Robotic surgical instrument including a highly articulated wrist assembly

Abstract

A robotic electromechanical surgical instrument includes: a housing; an elongated shaft extending distally from the housing; a wrist assembly supported on the elongated shaft; an end effector coupled to the wrist assembly; and a first cable, a second cable, and a third cable coupled to the wrist assembly. The elongated shaft defines a longitudinal axis, and the wrist assembly is articulated relative to the longitudinal axis. The wrist assembly includes a first interface, a first link pivotally coupled to the first interface, a second link coupled to the first link, and a third link pivotally coupled to the second link. The first cable is coupled to the second link so that its proximal axial translation causes the second link to pivot about a first pivot axis. The third cable is coupled to the third link so that its axial translation causes the third link to pivot about a second pivot axis.

Description

Background Art

[0001] Robotic surgical systems have been used for minimally invasive medical procedures. Some robotic surgical systems include a console supporting a surgical robotic arm and a surgical instrument having at least one end effector (e.g., forceps or a suturing device) mounted to the robotic arm. The robotic arm provides mechanical power to the surgical instrument for its operation and movement. Each robotic arm may include an instrument drive unit operatively connected to the surgical instrument. The surgical instrument may include a cable driven by a motor to operate the end effector of the surgical instrument. Summary of the invention

[0002] The present disclosure relates to surgical instruments for use in surgical procedures. More specifically, the present disclosure relates to articulatable robotic surgical instruments for use with robotic surgical systems for performing minimally invasive surgical procedures. The present disclosure provides small surgical instruments for robotic surgical systems that provide increased articulation, torque transmission, and mechanical manipulation.

[0003] According to one aspect of the present disclosure, a robotic electromechanical surgical instrument is provided. The robotic electromechanical surgical instrument comprises: a housing; an elongated shaft extending distally from the housing; a wrist assembly supported on the elongated shaft; an end effector coupled to the wrist assembly; and a first cable, a second cable, and a third cable coupled to the wrist assembly. The elongated shaft defines a longitudinal axis, and the wrist assembly is configured to be hinged relative to the longitudinal axis. The wrist assembly comprises a first interface, a first link pivotally coupled to the first interface, a second link coupled to the first link, and a third link pivotally coupled to the second link.

[0004] The first cable is coupled to the second link such that proximal axial translation of the first cable along the longitudinal axis causes the second link to pivot about the first pivot axis in a first direction. The second cable is coupled to the second link such that proximal axial translation of the second cable along the longitudinal axis causes the second link to pivot about the first pivot axis in a second direction opposite the first direction. The third cable is coupled to the third link such that axial translation of the third cable along the longitudinal axis causes the third link to pivot about the second pivot axis. In one aspect, the first link and the second link are coupled together such that proximal axial translation of the first cable along the longitudinal axis causes the second link and the first link to pivot together about the first pivot axis.

[0005] The third cable may be coupled to the third link such that proximal axial translation along the longitudinal axis of the first portion of the third cable and simultaneously distal axial translation along the longitudinal axis of the second portion of the third cable causes the third link to pivot about the second pivot axis in a third direction. Additionally or alternatively, the third cable is coupled to the third link such that distal axial translation along the longitudinal axis of the first portion of the third cable and simultaneously proximal axial translation along the longitudinal axis of the second portion of the third cable causes the third link to pivot about the second pivot axis in a fourth direction opposite to the third direction.

[0006] In one aspect, a robotic electromechanical surgical instrument includes a power cable operably coupled to a portion of at least one of the end effector or the wrist assembly. The power cable may be configured to transmit a sensor signal from at least one of the end effector or the wrist assembly. Additionally or alternatively, the power cable is configured to transmit electrosurgical energy to a portion of the end effector. The housing includes electrical contacts disposed thereon, and the power cable is coupled to the electrical contacts.

[0007] In one aspect, the firing assembly is operably coupled to the end effector and is configured to control operation of the end effector.

[0008] In one aspect, the first interface includes a first half and a second half. The first half defines a first cable channel in which the first cable is slidably supported and a third cable channel in which the first portion of the third cable is slidably supported. Additionally or alternatively, the second half defines a second cable channel in which the second cable is slidably supported and a fourth cable channel in which the second portion of the third cable is slidably supported. The second half of the first interface may further define a power cable channel configured to slidably support a power cable therein.

[0009] According to another aspect of the present disclosure, a wrist assembly for use with an electromechanical surgical instrument is provided. The wrist assembly includes: a first interface defining a longitudinal axis; a first link pivotably coupled to the first interface and configured to pivot relative to the first interface about a first pivot axis; a second link coupled to the first link and axially aligned with the first link; and a third link pivotably coupled to the second link and configured to pivot relative to the second link about a second pivot axis. In addition, the wrist assembly includes a first cable, a second cable, and a third cable. The first cable is coupled to the second link so that the proximal axial translation of the first cable along the longitudinal axis causes the second link to pivot about the first pivot axis in a first direction. The second cable is coupled to the second link so that the proximal axial translation of the second cable along the longitudinal axis causes the second link to pivot about the first pivot axis in a second direction opposite to the first direction. The third cable is coupled to the third link so that the axial translation of the third cable along the longitudinal axis causes the third link to pivot about the second pivot axis.

[0010] In one aspect, the first link and the second link are coupled together such that proximal axial translation of the first cable along the longitudinal axis causes the second link and the first link to pivot together about the first pivot axis. The third cable may be coupled to the third link such that proximal axial translation of the longitudinal axis of a first portion of the third cable and simultaneously distal axial translation of the longitudinal axis of a second portion of the third cable causes the third link to pivot about the second pivot axis in a third direction. Additionally or alternatively, the third cable is coupled to the third link such that distal axial translation of the longitudinal axis of the first portion of the third cable and simultaneously proximal axial translation of the longitudinal axis of the second portion of the third cable causes the third link to pivot about the second pivot axis in a fourth direction opposite the third direction.

[0011] In one aspect, the wrist assembly further includes a power cable operably coupled to a portion of the wrist assembly. The power cable can be configured to transmit sensor signals from the wrist assembly.

[0012] In one aspect, the first interface includes a first half and a second half. The first half may define a first cable channel in which a first cable is slidably supported and a third cable channel in which a first portion of a third cable is slidably supported. Additionally or alternatively, the second half defines a second cable channel in which a second cable is slidably supported and a fourth cable channel in which a second portion of the third cable is slidably supported. The second half of the first interface may further define a power cable channel, the power cable channel being configured to slidably support a power cable therein. In one aspect, the first interface defines a central channel along a longitudinal axis, the central channel being configured to support a portion of a drive assembly passing therethrough.

[0013] Other aspects, features, and advantages provided by some or all of the illustrative embodiments described herein will be apparent from the following description, drawings, and claims. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments of the surgical instrument of the present invention for a robotic surgery system and, together with the general description of the present disclosure given above and the detailed description of the embodiments given below, serve to explain the principles of the present disclosure, wherein:

[0015] Figure 1 is a schematic illustration of a robotic surgical system according to the present disclosure;

[0016] Figure 2A is in a non-articulated position Figure 1 A perspective view of surgical instruments of a robotic surgery system;

[0017] Figure 2B yes Figure 1 A rear perspective view of a proximal portion of a surgical instrument of a robotic surgical system;

[0018] Figure 3 yes Figure 2A An enlarged perspective view of the detail indication area shown in;

[0019] Figure 4 is a perspective view of a distal portion of an elongated shaft and a wrist assembly of a surgical instrument of the robotic surgical system of FIG. 1 , with the components separated;

[0020] Figure 5 For the sake of clarity, some of the Figure 4 A perspective view of a wrist assembly of

[0021] Figure 6 It is along Figure 5 The section line 6-6 is taken Figure 5 An enlarged cross-sectional view of a wrist assembly;

[0022] Figure 7 It is along Figure 6 The section line 7-7 is taken Figure 5 An enlarged cross-sectional view of a wrist assembly;

[0023] Figure 8 is in an articulated position Figure 1 A perspective view of surgical instruments of a robotic surgery system;

[0024] Fig. 9 yes Figure 8 An enlarged view of the indicated detail area is shown;

[0025] Fig.10 is in another hinged position Figure 1 A perspective view of surgical instruments of a robotic surgery system;

[0026] Fig.11A yes Figure 1 A perspective view of an end effector having an energy delivery device of one aspect of a robotic surgical system of; and

[0027] Fig. 11B Is an energy delivery device Figure 1 A perspective view of the end effector of one aspect of the robotic surgery system. DETAILED DESCRIPTION

[0028] Embodiments of the inventive surgical instrument for a robotic surgical system are described in detail with reference to the drawings, in which like reference numerals designate identical or corresponding elements in each of the several views. As used herein, the term "distal" refers to structures closer to the patient, while the term "proximal" refers to structures farther from the patient.

[0029] As used herein, the term "clinician" refers to a doctor, a nurse or any other medical staff and may include auxiliary staff. In the following description, well-known functions or constructions are not described in detail to avoid obscuring the present disclosure in unnecessary detail.

[0030] First refer to Figure 1, a surgical system, such as a robotic surgery system 1, generally includes one or more surgical robot arms 2, 3, a control device 4, and an operating console 5 coupled to the control device 4. Any of the surgical robot arms 2, 3 may have a robotic surgery assembly 100 and an electromechanical surgical instrument 200 coupled thereto. The electromechanical surgical instrument 200 includes an end effector 300 disposed at a distal portion thereof. In some embodiments, the robotic surgery assembly 100 may be removably attached to a slide rail 40 of one of the surgical robot arms 2, 3. In certain embodiments, the robotic surgery assembly 100 may be fixedly attached to the slide rail 40 of one or more of the surgical robot arms 2, 3.

[0031] The operating console 5 of the robotic surgery system 1 comprises a display device 6, which is arranged to display a three-dimensional image, and manual input devices 7, 8, by means of which a clinician (not shown) can remotely control the robotic arms 2, 3 of the robotic surgery system 1 in a first operating mode, as is known in principle to a person skilled in the art. Each of the robotic arms 2, 3 may consist of any number of components connected by any number of joints. The robotic arms 2, 3 may be driven by an electric drive (not shown) connected to the control device 4. The control device 4 (e.g. a computer) of the robotic surgery system 1 may be arranged to activate the drive, e.g. by means of a computer program, in such a way that the robotic arms 2, 3, the attached robotic surgery assembly 100, and thus the electromechanical surgical instrument 200 (including the end effector 300) of the robotic surgery system 1 perform the desired movement according to the movement defined by means of the manual input devices 7, 8. The control device 4 may be arranged in such a way that it regulates the movement of the robotic arms 2, 3 and / or the drive.

[0032] The robotic surgery system 1 is configured for use on a patient "P" positioned (e.g., lying) on ​​an operating table "ST" to be treated in a minimally invasive manner with the aid of surgical instruments, such as an electromechanical surgical instrument 200, and more precisely an end effector 300 of the electromechanical surgical instrument 200. The robotic surgery system 1 may include more than two robotic arms 2, 3, and the additional robotic arms are likewise connected to a control device 4 and remotely controlled with the aid of an operating console 5. The surgical instrument, such as the electromechanical surgical instrument 200 (including its end effector 300) may also be attached to any (one or more) additional robotic arms.

[0033] The control device 4 of the robotic surgical system 1 can control one or more motors (not shown), each of which is configured to drive the movement of the robotic arms 2, 3 in any number of directions. The control device 4 can control the instrument drive unit 110 including one or more motors 50 (or motor groups). The motor 50 drives various operations of the end effector 300 of the electromechanical surgical instrument 200. The motor 50 may include a rotary motor, such as a tank motor. One or more of the motors 50 (or different motors, not shown) can be configured to drive the rotation of the electromechanical surgical instrument 200 or its components relative to its longitudinal axis "LL". One or more motors can be configured to achieve operation and / or movement of the electromechanical end effector 300 of the electromechanical surgical instrument 200.

[0034] Now go to Figures 2A to 2B , the electromechanical surgical instrument 200 of the robotic surgical system 1 includes a housing 202 at a proximal end portion thereof and an elongated shaft 204 extending distally from the housing 202. The elongated shaft 204 includes a wrist assembly 400 supported on a distal end portion of the elongated shaft 204, the wrist assembly coupling the end effector 300 to the elongated shaft 204. Briefly, and as will be described in more detail below, the wrist assembly 400 includes, among other components, a first interface 401, a first link 405 pivotably coupled to the first interface 401, a second link 409 coupled to the first link 405, and a third link 411 pivotably coupled to the second link 409.

[0035] The housing 202 of the electromechanical surgical instrument 200 is configured to be selectively coupled to the instrument drive unit 110 of the robotic surgical assembly 100, for example, via a side load on the sterile interface module 112 of the robotic surgical assembly 100, so that the motor 50 of the instrument drive unit 110 of the robotic surgical assembly 100 can operate the end effector 300 of the electromechanical surgical instrument 200. The housing 202 of the electromechanical surgical instrument 200 supports a drive assembly 203 that mechanically and / or electrically cooperates with the motor 50 of the instrument drive unit 110 of the robotic surgical assembly 100.

[0036] In addition, the housing 202 includes an electrical contact 202e ( Figure 2B ), which interfaces with corresponding electrical contacts (not shown) of the instrument drive unit 110 to connect the power cable 205e ( Figure 4) and other components of the robotic surgical system 1 (e.g., electrosurgical generator, controller, sensor, etc.). It is contemplated that the electromechanical surgical instrument 200 may further include a printed circuit board (not shown) to which the power cable 205e is coupled. The power cable 205e may be used to establish an electrical connection between any portion of the electromechanical surgical instrument 200 (e.g., the end effector 300) and any component of the robotic surgical system 1 (e.g., the robotic arms 2, 3, the control device 4 and / or the operating console 5). In one aspect, the power cable 205e is used to transmit power from the electrosurgical generator "G" ( Figure 1 ) to a portion of the end effector 300, such as an energy delivery portion or device ( Figures 11A to 11B ). For example, any portion of the end effector can be configured to transmit electrosurgical energy generated from the generator "G" to a surgical site (e.g., tissue, vessel, lesion, etc.). Additionally or alternatively, briefly refer to Fig.11A , the end effector 300a may include a bipolar forceps having one or more sealing plates 320a attached to its jaw member 310a, wherein the one or more sealing plates 320a transmit the electrosurgical energy generated by the generator "G" to the surgical site (e.g., tissue, blood vessel, lesion, etc.). Additionally or alternatively, the end effector 300b may include a Fig. 11B Energy delivery element 330b is shown. Any component of the embodiments described above may be used with other embodiments even if not explicitly described or shown.

[0037] Additionally or alternatively, the power cable 205e may be used to transmit sensor signals between the end effector 300 (or a sensor coupled thereto) and any other component of the robotic surgical system 1. Although only a single power cable is shown and described, it is contemplated that multiple power cables may be utilized, or alternatively, the power cable 205e may include multiple independent power cables therein.

[0038] The drive assembly 203 of the electromechanical surgical instrument 200 may include any suitable electrical and / or mechanical components to achieve the driving force / movement, and these components may be similar to the components of the drive assembly described in the commonly owned International Application Publication No. WO2017053358 filed on September 21, 2016, the entire disclosure of which is incorporated herein by reference. In particular, Figure 2BAs seen in the drawings, the drive assembly 203 of the electromechanical surgical instrument 200 includes a cable drive assembly 203a and a firing assembly 203b. The cable drive assembly 203a is similar to the cable drive assembly described in co-owned U.S. Patent Application Publication No. 2015 / 0297199, filed on October 22, 2015 and entitled “Adapter Assembly with Gimbal for Interconnecting Electromechanical Surgical Devices and Surgical Loading Units, and Surgical Systems Thereof,” the entire disclosure of which is incorporated herein by reference.

[0039] refer to Figure 2B The cable drive assembly 203a of the electromechanical surgical instrument 200 includes one or more driven components 209, such as a first driven component 209a, a second driven component 209b, a third driven component 209c, and a fourth driven component 209d, so that the robotic surgical assembly 100 can transmit power and actuation force from the motor 50 of the robotic surgical assembly 100 to ultimately drive the movement of components of the end effector 300 of the electromechanical surgical instrument 200.

[0040] The cable drive assembly 203a of the electromechanical surgical instrument 200 includes a cable 205 ( Figure 4 ), such as the first cable 205a, the second cable 205b and the third cable 205c. The first cable 205a and the second cable 205b are connected to the corresponding driven members 209a, 209b ( Figure 2B The first cable 205a and the second cable 205b of the cable drive assembly 203a extend distally to the distal end portions thereof and may include ferrules 206a, 206b, respectively ( Figure 4 ), which is coupled to a component of the wrist assembly 400 (e.g., the second link 409). In addition, one end of the third cable 205c may be coupled to the driven member 209c, while the other end of the third cable 205 is coupled to the driven member 209d. The middle portion of the third cable 205c is wound around a component of the wrist assembly 400 (e.g., the third link 411).

[0041] The cables 205, when controlled by the driven members 209, effect articulation / pitch / yaw of the wrist assembly 400 of the electromechanical surgical instrument 200 and the end effector 300 of the electromechanical surgical instrument 200 upon actuation of one or more of the cables 205. The cable drive assembly 203a may include one or more pulleys, friction wheels, gears, couplers, rack and pinion arrangements, etc., directly or indirectly coupled to the driven members 209 and / or cables 205 to facilitate the drive motion applied by the driven members 209 and / or cables 205. In one aspect, rotation of any driven member 209 causes longitudinal (axial) translation of the corresponding one or more cables 205. A detailed description of the relationship between the driven member 209 and the cable 205 can be found in U.S. Provisional Application Serial No. 62 / 546,066 filed on August 16, 2017, filed on August 14, 2018, and International PCT Application No. PCT / US18 / 46619, the entire contents of which are incorporated herein by reference. The cables 205 can be arranged so that the diagonal cables can be positioned to be driven in opposite directions to provide articulation on multiple axes (e.g., two). Although only three cables are shown, the cable drive assembly 203a can include any number of cables to provide additional functionality, for example, at the end effector 300.

[0042] As described above, the proximal portion of the power cable 205e is coupled to the electrical contacts 202e ( Figure 2B ), the electrical contacts are mated with corresponding electrical contacts (not shown) of the instrument drive unit 110 to connect the power cable 205e ( Figure 4 ) and other components of the robotic surgical system 1 (e.g., electrosurgical generators, controllers, sensors, etc.). Distal to the electrical contacts 202e, the power cable 205e is disposed along the power cable channel 402e defined in the second half 401b of the first interface 401, is wound around the power cable pulley 501h, is disposed along the power cable channel 405e of the first link 405, and may additionally pass through the second link 409 and the third link 411 to be coupled to a portion of the end effector 300. A load relief mechanism (not shown) may also be coupled to the power cable 205e to relieve any stretch and compensate for any slack that may be caused to the power cable 205e when the articulated assembly 400 is articulated. The power cable pulley 501h is rotatably fixed to the second half 401b of the first interface 401 via the fixing member 403b.

[0043] As described above, the proximal portion of the first cable 205a is coupled to the driven member 209a, so that the rotation of the driven member 209a achieves the axial translation of the first cable 205a. On the distal side of the driven member 209a, the first cable 205a is slidably disposed along the cable channel 402a defined in the first half 401a of the first interface 401, wrapped around the inner pulley 501a, slidably disposed along the cable channel 405a of the first link 405, and fixed to the second link 409 (e.g., via the collar 206a). The inner pulley 501a is rotatably fixed to the first half 401a of the first interface 401 and the first link 405 via the fixing member 403a.

[0044] In addition, as described above, the proximal portion of the second cable 205b is coupled to the driven member 209b, so that the rotation of the driven member 209b achieves the axial translation of the second cable 205b. On the distal side of the driven member 209b, the second cable 205b is slidably disposed along the cable channel 402b defined in the second half 401b of the first interface 401, wrapped around the inner pulley 501b, slidably disposed along the cable channel 405b of the first link 405, and fixed to the second link 409 (e.g., via the collar 206b). The inner pulley 501b is rotatably fixed to the second half 401b of the first interface 401 and the first link 405 via the fixing member 403b.

[0045] In addition, as described above, the proximal portion of the first end of the third cable 205c is coupled to the driven member 209c, such that rotation of the driven member 209c achieves axial translation of the first portion 205ca of the third cable 205c, and the proximal portion of the second end of the third cable 205c is coupled to the driven member 209d, such that rotation of the driven member 209d achieves axial translation of the second portion 205cc of the third cable 205c. As described in more detail below, rotation of the driven members 209c, 209d in opposite directions achieves proximal axial translation of one side of the third cable 205c (e.g., a portion of the first portion 205ca) while achieving distal axial translation of the other side of the third cable 205c (e.g., the second portion 205cc). The driven members 209c, 209d are synchronized such that rotation of the driven member 209c in one direction causes equal rotation of the driven member 209d in the opposite direction, and vice versa. In this manner, an axial translation of the first portion 205ca of the third cable 205c is always met at an equal rate by an opposite axial translation of the second portion 205cd of the third cable 205c, and vice versa.

[0046] On the distal side of the driven member 209c, the first portion 205ca of the third cable 205c is slidably disposed along the cable channel 402c defined in the first half 401a of the first interface 401, is wound around the outer pulley 501c, is wound around the pulley 501d coupled to the second link 209, and is wound around the pulley 501e coupled to the second link 409. The middle portion 205cb of the third cable 205e is wound around the cable channel 411e defined in the third link 411. The second portion 205cc of the third cable 205e is wound around the pulley 501f, is wound around the outer pulley 501g, and is slidably disposed along the cable channel 402d defined in the second half 401b of the first interface 401 to be coupled to the driven member 209d. The outer pulley 501c is rotatably fixed to the first half 401a of the first interface 401 and the first link 405 via the fixing member 403a, the pulley 501d is fixed to the second link 409 via the fixing member 403a, the pulley 501e is fixed to the second link 409 via the clip 409e, the pulley 501f is fixed to the second link 409 via the fixing member 403b, and the outer pulley 501g is fixed to the second half 401b of the first interface 401 and the first link 405 via the fixing member 403b.

[0047] Steering Figure 5 and 6 , the components of the wrist assembly 400 and the drive assembly 203 will now be described. The wrist assembly 400 of the elongated shaft 204 of the electromechanical surgical instrument 200 includes, from proximal to distal, a first interface 401 coupled to a distal portion of the outer tube 204a of the elongated shaft 204, a first link 405 coupled to a distal portion of the first interface 401, a second link 409 coupled to a distal portion of the first link 405, and a third link 411 coupled to a distal portion of the second link 409. The first interface 401 defines a longitudinal axis "LL" ( Figure 2A ) is aligned with the longitudinal axis. The first link 405 is pivotally coupled to the first interface 401 via the fixing members 403a, 403b and can pivot relative to the first interface about a first pivot axis "AA". The second link 409 is axially aligned with the first link 405. The third link 411 is pivotally coupled to the second link 409 so that the third link 411 can pivot relative to the second link 409 about a second pivot axis "BB".

[0048] The first interface 401 of the wrist assembly 400 is formed by the first half 401a and the second half 401b, and defines a central opening 401c, which defines a central passage therethrough to accommodate the firing assembly 203b of the drive assembly 203. The first interface 401 defines cable passages 402a, 402b disposed at circumferentially spaced positions thereof to support cables 205a, 205b, respectively. In addition, the first interface 401 defines cable passages 402c, 402d disposed at circumferentially spaced positions thereof to support portions of the third cable 205c therein. Finally, the first interface 401 defines a power cable passage 402e to support the power cable 205e therein.

[0049] The first link 405 is pivotably coupled to the first interface 401 via fixing members 403a, 403b such that the first link 405 can pivot relative to the first interface 401 via rotation about a first pivot axis "AA". The first link 405 defines a central aperture 405c through which the distal portion of the ball shaft 222, the proximal ball housing 406a, the intermediate housing 406b, and the distal ball housing 406c are disposed.

[0050] The second link 409 is coupled to the first link 405 and is secured to the first link by any of the compression cables 205, welding, interface fit or any other suitable means. The second link 409 defines a central opening 409c through which the double ball shaft 234 and the drive coupling 238 are disposed. The double ball shaft 234 is rotatably coupled to the second link 409 via a bearing 234b.

[0051] The third link 411 is pivotally coupled to the second link 409 such that the third link 411 can pivot relative to the second link 409 about a second pivot axis "BB". The second link 409 defines an opening 409a on a top portion thereof, which accommodates a protrusion 411a defined by the third link 411 to fix the third link 411 to the second link 409. In addition, the second link 409 defines a protrusion 409b on a bottom portion thereof, which cooperates with an opening (not shown) defined by the third link 411. The opening 409a and the protrusion 409b of the second link 409 are axially aligned and define a second pivot axis "BB".

[0052] The third link 411 defines a central opening 411c through which the drive connector 238 and the drive connector 308a are disposed.

[0053] Turning now to the components of the firing assembly 203b of the electromechanical surgical instrument 200, which is in the form of a multi-stage universal joint assembly, the firing assembly 203b of the drive assembly 203 includes a drive shaft 220 and a ball shaft 222 extending distally from the drive shaft 220. A first bearing 222a is supported on the drive shaft 220 to rotatably support the drive shaft 220 at the proximal portion of the first interface 401 in the central opening 401c. A second bearing 222b is supported on the ball shaft 222 to rotatably support the ball shaft 222 at the distal portion of the first interface 401 in the central opening 403c.

[0054] The drive shaft 220 of the firing assembly 203b of the drive assembly 203 has a driven member 211 ( Figure 2B ), the driven member operably connected to the robotic surgery assembly 100 ( Figure 1 ) of the motor 50 so that the drive shaft 220 can be moved as shown by arrow "D" ( Figure 4 ) rotates about the longitudinal axis "LL". The drive shaft 220 extends to a keyed distal portion 220k that is configured to be received by the proximal portion of the ball shaft 222. The keyed distal portion 220k is shown as having a D-shaped configuration, but may have any suitable non-circular configuration, such as a triangle, square, rectangle, star, etc. The drive shaft 220 defines an annular clip channel 220a in its outer surface. The annular clip channel 220a is configured to accommodate a clip 223a (e.g., an E-shaped clip) to hinder the axial movement of the first bearing 222a, thereby enabling the first bearing 222a of the firing assembly 203b to remain axially fixed on the surface of the drive shaft 220.

[0055] The proximal portion of the ball shaft 222 of the firing assembly 203b defines a keying portion 222k ( Figure 4 ), the keyed portion is configured to cooperate with the keyed distal portion 220k of the drive shaft 220 to enable the ball shaft 222 to rotate with the drive shaft 220. The keyed portion 222k can have any suitable non-circular configuration and can be configured to complement the keyed distal portion 220k of the drive shaft 220 to facilitate a rotatable locking connection between the ball shaft 222 and the drive shaft 220 so that the ball shaft 222 and the drive shaft 220 rotate together. The ball shaft 222 defines an annular clip channel 222c in its outer surface. The annular clip channel 222c is configured to accommodate a clip 223b (e.g., an E-shaped clip) to hinder the axial movement of the bearing 222b, thereby enabling the bearing 222b of the firing assembly 203b to remain axially fixed on the surface of the ball shaft 222.

[0056] The ball shaft 222 further includes a ball member 222h supported on a distal end portion of the ball shaft 222. The ball member 222h of the ball shaft 222 defines a transverse opening 222i therethrough configured to receive a ball pin 406pp defining a pin hole 406ph therein. The ball member 222h further defines an elongated slot 222m configured to align with the pin hole 406ph of the ball pin 406pp.

[0057] The ball shaft 222 is coupled to the proximal ball housing 406a via 406p and pin 406pp. The proximal ball housing 406a is coupled to the distal ball housing 406c, and the intermediate portion 406b is disposed between the proximal ball housing 406a and the distal ball housing 406c. The proximal portion of the double ball shaft 234 is coupled to the distal ball housing 406c via pin 406cp and pin 234pp. In particular, the distal ball housing 406c defines a pin channel 406k, which accommodates the pin 406cp therein to rotatably / hingably couple the double ball shaft 234 to the distal ball housing 406c. The distal portion of the double ball shaft 234 is coupled to the drive coupling 238 via pin 238d and pin 238pp.

[0058] The double ball shaft 234 of the firing assembly 203b includes: a proximal ball member 234a, which extends proximally from the bearing support surface; and a distal ball member 234c, which extends distally from the bearing support surface that rotatably supports the third bearing 234b. The proximal ball member 234a and the distal ball member 234c define lateral openings 234d, 234e passing therethrough, respectively, and elongated slots 234n, 234p passing therethrough, respectively. The lateral openings 234d, 234e of the proximal ball member 234a and the distal ball member 234c are configured to accommodate ball pins 234pp, 238pp, respectively, therein. Each ball pin 234pp, 238pp defines a pin hole 234ph, 238ph, respectively, therein. The pin hole 234ph of the ball pin 234pp and the elongated slot 234n of the ball member 234a are configured to receive the pin 406cp of the distal ball housing 406 to rotatably / hingably couple the dual ball shaft 234 to the distal ball housing 406c (eg, to define a universal joint).

[0059] The drive coupling 238 of the firing assembly 203b defines a proximal aperture 238a (238c) that rotatably receives the distal ball member 234c of the second double ball shaft 234. Figure 4), and a distal hole 238b configured to be coupled to the end effector 300 of the electromechanical surgical instrument 200. Although the distal hole 238b of the drive coupling 238 is shown as including a non-circular cross-sectional profile or configuration, such as a D-shaped configuration, the distal hole 238b can have any non-circular configuration (e.g., triangular, rectangular, pentagonal, etc.) to facilitate a rotatable locking connection between the firing assembly 203b and the end effector 300, so that the end effector 300 or a component thereof can rotate with the firing assembly 203b of the drive assembly 203. The drive coupling 238 further defines a pin hole 238c, which receives a pin 238d to rotatably couple the drive coupling 238 to the distal ball member 234c of the second double ball shaft 234.

[0060] refer to Figure 3 , the end effector 300 of the electromechanical surgical instrument 200 includes a mounting portion 302 on a proximal end portion thereof, and a first jaw member 304 (e.g., an anvil) and a second jaw member 306 (e.g., a cartridge assembly) coupled to the mounting portion 302. The first jaw member 304 and the second jaw member 306 are positioned for an open position ( Figure 3 ) and close( Figure 8 ) positions. The first jaw member 304 and the second jaw member 306 support a drive assembly 308 that is configured to fire a fastener cartridge 310 supported in the second jaw member 306.

[0061] The mounting portion 302 defines a central opening (not shown) that is configured to receive the drive coupling 238 of the firing assembly 203 b to couple the drive coupling 238 to the drive assembly 308 of the end effector 300 .

[0062] refer to Figure 4 and 6, the drive assembly 308 of the end effector 300 includes a driven coupling 308a, which is received in the distal hole 238b of the drive coupling 238 of the firing assembly 203b of the drive assembly 203. The driven coupling 308a of the drive assembly 308 includes a non-circular configuration (e.g., D-shaped) that is keyed to the distal hole 238b of the drive coupling 238 of the firing assembly 203b, so that the driven coupling 308a and the drive coupling 238 are rotationally locked relative to each other, so that the driven coupling 308a rotates with the drive coupling 238 when the drive coupling 238 rotates. The driven coupling 308a is pinned to the lead screw 308b supporting the drive beam 308c (via pins 308p and 308pp) such that rotation of the driven coupling 308a rotates the lead screw 308b and propels the drive beam 308c axially along the lead screw 308b. For a more detailed description of the components of an exemplary end effector similar to the end effector 300, reference may be made to U.S. Patent Application Publication Nos. 2016 / 0242779 and 2015 / 0297199, the entire disclosure of each of which is incorporated herein by reference.

[0063] In use, such as Figure 1 As seen in the drawings, with the electromechanical surgical instrument 200 coupled to the robotic surgical assembly 100, the one or more motors 50 of the instrument drive unit 110 may be actuated to rotate one or more of the driven members 209 of the electrosurgical instrument 200 to push and / or pull one or more cables 205 of the cable drive assembly 203a of the drive assembly 203 of the electromechanical surgical instrument 200. As the cables 205 of the cable drive assembly 203a translate axially, one or both of the first link 405 (together with the second link 409) and the third link 411 of the wrist assembly 400 rotate relative to the longitudinal axis "LL" and / or articulate with one or more of the proximal ball housing 406a, the distal ball housing 406c, and / or the dual ball shaft 234 of the firing assembly 203b of the drive assembly 203. In one aspect, each of the first link 405 (together with the second link 409) and the third link 411 can be configured to articulate at an articulation angle of up to 90 degrees, such that the first link 405 (together with the second link 409) can articulate at an articulation angle "α" of up to 90 degrees relative to the first interface 401, and the third link 411 can articulate at an articulation angle "θ" of up to 90 degrees relative to the second link 409, as shown in FIG. Fig.10As shown. It will be appreciated that when any one of the first interface 401, the first link 405, the second link 409, and the third link 411 pivots, rotates, and / or articulates, one or more components of the firing assembly 203b pivots, rotates, and / or articulates. In one aspect, the total range of motion is + / -55 degrees around the axis "AA" and + / -55 degrees around the axis "BB".

[0064] When one or more components in the firing assembly 203b pivot, rotate and / or articulate, any one of the first interface 401, the first link 405, the second link 409 and the third link 411 pivots, rotates and / or articulates, the firing assembly 203b can respond to the device drive unit 110 ( Figure 1 ) of one or more motors 50 driven by a driven member 211 ( Figure 2B ) about the longitudinal axis "LL" (as indicated by arrow "D" (see Figure 4 )) is rotated. The rotation of the firing assembly 203b of the drive assembly 203 causes the drive coupling 238 of the firing assembly 203b to rotate the lead screw 308b of the end effector 300 about its axis (eg, axis "ZZ" ( Figure 8 The rotation of the lead screw 308b of the end effector 300 causes the drive beam 308c of the end effector 300 to be advanced distally along the lead screw 308b so that the first jaw member 304 and the second jaw member 306 of the end effector 300 are moved from their open or unapproached positions ( Figure 3 ) to its closed or approach position ( Figure 8 As the drive beam 308c of the end effector 300 continues to advance distally along the first jaw member 304 and the second jaw member 306, the drive beam 308c fires the fastener cartridge 310 ( Figure 3 ) to secure and / or cut tissue grasped between the first jaw member 304 and the second jaw member 306, similar to that described in U.S. Patent Application Publication No. 2015 / 0297199 cited above.

[0065] The effective articulation of the components of the wrist assembly 400 controlled by the motion cable 205 will now be described in detail. As described above, the cable drive assembly 203a of the electromechanical surgical instrument 200 includes one or more driven members 209, such as a first driven member 209a, a second driven member 209b, a third driven member 209c, and a fourth driven member 209d, to enable the robotic surgical assembly 100 to transmit power and actuation force from the motor 50 of the robotic surgical assembly 100 to ultimately drive the movement of the components of the end effector 300 (e.g., wrist assembly 400) of the electromechanical surgical instrument 200. In particular, rotation of the driven member 209a in a first direction (e.g., clockwise) effects proximal axial translation of the first cable 205a, which in turn causes the first link 405 (and the second link 409) to move in the direction indicated by arrow "Y" ( Fig.10 ) in a first direction relative to the first interface 401 about the first pivot axis "AA". The rotation of the driven member 209a in the first direction (e.g., clockwise) is met with the simultaneous rotation of the driven member 209b in the second opposite direction (e.g., counterclockwise), which achieves distal axial translation of the second cable 205b. Similarly, the rotation of the driven member 209b in the first direction (e.g., clockwise) achieves proximal axial translation of the second cable 205b, which in turn causes the first link 405 (and the second link 409) to rotate in the direction indicated by arrow "Y" ( Fig.10 ) about the first pivot axis "AA" relative to the first interface 401. The rotation of the driven member 209b in the first direction (e.g., clockwise) is met with the simultaneous rotation of the driven member 209a in the second opposite direction (e.g., counterclockwise), which achieves distal axial translation of the first cable 205a.

[0066] Additionally, rotation of the follower member 209c in a first direction (eg, clockwise) effects proximal axial translation of one side of the third cable 205c, which in turn causes the third link 411 to rotate in the direction indicated by arrow “Z” ( Fig.10 ) in a first direction relative to the second link 409 about the second pivot axis "BB". The rotation of the follower member 209c in the first direction (e.g., clockwise) meets the simultaneous rotation of the follower member 209d in the second opposite direction (e.g., counterclockwise), which achieves distal axial translation of the other side of the third cable 205c. Similarly, the rotation of the follower member 209d in the first direction (e.g., clockwise) achieves proximal axial translation of one side of the third cable 205c, which in turn causes the third link 411 to rotate in the direction indicated by arrow "Z" ( Fig.10) in a second direction relative to the second link 409 about the second pivot axis "BB". The rotation of the driven member 209d in the first direction (e.g., clockwise) is met with the simultaneous rotation of the driven member 209d in the second opposite direction (e.g., counterclockwise), which achieves distal axial translation of the other side of the third cable 205c.

[0067] Although the electromechanical surgical instrument 200 is described herein in conjunction with the robotic surgical system 1, the electromechanical surgical instrument 200 disclosed herein may be provided in the form of a handheld electromechanical instrument that can be manually driven and / or powered. For example, U.S. Patent Application Publication No. 2015 / 0297199 cited above describes an example of a powered handheld electromechanical instrument, one or more components of which (e.g., a surgical device or a handle thereof) may be used in connection with the surgical instrument 200 disclosed herein.

[0068] It will be appreciated by those skilled in the art that the structures and methods specifically described herein and shown in the accompanying drawings are non-limiting exemplary embodiments, and description, disclosure, and drawings should be understood only as exemplary specific embodiments. Therefore, it should be understood that the present disclosure is not limited to the exact embodiments described, and that various other changes and modifications can be achieved by those skilled in the art without departing from the scope or spirit of the present disclosure. In addition, without departing from the scope of the present disclosure, the elements and features shown or described in conjunction with certain embodiments can be combined with the elements and features of certain other embodiments, and such modifications and variations are also included in the scope of the present disclosure. Therefore, the subject matter of the present disclosure is not limited by the content that has been specifically displayed and described.

Claims

1. A robotic electromechanical surgical instrument comprising: case; an elongated shaft defining a longitudinal axis and extending distally from the housing; a wrist assembly supported on the elongated shaft and configured to articulate relative to the longitudinal axis, the wrist assembly comprising a first interface, a first link pivotably coupled to the first interface, a second link pivotably coupled to the first link, and a third link pivotably coupled to the second link; a first cable coupled to the second link such that proximal axial translation of the first cable along the longitudinal axis causes the second link to pivot in a first direction about a first pivot axis; a second cable coupled to the second link such that proximal axial translation of the second cable along the longitudinal axis causes the second link to pivot about the first pivot axis in a second direction opposite the first direction; a third cable coupled to the third link such that axial translation of the third cable along the longitudinal axis causes the third link to pivot about a second pivot axis; as well as an end effector coupled to the wrist assembly; Wherein, the first interface includes a first half and a second half, wherein the first cable is slidably arranged along a first cable channel defined in the first half, wrapped around a first inner pulley, slidably arranged along the cable channel of the first link and fixed to the second link, the second cable is slidably arranged along a second cable channel defined in the second half, wrapped around a second inner pulley, slidably arranged along the cable channel of the first link and fixed to the second link, the first inner pulley is rotatably fixed to the first half and the first link via a first fixing member, and the second inner pulley is rotatably fixed to the second half and the first link via a second fixing member.

2. The robotic electromechanical surgical instrument of claim 1 , wherein the first link and the second link are coupled together such that proximal axial translation of the first cable along the longitudinal axis causes the second link and the first link to pivot together about the first pivot axis.

3. A robotic electromechanical surgical instrument according to claim 1, wherein the third cable is connected to the third link so that a proximal axial translation along the longitudinal axis of the first portion of the third cable and a simultaneous distal axial translation along the longitudinal axis of the second portion of the third cable cause the third link to pivot about the second pivot axis in a third direction.

4. A robotic electromechanical surgical instrument according to claim 3, wherein the third cable is connected to the third link so that a distal axial translation along the longitudinal axis of the first portion of the third cable and a simultaneous proximal axial translation along the longitudinal axis of the second portion of the third cable cause the third link to pivot about the second pivot axis in a fourth direction opposite to the third direction.

5. The robotic electromechanical surgical instrument of claim 1, further comprising a power cable operably coupled to a portion of at least one of the end effector or the wrist assembly.

6. The robotic electromechanical surgical instrument of claim 5, wherein the power cable is configured to transmit a sensor signal from at least one of the end effector or the wrist assembly.

7. The robotic electromechanical surgical instrument of claim 5, wherein the power cable is configured to transmit electrosurgical energy to a portion of the end effector.

8. The robotic electromechanical surgical instrument of claim 5, wherein the housing includes electrical contacts disposed thereon, and the power cable is coupled to the electrical contacts.

9. The robotic electromechanical surgical instrument of claim 1, further comprising a firing assembly operably coupled to the end effector and configured to control operation of the end effector.

10. The robotic electromechanical surgical instrument of claim 1 , wherein the first half further defines a third cable channel therein capable of slidably supporting a first portion of the third cable, and wherein the second half further defines a fourth cable channel therein capable of slidably supporting a second portion of the third cable.

11. The robotic electromechanical surgical instrument of claim 10, wherein the second half of the first interface further defines a power cable channel configured to slidably support a power cable therein.

12. A wrist assembly for use with an electromechanical surgical instrument, the wrist assembly comprising: a first interface defining a longitudinal axis; a first link pivotably coupled to the first interface and configured to pivot relative to the first interface about a first pivot axis; a second link coupled to and axially aligned with the first link; a third link pivotably coupled to the second link and configured to pivot relative to the second link about a second pivot axis; a first cable coupled to the second link such that proximal axial translation of the first cable along the longitudinal axis causes the second link to pivot about the first pivot axis in a first direction; a second cable coupled to the second link such that proximal axial translation of the second cable along the longitudinal axis causes the second link to pivot about the first pivot axis in a second direction opposite the first direction; as well as a third cable coupled to the third link such that axial translation of the third cable along the longitudinal axis causes the third link to pivot about the second pivot axis; Wherein, the first interface includes a first half and a second half, wherein the first cable is slidably arranged along a first cable channel defined in the first half, wrapped around a first inner pulley, slidably arranged along the cable channel of the first link and fixed to the second link, the second cable is slidably arranged along a second cable channel defined in the second half, wrapped around a second inner pulley, slidably arranged along the cable channel of the first link and fixed to the second link, the first inner pulley is rotatably fixed to the first half and the first link via a first fixing member, and the second inner pulley is rotatably fixed to the second half and the first link via a second fixing member.

13. The wrist assembly of claim 12, wherein the first link and the second link are coupled together such that proximal axial translation of the first cable along the longitudinal axis causes the second link and the first link to pivot together about the first pivot axis.

14. A wrist assembly according to claim 12, wherein the third cable is connected to the third link so that proximal axial translation along the longitudinal axis of the first portion of the third cable and simultaneous distal axial translation along the longitudinal axis of the second portion of the third cable cause the third link to pivot about the second pivot axis in a third direction.

15. A wrist assembly according to claim 14, wherein the third cable is connected to the third link so that distal axial translation along the longitudinal axis of the first portion of the third cable and simultaneous proximal axial translation along the longitudinal axis of the second portion of the third cable cause the third link to pivot about the second pivot axis in a fourth direction opposite to the third direction.

16. The wrist assembly of claim 12, further comprising a power cable operably coupled to a portion of the wrist assembly.

17. The wrist assembly of claim 16, wherein the power cable is configured to transmit sensor signals from the wrist assembly.

18. The wrist assembly of claim 12, wherein the first half further defines a third cable channel in which a first portion of the third cable is slidably supported, and wherein the second half further defines a fourth cable channel in which a second portion of the third cable is slidably supported.

19. The wrist assembly of claim 12, wherein the second half of the first interface further defines a power cable channel configured to slidably support a power cable therein.

20. The wrist assembly of claim 12, wherein the first interface defines a central passage along the longitudinal axis, the central passage configured to support a portion of a drive assembly therethrough.

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