Patent ID: 7306597

Claim:
A method of performing a robotic surgical procedure, the method comprising: connecting a surgical instrument to a robotic surgical system, the surgical instrument having an elongate shaft, at one end of which an end effector is mounted; passing the end effector of the surgical instrument through an entry port in a patient body; engaging tissue with the end effector, the tissue being engaged between a pair of blades of the end effector; shearing the tissue cooperatively between the blades by transmitting at lease one force from an interace member on the robotic surgical system to a first rotable shaft on the surgical instrument, the first rotable shaft engaging a rotating link pivoted at a second shaft, the rotating link coupling an actuator rod, the actuator rod engaging a connecting rod, the connecting rod engaging each blade, wherein the at least one force causes the first rotatable shaft to rotate so as to cause the rotating link to pivot at the second shaft, the actuator rod to move in a tangential direction with a point on the rotating link, and the actuator rod and connector rod to move at least one of the blades; and delivering electrical energy to the tissue engaged by the blades.