Abstract: An end effector assembly of a robotic surgical instrument includes a distal segment and first and second jaw members supported by the distal segment. The distal segment defines an elongate slot therein. The first jaw member has a proximal flange portion received in the elongate slot of the distal segment, and the second jaw member has a proximal flange portion received in the distal segment. The proximal flange portions of each of the first and second jaw member are pinned to the distal segment.

Abstract: A robotic surgical instrument includes a housing, a shaft assembly extending distally from the housing, and an end effector assembly. The shaft assembly has a proximal segment coupled to the housing, a clevis supporting the end effector assembly, and an articulating link pivotably coupled to and interconnecting the proximal segment and the clevis such that the end effector assembly is configured to articulate relative to the proximal segment via the articulating link in at least two directions.

Abstract: An endoscopic bipolar forceps includes a housing having a shaft extending therefrom with an end effector disposed at a distal end thereof. The end effector assembly includes a first and second jaw members having cam slots defined therein with distal and proximal sections at different angles relative to a longitudinal axis. Upon initial actuation of a handle, a cam pin engages the distal cam section of the first jaw member causing it to move relative to the second jaw member while the second jaw member remains stationary. Upon continued actuation of the handle, the cam pin engages the proximal cam section of the first jaw member causing the first jaw member to remain stationary while the second jaw member cams relative to the first jaw member to close against tissue disposed between the first and second jaw members.

Abstract: A robotic surgical instrument includes a housing having a shaft extending therefrom. A spring compression assembly is supported within the housing and includes: a proximal hub configured to secure a drive rod disposed therethrough, the proximal hub including teeth; a distal hub spaced from the proximal hub and including teeth; and a compression spring mounted between the proximal and distal hubs. A drive gear includes a proximal portion extending therefrom having threads disposed thereabout configured to engage the teeth of the proximal and distal hubs such that rotation thereof translates the hubs relative to one another and actuates the end effector assembly. A thumb wheel is included that has a portion exposed outside the housing for external manipulation thereof. The thumb wheel is selectively positionable between a disengaged position spaced relative to the drive gear and an engaged position to matingly engage the drive gear.

Abstract: A robotic surgical instrument includes a housing, a support plate disposed within the housing, and a shaft having a proximal end portion coupled to the support plate within the housing, a proximal segment, a distal segment, and an articulating portion interconnecting the proximal and distal segments. An end effector assembly is coupled to the distal segment of the shaft. A plurality of actuation components extends through the support plate and at least a portion of the shaft to operably couple to at least one of the end effector assembly, the articulating portion, or the distal segment to enable selective actuation of the end effector assembly. A seal configuration establishes seals against an interior annular surface of the shaft, about each actuation component of the plurality of actuation components, and within the proximal end portion of the shaft to inhibit fluid communication from the shaft into the housing.

Abstract: A robotic surgical instrument includes a housing and a shaft extending distally from the housing and including proximal and distal segments and an articulating portion interconnecting the segments. An end effector assembly is coupled to the distal segment and a plurality of actuation components extends through at least a portion of the shaft to enable selective actuation of the end effector assembly. A seal configuration is operably associated with a proximal body portion of a proximal link of the articulating portion of the shaft to establish seals against an interior annular surface of the shaft, about each actuation component of the plurality of actuation components, and within a distal end portion of the proximal segment of the shaft to inhibit fluid communication proximally into the proximal segment of the shaft.

Abstract: A sterile interface assembly configured to operably engage a robotic surgical instrument includes an adapter, a surgical drape, and a clip. The adapter includes a body having a first end portion and a second end portion, inputs disposed at the first end portion of the body, outputs disposed at the second end portion of the body, connectors coupling each of the inputs with a corresponding one of the outputs, and a seal disposed within the body and configured to establish a fluid-tight seal with an interior surface of the body and about the connectors. The surgical drape defines a sleeve of material having a proximal end portion and a distal end portion. The proximal end portion is attached to an exterior of the body of the adapter. The clip is configured to engage the distal end portion of the surgical drape to a shaft.

Abstract: An articulation assembly for a robotic surgical instrument includes a plurality of rotatable but longitudinally fixed lead screws extending between first and second base plates, a collar threaded about each lead screws and configured to translate therealong in response to rotation of the corresponding lead screw, an articulation cable coupled to each collar and defining or having a threaded shaft, and a threaded nipple threaded about each of the threaded shafts. Each threaded nipple is engaged with one of the collars to thereby engage each of the articulation cables with a corresponding one of the collars such that longitudinal translation of the corresponding collar pushes or pulls the corresponding articulation cable. Each threaded nipple is configured for further threading or unthreading about the corresponding threaded shaft to vary a pre-tension on the corresponding articulation cable.

Abstract: A robotic surgical instrument includes first and second portions. The first portion includes a housing portion, a shaft including proximal, distal, and articulating segments, and first and second structural jaw bodies coupled to the distal segment of the shaft. The second portion includes an electrical cable including at least one cable body, and first and second electrically conductive plates defining tissue-contacting surfaces and electrically coupled to the cable body. The first and second portions are releasably engagable with one another in at least three locations via at least three of a first coupler coupling the cable body with the housing portion, a second coupler coupling the cable body with the proximal segment of the shaft, a third coupler coupling the cable body with the articulating portion of the shaft; or a fourth coupler coupling the first and second electrically conductive plates with the first and second structural jaw bodies, respectively.

Abstract: A surgical instrument including a housing, an actuator operably associated with the housing, a shaft extending from the housing, an end effector assembly disposed at an end portion of the shaft, and a drive assembly operably coupling the actuator and the end effector assembly with one another such that actuation of the actuator manipulates the end effector assembly. The drive assembly includes a proximal sleeve defining a longitudinal axis and an interior lumen extending longitudinally therethrough, a drive bar including a proximal portion and a distal portion, and a lock washer configured to engage the proximal portion of the drive bar with the proximal sleeve such that the proximal portion of the drive bar is disposed within the interior lumen of the proximal sleeve and positioned offset relative to the longitudinal axis of the proximal sleeve. Methods of assembling such drive assemblies are also provided.

Abstract: An inner guide assembly and surgical instrument including the same wherein the inner guide assembly includes a proximal tube guide defining first and second proximal channels extending longitudinally therealong, a distal tube guide defining first and second distal channels extending longitudinally therealong and disposed in alignment with the first and second proximal channels, respectively, and a wire clip disposed between the proximal and distal tube guides and defining a central channel having a first portion and a second portion. The first proximal channel, the first distal channel, and the first portion of the central channel are configured to cooperate to receive a first elongated component of a surgical instrument longitudinally therethrough. The second proximal channel, the second distal channel, and the second portion of the central channel are configured to cooperate to receive first and second lead wires of the surgical instrument longitudinally therethrough.

Abstract: A colpotomy system includes a surgical instrument and a uterine manipulator. The surgical instrument has a shaft assembly. The shaft assembly includes an end effector supported on a distal end portion of the shaft assembly. The end effector includes a first jaw member and a second jaw member. The uterine manipulator extends distally to a head supporting a knife that is positioned to cooperate with the first and second jaw members of the end effector.

Abstract: A surgical instrument for use with a robotic surgical system includes a knife blade configured to cut tissue and a knife tube coupled to the knife blade and configured to translate to move the knife blade for cutting tissue. The surgical instrument also includes a gearbox assembly coupleable to a robotic surgical system and configured to translate the knife tube to move the knife blade for cutting tissue and a knife blade lock operably coupled to the gearbox assembly. The knife blade lock is movable from a locked position wherein the knife blade lock prevents translation of the knife tube to an unlocked position in response to coupling of the gearbox assembly to the robotic surgical system wherein the knife tube is permitted to translate to move the knife blade for cutting tissue.

Abstract: An end effector assembly includes first and second jaw members movable between an open and closed position to grasp tissue therebetween. First and second proximal flanges extending proximally from the second jaw member and defining a space therebetween, a proximal flange extend proximally from a proximal portion of the first jaw member and define a cam slot. A cam driver operably is coupled to the proximal flange of the first jaw member to define a space between the cam driver and the proximal flange of the first jaw member. A cam bar is disposed within the space defined between the cam driver and the proximal flange of the first jaw member. The cam bar includes a cam pin configured to move within a cam slot of the cam driver to move the first jaw member relative to the second jaw member between the open position and the closed position.

Abstract: A gearbox assembly for a surgical instrument includes an articulation sub-assembly and a jaw drive sub-assembly. The articulation sub-assembly is configured to articulate an end effector of the surgical instrument and the jaw drive sub-assembly is configured to move jaw members of the end effector between an open and closed position. The articulation sub-assembly includes two input shafts, a proximal plate, a middle plate, two center gears, and four lead screws with four nuts. The jaw drive sub-assembly includes a drive rod coupled to at least one of the jaws and a spring force assembly to maintain a force between the jaws.

Abstract: Disclosed is a system to engage one or more tools. In the system a drive shaft and collet may be assembled to engage and disengage, selectively, a plurality of tools. Further, a tracking device may be used to track a location of at least a portion of the tool.

Abstract: Disclosed is a system to engage one or more tools. In the system a drive shaft and collet may be assembled to engage and disengage, selectively, a plurality of tools. Further, a tracking device may be used to track a location of at least a portion of the tool.

Abstract: An endoscopic bipolar forceps includes a housing having a shaft extending therefrom with an end effector disposed at a distal end thereof. The end effector assembly includes a first and second jaw members having cam slots defined therein with distal and proximal sections at different angles relative to a longitudinal axis. Upon initial actuation of a handle, a cam pin engages the distal cam section of the first jaw member causing it to move relative to the second jaw member while the second jaw member remains stationary. Upon continued actuation of the handle, the cam pin engages the proximal cam section of the first jaw member causing the first jaw member to remain stationary while the second jaw member cams relative to the first jaw member to close against tissue disposed between the first and second jaw members.

Abstract: An electrically-insulative shaft for an energy-based surgical instrument includes an outer tube formed from an electrically-insulative material, an inner tube formed from an electrically-insulative material, and an intermediate tube disposed between the outer and inner tubes. The intermediate tube is formed from an electrically-conductive material. Distal ends of the outer and inner tubes extend beyond a distal end of the intermediate tube and are joined to one another to enclose the distal end of the intermediate tube therebetween.

Abstract: An inner guide assembly and surgical instrument including the same wherein the inner guide assembly includes a proximal tube guide defining first and second proximal channels extending longitudinally therealong, a distal tube guide defining first and second distal channels extending longitudinally therealong and disposed in alignment with the first and second proximal channels, respectively, and a wire clip disposed between the proximal and distal tube guides and defining a central channel having a first portion and a second portion. The first proximal channel, the first distal channel, and the first portion of the central channel are configured to cooperate to receive a first elongated component of a surgical instrument longitudinally therethrough. The second proximal channel, the second distal channel, and the second portion of the central channel are configured to cooperate to receive first and second lead wires of the surgical instrument longitudinally therethrough.