias (spring not shown), when the user releases the thumb wheel <NUM>, the thumb wheel <NUM> automatically disengages the from the jaw input shaft <NUM> allowing unimpeded robotic actuation during surgery.

<FIG> show an embodiment of a selectively removable locking tab <NUM> for use with the spring assembly <NUM>. More particularly, spring assembly <NUM> includes, a compressor cap <NUM> configured to receive a compression spring <NUM> mounted atop a compressor stem <NUM>. The compressor stem <NUM> includes an inner periphery <NUM> defined therein configured to receive the jaw drive rod <NUM> therethrough. A proximal end <NUM> of the compressor stem <NUM> includes an aperture <NUM> defined therein configured in horizontal registration with the jaw drive rod <NUM> for receipt therein. Proximal end <NUM> also includes a vertical slot <NUM> defined therein that extends passed aperture <NUM> and that is configured to selectively receive the locking tab <NUM> therein.

Locking tab <NUM> includes a grasping tab <NUM> that extends from an upper end thereof which is configured to be selectively graspable by the user to lock and unlock the jaw drive rod <NUM> as needed during assembly and disassembly. The locking tab <NUM> includes a stem <NUM> that extends from the grasping tab <NUM> having a keyhole <NUM> defined therein including an upper aperture <NUM> and a lower, bigger aperture <NUM>. Locking tab <NUM> is configured for receipt into slot <NUM> in compressor stem <NUM>.

The proximal end <NUM> of the jaw drive rod <NUM> is key-like to include a first section <NUM> at the proximal-most end thereof configured for receipt through aperture <NUM> of compressor stem <NUM> and second section <NUM> sized larger than aperture <NUM>. A recess <NUM> is defined between the first and second sections, <NUM>, <NUM>.

As shown in <FIG>, upon assembly, the compressor stem <NUM>, compressor spring <NUM> and compressor cap <NUM> are assembled and the locking tab <NUM> is inserted into the slot <NUM> of the compressor stem <NUM> to a first loading position such that the lower aperture <NUM> of the locking tab <NUM> aligns with aperture <NUM> of the compressor stem <NUM>. The proximal end <NUM> of the jaw drive rod <NUM> is then loaded into the inner periphery <NUM> of the compressor stem <NUM> such that the first section <NUM> of the proximal end <NUM> extends through aperture <NUM> of the locking tab <NUM> and through aperture <NUM> of the compressor stem <NUM>. The second section is pushed into abutment with bigger aperture <NUM>. Once seated, the locking tab <NUM> is pushed further into the compressor stem <NUM> such that aperture <NUM> slips into engagement atop the recess <NUM> to lock the jaw drive rod <NUM> in place for use (See <FIG>).

To disengage the jaw drive rod <NUM>, the user simply grasps the grasping tab <NUM> and pulls the locking tab <NUM> away from the housing <NUM>. This disengages aperture <NUM> from recess <NUM> and aligns the first section <NUM> with the aperture <NUM> allowing removal of the jaw drive rod <NUM> from the inner periphery <NUM> of the compressor stem <NUM> (See <FIG>).

<FIG> is a side view of yet another embodiment of a manual jaw actuation assembly <NUM>. In this embodiment and similar to the previous embodiments, a thumb slide <NUM> is included and is actuatable from the outside of jaw housing <NUM>. The thumb slide <NUM> is operably coupled to the spring compressor assembly <NUM> such that sliding the thumb slide <NUM> in either direction moves the spring compressor assembly <NUM>. More particularly, sliding the spring compressor assembly <NUM> moves the distal hub relative to the proximal hub (e.g., distal and proximal hubs <NUM>, <NUM> of <FIG>) which, in turn, moves the jaw drive rod (e.g., jaw drive rod <NUM> of <FIG>) to open and close the jaw members <NUM>, <NUM>. A spring (not shown) may be employed to bias the slide in a particular direction.

Claim 1:
A robotic surgical instrument (<NUM>), comprising:
a housing (<NUM>) having a shaft (<NUM>) extending therefrom including an end effector assembly (<NUM>) at a distal end thereof, the shaft including a drive rod (<NUM>) extending therethrough configured to actuate the end effector assembly upon translation thereof;
a spring compression assembly (<NUM>) supported within the housing, the spring compression assembly including:
a proximal hub (<NUM>) configured to secure a proximal end of the drive rod disposed therethrough, the proximal hub including a plurality of teeth disposed along an inner peripheral surface thereof;
a distal hub (<NUM>) spaced from the proximal hub and including a plurality of teeth disposed along an inner peripheral surface thereof; and
a compression spring (<NUM>) mounted between the proximal and distal hubs;
a drive gear (<NUM>) including a proximal portion extending therefrom including a plurality of threads disposed thereabout configured to matingly engage the corresponding plurality of teeth of the proximal and distal hubs such that rotation thereof translates the proximal and distal hubs relative to one another and actuates the end effector assembly; and
a thumb wheel (<NUM>) having at least a portion thereof exposed outside the housing for external manipulation thereof, characterised in that the thumb wheel is selectively positionable between a first, disengaged position spaced relative to the drive gear and a second, engaged position to matingly engage the drive gear and allow manual actuation of the end effector assembly.