Abstract: A robotic surgical tool includes an elongate shaft, an end effector arranged at a distal end of the shaft and including opposing first and second jaws, an articulable wrist that interposes the end effector and the distal end, the wrist including an articulation joint pivotable about an axis and a linkage mounted to the first and second jaws, a distal wedge positioned distal to the articulation joint and within a central portion of the wrist, and an electrical conductor extending through the wrist and to an electrode located at the end effector, wherein the distal wedge guides the electrical conductor to the electrode.

Abstract: A robotic surgical tool includes an elongate shaft, an end effector coupled to the shaft and including a first jaw with a first jaw extension and a second jaw with a second jaw extension. Drive members extend along the shaft, and an articulable wrist interposes the end effector and the shaft. The wrist includes a proximal clevis, a distal clevis rotatably coupled to the proximal clevis, first and second pulleys rotatably mounted to the distal clevis, and a linkage mounted to and encircling the first and second jaws, the linkage including a first linkage portion providing a first lateral arm receivable within a first groove defined in the first jaw, and a second linkage portion providing a second lateral arm receivable within a second groove defined in the second jaw.

Abstract: A robotic surgical tool includes a handle providing a drive input, a shaft extendable through the handle and having an end effector arranged at an end of the shaft, and an accumulator system housed within the handle. The accumulator system includes a lead screw extending from the drive input, a nut threadably mounted to the lead screw, a first pulley operatively coupled to the nut such that axial movement of the nut correspondingly moves the first pulley, and a second pulley rotatably coupled to the handle and vertically offset from the first pulley. The surgical tool further includes first and second drive cables threaded through the first and second pulleys and extending distally along the shaft. Operation of the accumulator system alters at least one of a length or a force in the first and second drive cables to affect end effector operation.

Abstract: A surgical tool includes a drive housing having an elongate shaft extending therefrom, an end effector operatively coupled to a distal end of the shaft, a drive input rotatably mounted to the drive housing and having an input shaft extending therefrom, an upper capstan assembly rotatably mounted to the input shaft and having a first drive cable coupled thereto and extending to the end effector, a lower capstan assembly rotatably mounted to the input shaft and having a second drive cable coupled thereto and extending to the end effector, and a compliant member mounted to the input shaft and arranged in-line and extending between the upper and lower capstan assemblies, the compliant member providing a constant opposing torsional load on the upper and lower capstan assemblies and thereby removing slack in the first and second drive cables as the input shaft rotates.

Abstract: A robotic surgical tool includes a handle having a plurality of drive inputs rotatably mounted thereto, an elongate shaft extending through the handle and having an end effector arranged at a distal end thereof, and a plurality of drive members extending along the shaft to the end effector. A plurality of input stacks are arranged within the handle and operatively coupled to the plurality of drive inputs such that actuation of the plurality of drive inputs rotates the plurality of input stacks. Each input stack includes a drive member engagement device that locates and captures a corresponding one of the plurality of drive members at the handle upon rotation of the input stack.

Abstract: A robotic surgical tool includes a handle, an elongate shaft extended through the handle, and an actuation system housed within the handle and including a drive belt extending along a portion of the shaft and having a distal end anchored to the shaft distal to the handle and a proximal end anchored to the shaft proximal to the handle, and a drive gear mounted to the handle to receive the drive belt. Operating the actuation system rotates the drive gear to drive the drive belt and thereby cause z-axis translation of the shaft through the handle.

Abstract: A robotic surgical tool includes a handle providing a drive input, an elongate shaft extendable through the handle and having an end effector arranged at a distal end of the shaft, and an accumulator system housed within the handle and operatively coupled to the drive input such that actuation of the drive input operates the accumulator system. At least one drive cable is threaded through the accumulator system and extends distally along the shaft, wherein operation of the accumulator system acts on the at least one drive cable to operate the end effector.

Abstract: A method of setting a jaw gap for the end effector of a surgical instrument includes moving opposing upper and lower jaws of the end effector toward a closed position, wherein the upper jaw includes a first component part matable with a second component part at a mated interface. The method further includes placing a shim having a predetermined thickness between at least a portion of the upper and lower jaws such that the shim engages the lower jaw. The upper and lower jaws are progressively closed until the second component part of the upper jaw engages the shim to define the jaw gap between the lower jaw and the second component part of the upper jaw. The first and second component parts are then joined at the mated interface while the lower jaw and the second component part of the upper jaw are engaged with the shim.

Abstract: A surgical tool includes a drive housing having an elongate shaft extending therefrom and an end effector arranged at a distal end of the shaft. At least one linkage is pivotally coupled to a distal end of the shaft about a pivot axis, and a camming feature is defined on the at least one linkage. The camming feature includes a rounded edge between a lateral side and a proximal face of the at least one linkage such that engagement of the camming feature with the distal end of a trocar will pivot the at least one linkage into alignment with a longitudinal axis of the shaft. The camming feature edge may be arranged to provide a large moment when the linkage is articulated to a high articulation angle and a smaller moment when the linkage is articulated to lower articulation angles.

Abstract: An end effector for a robotic surgical tool includes a lower jaw, and an upper jaw opposite the lower jaw and including a first component part matable with a second component part at a mated interface that extends longitudinally and vertically.

Abstract: A robotic surgical tool includes a shaft extendable through a handle, an end effector arranged at a distal end of the shaft and including a first and second jaws providing first and second jaw extension, a plurality of drive members extending along the shaft and actuatable by the handle, and an articulable wrist interposing the end effector and the distal end. The wrist includes a proximal clevis, a distal clevis rotatably coupled to the proximal clevis, first and second pulleys rotatably mounted to the distal clevis, the first jaw extension being pinned to the first pulley and the second jaw extension being pinned to the second pulley, and a linkage mounted to the jaws. The plurality of drive members terminate at the first and second pulleys and are antagonistically operable to open and close the jaws and articulate the end effector in pitch and yaw.

Abstract: A robotic surgical tool includes an elongate shaft, an end effector arranged at a distal end of the shaft and including a first jaw providing a first jaw extension and a second jaw providing a second jaw extension, and an articulable wrist that interposes the end effector and the distal end, the wrist including an articulation joint rotatable about a first pivot axis, and first and second pulleys rotatably mounted to the articulation joint at a second pivot axis perpendicular to the first pivot axis, the first pulley interposing the first jaw extension and a first joint portion of the articulation joint, and the second pulley interposing the second jaw extension and a second joint portion of the articulation joint. Joining the first and second joint portions secures the first and second pulleys within the wrist.

Abstract: A surgical tool includes a drive housing having an elongate shaft extending therefrom and an end effector arranged at a distal end of the shaft, a drive input rotatably mounted to the drive housing and having an input shaft extending therefrom, and upper and lower capstans mounted to the input shaft. First and second drive cables are coupled to the upper and lower capstans, respectively, and extend to the end effector, and a clutch feature is arranged to mate the upper capstan to the lower capstan and is movable between an engaged position, where rotation of the input shaft in either angular direction correspondingly rotates the upper and lower capstans in the same angular direction, and a disengaged position, where the upper and lower capstans are rotatable independent of each other in at least one angular direction.

Abstract: Various exemplary methods and devices for actuating surgical instruments are provided. In general, a surgical device can include one or more actuation shafts configured to facilitate actuation of the device. In an exemplary embodiment, the device can include four actuation shafts, two actuation shafts to facilitate articulation of the device, one actuation shaft to facilitate opening and closing of jaws at a distal end of the device, and one actuation shaft to facilitate moving a cutting element of the device. In an exemplary embodiment, each of the one or more actuation shafts can include a distal elongate member and a proximal elongate member having a proximal end attached to a distal end of the distal elongate member. The proximal elongate member can be rigid, and the distal elongate member can be flexible.

Abstract: A robotic surgical tool includes an elongate shaft extended through a handle and having an end effector arranged at a distal end thereof, a rack extending along a portion of the shaft and operatively coupled to a knife located at the end effector, a first actuation system housed within the handle and operable to drive the rack and thereby advance or retract the knife at the end effector, the first actuation system including a sector gear engageable with the rack and including a tooth-free zone, and a second actuation system housed within the handle and operable to cause z-axis translation of the shaft through the handle. Rotating the sector gear such that the tooth-free zone faces the rack decouples the shaft from the first actuation system to allow the shaft to freely move in z-axis translation.

Abstract: A surgical tool includes a drive housing having an elongate shaft extending therefrom, an end effector operatively coupled to a distal end of the shaft, a drive input rotatably mounted to the drive housing and having an input shaft extending therefrom, an upper capstan assembly rotatably mounted to the input shaft and having a first drive cable coupled thereto and extending to the end effector, a lower capstan assembly rotatably mounted to the input shaft and having a second drive cable coupled thereto and extending to the end effector, and a compliant member mounted to the input shaft and arranged in-line and extending between the upper and lower capstan assemblies, the compliant member providing a constant opposing torsional load on the upper and lower capstan assemblies and thereby removing slack in the first and second drive cables as the input shaft rotates.

Abstract: A robotic surgical tool includes an elongate shaft, an end effector arranged at a distal end of the shaft and including opposing first and second jaws, and an articulable wrist that interposes the end effector and the distal end, the wrist including a linkage providing one or more lateral arms receivable within a corresponding one or more grooves defined in the first and second jaws, wherein mounting the linkage to the first and second jaws at the corresponding one or more groove generates a jaw pivot where the first and second jaws pivot between open and closed positions.

Abstract: A robotic surgical tool includes a handle providing a first drive input and a second drive input, an elongate shaft extendable through the handle and having an end effector arranged at a distal end thereof, and a rack extending along a portion of the shaft and operatively coupled to a knife located at the end effector. Actuation of the first drive input transitions the rack between a locked configuration, where the rack is locked to the shaft, and a released configuration, where the rack is released from the shaft. Actuation of the second drive input with the rack in the locked configuration drives the rack and causes z-axis translation of the shaft through the handle. Actuation of the second drive input with the rack in the released configuration drives the rack relative to the shaft and thereby advances or retracts the knife at the end effector.

Abstract: A robotic surgical tool comprises a handle having a first end and a second end, a lead screw and at least one spline extendable between the first and second ends of the handle, and a carriage movably mountable to the lead screw at a carriage nut. The carriage includes an elevator layer and one or more additional layers removably coupled to the elevator layer. An elongate shaft may be provided that extends distally from the one or more additional layers and penetrates the elevator layer and the first end when the one or more additional layers are coupled to the elevator layer. An end effector may be arranged at a distal end of the elongate shaft.

Abstract: A surgical tool includes a drive housing having an elongate shaft extending therefrom, an end effector operatively coupled to a distal end of the shaft, and a drive input rotatably mounted to the drive housing and having an input shaft extending therefrom. An upper capstan assembly is rotatably mounted to the input shaft and has a first drive cable coupled thereto and extending to the end effector, and a lower capstan assembly is rotatably mounted to the input shaft and has a second drive cable coupled thereto and extending to the end effector. A compliant member is operatively coupled to and extends between the upper and lower capstan assemblies to provide a constant opposing torsional load on the upper and lower capstan assemblies and thereby remove slack in the first and second drive cables as the input shaft rotates.