Patent ID: 6994708

Claim:
A surgical instrument for use with a robotic surgical system, the instrument comprising: an elongate shaft having a proximal end and a distal end; an end effector coupleable to the distal end of the shaft, the end effector having a pair of cooperative tissue shearing blades; a conductor electrically communicating with at least one blade so as to deliver electrical energy to tissue engaged by the blades; and an interface coupleable to the proximal end of the shaft, the interface removably connectable to the robotic surgical system, wherein the interface includes at least one mechanical transmission member configured to engage the robotic surgical system, the at least one transmission member transmitting forces from the robotic surgical system to at least one actuation element coupled to the end effector so as to pivotally move at least one of the blades; wherein the at least one transmission member comprises: a first shaft rotatably mounted within the interface, the first shaft having two ends, at least one of the ends protruding from the interface to engage a corresponding interface member on the robotic surgical system; a second shaft mounted within the interface; and a rotating link coupled to the at least one actuation element at a medial portion of the link or actuation element, an end portion of the rotating link engaged to the first shaft, and an end portion of the rotating link pivoted at the second shaft in response to rotary action of the first shaft, the rotating link being configured to longitudinally move the at least one actuation element in response to movements of the corresponding interface member and the first shaft.