Manual end effector activation of a robotic surgical system

Abstract

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

Description

Technical Field

[0001] This disclosure relates to surgical instruments, and more specifically to sealed configurations for surgical instruments used in systems such as robotic surgical systems. Background Technology

[0002] Surgical robotic systems are increasingly being used in a wide variety of surgical procedures. Some surgical robotic systems include a console that supports a robotic arm. One or more different surgical instruments can be configured for use with the surgical robotic system and can be selectively mounted to the robotic arm. The robotic arm provides one or more inputs to the mounted surgical instruments to enable operation of the mounted surgical instruments.

[0003] Surgical instruments or portions thereof may be configured as single-use instruments or disposable parts, or as reusable instruments or parts that can be cleaned and sterilized between uses. Regardless of the configuration of the surgical instruments, the control console and robotic arm are the primary devices configured for long-term repeated use. The control console and robotic arm may be protected by a sterile barrier during use and / or wiped clean after use to ensure cleanliness for subsequent use.

[0004] End effector assemblies used in various surgical procedures typically require manual activation by an operator for cleaning and sterilization and / or operatively engaging various hardware components with the robotic instrument. Therefore, the design and manufacture of robotic surgical instruments must take this into account. Summary of the Invention

[0005] As used herein, the term "distal" refers to the portion furthest from the operator (whether a human surgeon or a surgical robot), while the term "proximal" refers to the portion closer to the operator. As used herein, the terms "about," "substantially," etc., are intended to describe manufacturing, material, environmental, usage, and / or measurement tolerances and variations, and in any case may cover up to 10% of the variation.

[0006] According to several aspects of this disclosure, a robotic surgical instrument is provided, the robotic surgical instrument comprising a housing having an shaft extending therefrom, the shaft having an end effector assembly at its distal end, the shaft including a drive rod extending therethrough, the drive rod being configured to actuate the end effector assembly upon translation therethrough. A spring compression assembly supported within the housing, the spring compression assembly including: a proximal hub configured to secure a proximal end of the drive rod disposed therethrough, the proximal hub including a plurality of teeth disposed along its inner circumferential surface; a distal hub spaced apart from the proximal hub and including a plurality of teeth disposed along its inner circumferential surface; and a compression spring mounted between the proximal and distal hubs. The device includes a drive gear having a proximal portion extending therefrom, the proximal portion including a plurality of threads disposed therearound, the plurality of threads being configured to matingly engage corresponding plurality of teeth of a proximal hub and a distal hub, such that rotation of the drive gear causes the proximal hub and distal hub to translate relative to each other and actuate the end effector assembly. It also includes a finger wheel, a portion of which is exposed outside the housing for external operation. The finger wheel can be selectively positioned between a first disengaged position and a second engaged position spaced apart from the drive gear to matingly engage the drive gear and allow manual actuation of the end effector assembly.

[0007] According to various aspects of this disclosure, the drive gear is configured to matingly engage a corresponding gear of an input shaft operably connected to a drive input end adapted for connection to a robotic surgical system.

[0008] According to several aspects of this disclosure, the finger wheel is biased into a disengaged position. According to other aspects of this disclosure, moving the finger wheel relative to the housing and rotating the finger wheel correspondingly rotates a drive gear, which in turn causes the proximal hub to translate relative to the distal hub to actuate the end effector assembly. According to yet another aspect of this disclosure, the translation of the proximal hub relative to the distal hub moves a drive rod to actuate the end effector assembly.

[0009] According to various aspects of this disclosure, a drive gear is correspondingly rotated relative to the housing moving finger wheel and the rotating finger wheel, and the drive gear in turn rotates a corresponding gear of the input shaft, the input shaft being operatively connected to a drive input end suitable for connection to a robotic surgical system.

[0010] According to various aspects of this disclosure, the end effector assembly includes a pair of first jaw members and a second jaw member, at least one jaw member being movable relative to the other jaw member.

[0011] According to several aspects of this disclosure, a robotic surgical instrument is provided, the robotic surgical instrument comprising a housing having an shaft extending therefrom, the shaft having an end effector assembly at its distal end, the shaft including a drive rod extending therethrough, the drive rod being configured to actuate the end effector assembly upon translation therethrough. A spring compression assembly supported within the housing, the spring compression assembly including: a proximal hub configured to secure a proximal end of the drive rod disposed therethrough, the proximal hub including a plurality of teeth disposed along its inner circumferential surface; a distal hub spaced apart from the proximal hub and including a plurality of teeth disposed along its inner circumferential surface; and a compression spring mounted between the proximal and distal hubs. The device includes a drive gear having a proximal portion extending therefrom, the proximal portion including a plurality of threads disposed therearound, the plurality of threads being configured to matingly engage corresponding plurality of teeth of a proximal hub and a distal hub, such that rotation of the drive gear causes the proximal hub and distal hub to translate relative to each other and actuate the end effector assembly. It also includes a drive input end having a drive input shaft having an input gear configured to matingly engage the drive gear, such that rotation of the drive input shaft correspondingly rotates the drive gear, the drive input shaft including a mechanical interface disposed therearound. Finally, it includes a finger wheel, a portion of which is exposed outside the housing for external operation. The finger wheel includes a corresponding mechanical interface disposed around its inner periphery, the mechanical interface of the drive input shaft being configured to matingly engage the corresponding mechanical interface of the finger wheel during selective translation of the finger wheel. The finger wheel is selectively translatable between a first disengaged position and a second engaged position spaced apart from the mechanical interface disposed on the drive input shaft, such that the finger wheel matingly engages with the drive input shaft and allows manual actuation of the end effector assembly.

[0012] According to several aspects of this disclosure, the finger wheel is biased into a disengaged position. According to other aspects of this disclosure, translating the finger wheel along the drive input shaft and rotating the finger wheel accordingly rotate the drive input shaft and drive gear, which in turn cause the proximal hub to translate relative to the distal hub to actuate the end effector assembly. According to yet another aspect of this disclosure, the translation of the proximal hub relative to the distal hub moves the drive rod to actuate the end effector assembly.

[0013] According to several aspects of this disclosure, the end effector assembly includes a pair of first jaw members and second jaw members, at least one jaw member being movable relative to the other jaw member. According to several aspects of this disclosure, the drive input shaft includes a plurality of castle-shaped recesses defined therearound, the plurality of castle-shaped recesses being configured to engage corresponding plurality of teeth disposed along the inner circumferential surface of the finger guide wheel during selective translation of the finger guide wheel.

[0014] According to several aspects of this disclosure, the shift wheel is positioned distally to the spring compression assembly. According to other aspects of this disclosure, movement of the shift wheel causes a plurality of teeth to engage distally with corresponding plurality of castle-shaped grooves defined around the drive input shaft. Attached Figure Description

[0015] Various aspects and features of this disclosure are described below with reference to the accompanying drawings, in which:

[0016] Figure 1 The present disclosure provides a perspective view of surgical instruments configured to be mounted on the robotic arm of a robotic surgical system.

[0017] Figure 2A yes Figure 1 A frontal perspective view of the proximal portion of a surgical instrument, with the outer shell removed;

[0018] Figure 2B yes Figure 1 A posterior perspective view of the proximal portion of a surgical instrument, with the outer shell removed;

[0019] Figure 2C yes Figure 1 A rear perspective view of the proximal portion of a surgical instrument, in which the housing and proximal components of the actuation assembly have been removed;

[0020] Figure 3 It is configured to receive releasably. Figure 1 A schematic diagram of an exemplary robotic surgical system with surgical instruments;

[0021] Figure 4 It is along Figure 1 The longitudinal section view taken by section line "4-4";

[0022] Figure 5 It is along Figure 2B The longitudinal cross-section diagram taken from the cross-section line "5-5";

[0023] Figure 6 yes Figure 1 A longitudinal cross-sectional view of the distal portion of the surgical instrument;

[0024] Figure 7 It is configured to work with a seal including the one disclosed herein. Figure 1 A longitudinal cross-sectional view of the proximal portion of the shaft used with surgical instruments;

[0025] Figure 8 It is configured to work with a seal including the one disclosed herein. Figure 1 A longitudinal cross-sectional view of the other proximal portion of the shaft used with surgical instruments;

[0026] Figure 9A and 9B These are respectively configured to interact with the seals included according to this disclosure. Figure 1 Perspective and exploded perspective views of another proximal portion of the axis used with surgical instruments;

[0027] Figure 10-13 It is configured to work with a seal including the one disclosed herein. Figure 1 Longitudinal cross-sectional views of various proximal portions of the shaft used with surgical instruments;

[0028] Figure 14 It is configured to work with a seal including the one disclosed herein. Figure 1 An exploded perspective view of a portion of an actuation assembly used with surgical instruments;

[0029] Figure 15 , 16 The 17A is configured to be with Figure 1 Longitudinal cross-sectional views of the distal portion of the housing and the proximal portion of the shaft of surgical instruments used together, including various configurations for sealing, absorption and / or discharge according to this disclosure;

[0030] Figure 17B It is configured to include another seal according to this disclosure. Figure 1 A longitudinal cross-sectional view of a portion of the shaft used with surgical instruments;

[0031] Figure 18 This is an exploded perspective view of another seal according to this disclosure;

[0032] Figure 19 and 20 This is a side view of other seals according to this disclosure;

[0033] Figure 21 and 22 It is a cross-sectional view of other seals according to this disclosure;

[0034] Figure 23 This is a cross-sectional view of another seal according to this disclosure;

[0035] Figure 24 and 25 It is configured to work with other seals including those according to this disclosure. Figure 1 A longitudinal cross-sectional view of a portion of the shaft used with surgical instruments;

[0036] Figure 26A and 26B These are respectively configured to interact with the seals included according to this disclosure. Figure 1 Side view and longitudinal section view of the proximal portion of the knife drive assembly and jaw drive assembly used together with surgical instruments;

[0037] Figure 27 and 28 It is configured to work with a seal including the one disclosed herein. Figure 1 A longitudinal cross-sectional view of the proximal portion of a knife drive assembly and a jaw drive assembly used together with surgical instruments;

[0038] Figure 29A and 29B These are respectively configured to interact with another seal according to this disclosure. Figure 1 Exploded perspective view and perspective view of the distal portion of a scalpel assembly used with surgical instruments;

[0039] Figure 30A and 30B These are respectively configured to interact with the seals included according to this disclosure. Figure 1 An exploded perspective view and a perspective view of a part of another knife assembly used together with surgical instruments;

[0040] Figures 31A-31C These are respectively configured to interact with another seal according to this disclosure. Figure 1 Perspective view, longitudinal section view and end view of a portion of the articulated section used with surgical instruments;

[0041] Figure 32 It is configured to work with including seals Figure 1 An exploded perspective view of another part of the articulated section used with surgical instruments;

[0042] Figure 33 It is configured to include another seal according to this disclosure. Figure 1 A longitudinal cross-sectional view of another part of the articulated section used with surgical instruments;

[0043] Figure 34 It is a cross-sectional perspective view showing the various internal components of the jaw drive assembly and their relative movement;

[0044] Figures 35A-35B An embodiment of a manual jaw actuation assembly for use with the surgical instruments described herein is shown. The manual jaw actuation assembly includes a finger wheel that can be accessed from the outside of the housing for external manipulation.

[0045] Figures 36A-36B Another embodiment of a manual jaw actuation assembly for use with the surgical instruments described herein is shown. The manual jaw actuation assembly includes an externally accessible finger wheel configured to selectively engage a drive gear to actuate an end effector assembly.

[0046] Figures 37A-37EAnother embodiment of a manual jaw actuation assembly for use with the surgical instruments described herein is shown. The manual jaw actuation assembly includes an externally accessible finger wheel configured to selectively engage a drive gear to actuate the end effector assembly during linear translation of the end effector assembly.

[0047] Figures 38A-38B Another embodiment of a manual jaw actuation assembly for use with the surgical instruments described herein is shown. The manual jaw actuation assembly includes an externally accessible finger wheel configured to selectively engage a drive gear to actuate the end effector assembly as it moves radially.

[0048] Figures 39A-39F Various views are shown of a locking tongue configured to releasably lock an operatively coupled drive rod to the end effector assembly; and

[0049] Figure 40 Another embodiment of a manual jaw actuation assembly for use with the surgical instruments described herein is shown. The manual jaw actuation assembly includes an externally accessible finger wheel configured to selectively translate a spring compression assembly, which in turn translates a drive gear to actuate an end effector assembly. Detailed Implementation

[0050] Reference Figure 1-2C The surgical instrument 10 provided according to this disclosure generally includes a housing 20, a shaft 30 extending distally from the housing 20, an end effector assembly 40 extending distally from the shaft 30, and an actuation assembly 100 disposed within the housing 20 and operatively associated with the shaft 30 and the end effector assembly 40. The instrument 10 is detailed herein as being configured for use in a robotic surgical system (e.g., robotic surgical system 500). Figure 3 The articulated electrosurgical forceps. However, the aspects and features of the instrument 10 provided according to this disclosure, as detailed below, are equally applicable to use with other suitable surgical instruments and / or other suitable surgical systems.

[0051] The housing 20 of the device 10 includes first and second body portions 22a, 22b and a proximal panel 24, which cooperate to enclose the actuation assembly 100 therein. The proximal panel 24 includes orifices defined therein, through which the input ends 110-140 of the actuation assembly 100 extend. A pair of latching levers 26 (in...) Figure 1 Only one of them is shown in the diagram) extends outward from opposite sides of housing 20, such that housing 20 can be coupled with a surgical system (e.g., robotic surgical system 500). Figure 3The robotic arm can be releasably engaged. A hole 28 defined through housing 20 allows finger wheel 440 to extend through it, enabling manual operation of finger wheel 440 from outside housing 20, thereby allowing manual opening and closing of end effector assembly 40.

[0052] The shaft 30 of the device 10 includes a distal section 32, a proximal section 34, and an articulated section 36 disposed between the distal section 32 and the proximal section 34. The articulated section 36 includes one or more articulated components 37, such as links, joints, etc. Multiple articulated cables 38 (e.g., four (4) articulated cables) or other suitable actuators extend through the articulated section 36. More specifically, the articulated cable 38 is operably coupled at its distal end to the distal segment 32 of the shaft 30, and extends proximally from the distal segment 32 of the shaft 30, through the articulated section 36 and the proximal segment 34 of the shaft 30, and into the housing 20, wherein the articulated cable 38 is operably coupled to the articulated assembly 200 of the actuation assembly 100 so that the distal segment 32 can be selectively articulated relative to the proximal segment 34 and the housing 20 (and thus coupled to the end effector assembly 40), for example, around at least two articulated axes (e.g., yaw and pitch articulation). The articulated cable 38 is arranged in a generally rectangular configuration, but other suitable configurations are also considered.

[0053] Regarding the hinge of the end effector assembly 40 relative to the proximal segment 34 of the shaft 30, the hinge cables 38 are actuated in pairs. More specifically, in order to tilt the end effector assembly 40, the upper pair of cables 38 are actuated in a similar manner, while the lower pair of cables 38 are actuated in a similar manner but opposite to that of the upper pair of cables 38. Regarding the deflection hinge, the right pair of cables 38 are actuated in a similar manner, while the left pair of cables 38 are actuated in a similar manner but opposite to that of the right pair of cables 38.

[0054] The end effector assembly 40 includes a first jaw member 42 and a second jaw member 44. Each jaw member 42, 44 includes a proximal flange portion 43a, 45a and a distal body portion 43b, 45b, respectively. The distal body portions 43b, 45b define opposing tissue contact surfaces 46, 48, respectively. Proximal flanges 43a and 45a are pivotally connected to each other about a pivot 50 and operably connected to each other via a cam groove assembly 52, the cam groove assembly 52 including a cam pin slidably received in a cam groove defined respectively within the proximal flanges 43a and 45a of at least one of jaw members 42 and 44, such that jaw member 42 is pivotable relative to jaw member 44 and the distal segment 32 of shaft 30 between a spaced position (e.g., an open position of end effector assembly 40) and a proximal position (e.g., a closed position of end effector assembly 40) to clamp tissue between tissue contact surfaces 46 and 48. As an alternative to this unilateral configuration, a bilateral configuration may be provided, such that the two jaw members 42 and 44 are pivotable relative to each other and the distal segment 32 of shaft 30.

[0055] In some configurations, longitudinally extending blade channels (not shown) are defined to pass through tissue contact surfaces 46 and 48 of jaw members 42 and 44, respectively. In this configuration, a blade assembly 60 is provided, comprising a proximal blade drive tube 62, a distal blade shank 64, an intermediate elongated collar 66, and a blade 68 (see...). Figure 26A , 26B And 29A). Connector parts 62-66 of the blade assembly 60 (see 29A). Figure 26A , 26B (and 29A) extends from housing 20 through shaft 30 to end effector assembly 40. Blade 68 ( Figure 29A An end effector assembly 40 is disposed between jaw members 42 and 44 to cut tissue clamped between tissue contact surfaces 46 and 48 of jaw members 42 and 44, respectively. Proximal blade 62 ( Figure 4 and 26A -26B) is operably coupled to the actuation assembly 100 at its proximal end. Figure 2A and 2B The blade drive assembly 300 is configured to be selectively actuated, thereby causing the blade 68 ( Figure 29A It reciprocates between jaw members 42 and 44 to cut the tissue gripped between tissue contact surfaces 46 and 48.

[0056] Continue to refer to Figure 1-2CA drive rod 484 is operatively coupled to a cam-groove assembly 52 of the end effector assembly 40, for example, engaging with its cam pin, such that longitudinal actuation of the drive rod 484 pivots the jaw member 42 relative to the jaw member 44 between spaced-out and approaching positions. More specifically, pushing the drive rod 484 pivots the jaw member 42 proximally toward the approaching position relative to the jaw member 44, while simultaneously pushing the drive rod 484 pivots the jaw member 42 distally toward the spaced-out position relative to the jaw member 44. However, other suitable mechanisms and / or configurations are also contemplated to pivot the jaw member 42 relative to the jaw member 44 between spaced-out and approaching positions in response to selective actuation of the drive rod 484. The drive rod 484 extends proximally from the end effector assembly 40 through the shaft 30 and into the housing 20, wherein the drive rod 484 is operatively coupled to the jaw drive assembly 400 of the actuation assembly 100. Figure 2A and 2B This allows the end effector assembly 40 to be selectively actuated, thereby gripping the tissue therebetween and applying a closing force within the appropriate jaw closing force range.

[0057] The tissue contact surfaces 46 and 48 of the jaw members 42 and 44 are at least partially formed of a conductive material and can be excited to different potentials to conduct electrical energy through the tissue held therebetween. However, the tissue contact surfaces 46 and 48 can also be configured to provide any suitable energy, such as heat, microwave, light, ultrasound, etc., through the tissue held therebetween for energy-based tissue treatment. The instrument 10 defines a conductive path (not shown) through the housing 20 and shaft 30 to an end effector assembly 40, which may include leads 99, contacts, and / or conductive components such that the tissue contact surfaces 46 and 48 of the jaw members 42 and 44 can be electrically connected, respectively, via electrosurgical cables extending therebetween to an energy source (not shown), such as a high-frequency electrosurgical unit, for supplying energy to the tissue contact surfaces 46 and 48 to treat, for example, tissue sealed between the tissue contact surfaces 46 and 48.

[0058] As described above, the actuation assembly 100 is disposed within the housing 20 and includes a hinge assembly 200, a blade drive assembly 300, and a jaw drive assembly 400. The hinge assembly 200 is operably connected to the first input terminal 110 and the second input terminal 120 of the actuation assembly 100 and the hinge cable 38, respectively. Figure 1 Between, so that when a suitable rotational input is received to the first input 110 and / or the second input 120, the hinge assembly 200 manipulates the cable 38 ( Figure 1 and 5The end effector assembly 40 is hinged in a desired direction, for example, to pitch and / or deflect the end effector assembly 40. The tool drive assembly 300 is operatively coupled to the third input end 130 of the actuation assembly 100 and the tool tube 62. Figure 26A and 26B Between, such that upon receiving an appropriate rotational input to the third input terminal 130, the tool drive assembly 300 manipulates the tool tube 62 to cause the blade 68 ( Figure 29A The jaws reciprocate between jaw members 42 and 44, thereby cutting the tissue gripped between tissue contact surfaces 46 and 48. A jaw drive assembly 400 is operatively coupled between a fourth input end 140 of the actuation assembly 100 and a drive rod 484 so that, upon receiving an appropriate rotational input to the fourth input end 140, the jaw drive assembly 400 pivots the jaw members 42 and 44 between spaced-out and proximal positions to grip tissue therebetween and apply a closing force within an appropriate closing force range.

[0059] The actuation assembly 100 is configured such that when the instrument 10 is installed in the robotic surgical system 500 ( Figure 3 It can be operated on in conjunction with a robotic surgical system 500 ( Figure 3 The robotic surgical system 500 is docked with the actuator assembly 100 so that its robotic operation can provide the aforementioned functions. Figure 3 Selectively, rotational input is provided to the input ends 110-140 of the actuation assembly 100 to hinge the end effector assembly 40, the gripping jaw members 42, 44, and / or cut the tissue gripped between the jaw members 42, 44. However, it is also conceivable that the actuation assembly 100 is configured to interface with any other suitable surgical system (e.g., a manual surgical handpiece, a motorized surgical handpiece, etc.). For the purposes of this document, a robotic surgical system 500 is generally described. Figure 3 ).

[0060] Go to Figure 3 According to this disclosure, a robotic surgical system 500 is configured for use. Aspects and features of the robotic surgical system 500 that are not closely related to the understanding of this disclosure are omitted to avoid obscuring the aspects and features of this disclosure in unnecessary detail.

[0061] The robotic surgical system 500 typically includes multiple robotic arms 502, 503; a control unit 504; and an operation console 505 coupled to the control unit 504. The operation console 505 may include a display device 506, which may be specifically configured to display three-dimensional images; and manual input devices 507, 508, through which a person, such as a surgeon, can remotely operate the robotic arms 502, 503 in a first operating mode. The robotic surgical system 500 may be configured for a patient 513 lying on a patient operating table 512 for minimally invasive treatment. The robotic surgical system 500 may also include a database 514, particularly a database coupled to the control unit 504, which stores, for example, preoperative data and / or anatomical diagrams from the patient 513.

[0062] Each of robotic arms 502 and 503 may include multiple components connected via joints, and may be a mounting device for, for example, a surgical instrument "ST". One or more of the surgical instruments "ST" may be instruments 5 ( Figure 1 This allows the robotic surgical system 500 to provide this functionality.

[0063] Robotic arms 502 and 503 can be driven by electrical actuators (e.g., motors) connected to control unit 504. Control unit 504 (e.g., a computer) can be configured to activate these motors, specifically by means of a computer program, such that the robotic arms 502 and 503, and therefore the surgical instruments "ST" mounted on them, perform desired movements and / or functions according to corresponding inputs from manual input devices 507 and 508. Control unit 504 can also be configured to adjust the movement of robotic arms 502 and 503 and / or motors.

[0064] See Figure 1 , 2A -2C, 4, and 5, the articulated assembly 200 of the actuation assembly 100 includes a lead screw subassembly 210, a first gear subassembly 230, a second gear subassembly 250, a third gear subassembly 270, and first and second input shafts 292 and 294. Although the articulated assembly 200 is described herein as comprising multiple gears, belts may be used instead of directly meshing gears to replace or supplement such gear components without departing from this disclosure. Furthermore, multiple gears (and / or belts) may be provided instead of a single gear (and / or belt) to provide a desired amplification or attenuation effect.

[0065] The lead screw subassembly 210 of the actuation assembly 100 includes four lead screws 212 arranged in a generally square configuration, wherein diagonally opposite lead screws 212 define opposite thread pitch directions. Each lead screw 212 includes a collar 214 threadedly engaged around the lead screw, such that rotation of the lead screw 212 causes the corresponding collar 214 to translate longitudinally along the lead screw. Each collar 214 also secures a proximal end portion of one of the articulated cables 38 therein, for example, by crimping or other suitable engagement (mechanical fastening, adhesion, welding, etc.). Thus, distal translation of the collar 214 loosens the corresponding articulated cable 38 by pushing it distally in the distal direction, while proximal translation of the collar 214 tensions the corresponding articulated cable 38 by pulling it proximally in the proximal direction.

[0066] The lead screw subassembly 210 also includes a distal plate 220 comprising four bushings 222, each bushing rotatably holding the distal end portion of one of the four lead screws 212. The proximal end portions of the lead screws 212 define keying, such as a semi-circular input, such that a rotary input provided thereto similarly rotates the lead screw 212. In some configurations, the proximal end portion of the shaft 30 is fixedly engaged (directly or indirectly) with the distal plate 220.

[0067] The first gear subassembly 230 includes a distal housing body 232 and a proximal housing body 234, which cooperate to operably support a first pair of diagonally opposite gears mounted on a keying output terminal, such that rotation of one of the gears causes rotation of the corresponding keying output terminal. The proximal ends of a first pair of diagonally opposite lead screws 212 of the lead screw subassembly 210 engage with the corresponding keying output terminal of the first gear subassembly 230, thereby rotatably connecting each gear of the first gear subassembly 230 to one of the lead screws 212 of the first pair of diagonally opposite lead screws 212, such that rotation of one gear causes rotation of the corresponding lead screw 212.

[0068] The second gear subassembly 250 includes a distal housing 252 and a proximal housing 254, which cooperate to operably support a second pair of diagonally opposite gears mounted on a keyed output end, a central compound gear, and a first connecting gear mounted on a first connecting shaft. The first connecting gear 264 is configured to mesh with the proximal gear of the central compound gear.

[0069] The first diagonal hinged cable pair 38 is pre-tensioned before the second gear subassembly 250 engages with the first gear subassembly 230. During this engagement, the keyed output end of the second gear subassembly 250 is rotatably connected to the proximal end portions of the second diagonally opposite pair of lead screws 212, thereby rotatably connecting each gear of the second gear subassembly 250 to one of the lead screws 212 of the second diagonally opposite pair, such that rotation of one gear causes rotation of the corresponding lead screw 212. The engagement of the second gear subassembly 250 with the first gear assembly 230 also sets the distal gear of the central compound gear to mesh with the diagonally opposite gear of the first gear subassembly 230 and to mesh between the diagonally opposite gears of the first gear subassembly, thereby connecting the diagonally opposite gears to each other, connecting the lead screws 212 of the first diagonally opposite pair of lead screws 212 to each other, and locking them with the pretension of the first pair of hinged cables 38.

[0070] The third gear subassembly 270 includes a distal housing 272 and a proximal housing 274 that operably support a central compound gear and a second connecting gear mounted on a second connecting shaft. The second connecting shaft includes the second connecting gear mounted thereon and has a proximal end portion defining a keyed input. Before the third gear subassembly 270 engages with the second gear subassembly 250, the second diagonal pair of articulated cables 38 are pre-tensioned. Once the pre-tension threshold of the second diagonal pair of articulated cables 38 is reached, the third gear subassembly 270 engages with the second gear subassembly 250 such that the distal gear of the central compound gear of the third gear subassembly 270 is configured to engage with and be positioned between the second pair of diagonally opposite gears of the second gear subassembly 250, thereby connecting the diagonally opposite gears to each other, thereby connecting the second diagonally opposite pair of lead screws 212 to each other, and locking the pre-tension onto the second pair of articulated cables 38.

[0071] As described above, the first, second, and third gear subassemblies 230, 250, and 270, respectively, and the lead screw subassembly 210, input shafts 292 and 294, assembled together, can be connected between the input ends 110 and 120 and the keyed output ends of the first and second gear subassemblies 230 and 240, respectively. Therefore, in use, the rotary input provided to the input ends 110 and 120 can be used to move the collar 214 around the lead screw 212 in diagonal pairs. Depending on the direction of the rotary input provided to the input ends 110 and 120 and whether the inputs to each pair are the same or opposite, tilting hinges (in either direction), deflection hinges (in either direction), and / or any combination thereof can be achieved. The articulated assembly 200 is described in more detail in U.S. Patent Application No. 16 / 395,748, filed April 26, 2019, entitled “ARTICULATION ASSEMBLY FOR A SURGICALINSTRUMENT SUCH AS FOR USE IN A ROBOTIC SURGICAL SYSTEM AND METHODS OF ASSEMBLING THE SAME”.

[0072] Continue to refer to Figure 1 , 2A -2C, 4, and 5, the tool drive assembly 300 includes an input shaft 310, an input gear 320 meshing on the input shaft 310, a center gear 330 defining an external thread (the external thread is configured to mesh with both the input gear 320 and an internal thread), and a lead screw 340 extending through and meshing with the internal thread of the center gear 330. Due to this configuration, a rotational input provided to the third input end 130 rotates the input shaft 310, thereby rotating the input gear 320, which in turn rotates the center gear 330, resulting in translation of the lead screw 340. The lead screw 340 is fixedly engaged around the proximal end portion of the tool tube 62, such that translation of the lead screw 340 translates the tool tube 62, for example, thereby translating the insert 68 (…). Figure 29A ) in jaw components 42, 44 ( Figure 1 The screw 340 and the blade tube 62 are positioned coaxially around the drive rod 484 to cut the tissue held between them.

[0073] The jaw drive assembly 400 includes an input shaft 410 operably coupled to a fourth input terminal 140 at its proximal end portion, an input gear 420 fixedly engaged with the input shaft 410 at its distal end portion, a drive gear 430 configured to mesh with the input gear 420, a finger wheel 440 configured to mesh with the drive gear 430, a lead screw 434 fixedly engaged with the drive gear 430, for example, integrally formed together with the drive gear, and a spring force assembly 450 operably connecting the lead screw 434 to a drive rod 484. The spring force assembly 450 includes a proximal hub 452 engaged with the proximal end portion of the drive rod 484, a distal hub 454 threadedly engaged around the lead screw 434, and a compression spring 456 disposed between the proximal hub 452 and the distal hub 454, respectively. As a result of this configuration, in response to an input to the closing end actuator assembly 40, such as a rotary input to the fourth input end 140 or a manual input to the rotating wheel 440, the drive shaft 410 rotates, thereby rotating the input gear 420, which in turn rotates the drive gear 430, causing the distal hub 454 to translate proximally toward the proximal hub 452. Initially, when the force resisting the approach of the jaw members 42, 44 is below a threshold corresponding to the spring value of the compression spring 456, the closing force applied by the jaw members 42, 44 is relatively low, causing the distal hub 454 to push against the compression spring 456 proximally, pushing the compression spring 456 proximally. The compression spring then pushes the drive rod 484 proximally to pivot the jaw member 42 relative to the jaw member 44 from a spaced-out position toward an approaching position, thereby gripping tissue therebetween. As the jaw members 42, 44 are brought closer to clamp the tissue therebetween, the force resisting the approach of the jaw members 42, 44 (e.g., resistance to compressed tissue) can reach a threshold, and thus the closing force applied by the jaw members 42, 44 can reach a corresponding threshold. To keep the closing force applied by the jaw members 42, 44 within a range of closing force, for example, from about 3 kg / cm² to about 16 kg / cm², further rotational input to the fourth input end 140 is used to prevent the closing force further applied by the jaw members 42, 44 from exceeding this point. More specifically, once the threshold is reached, further rotational input to the fourth input end 140 causes the drive shaft 410, input gear 420, and drive gear 430 to rotate, causing the distal hub 454 to translate further proximally to the compression spring 456. However, instead of pushing the proximal hub 452 further proximally with the compression spring 456 to allow the jaw elements 42, 44 to continue to move closer and increase the closing force applied between them, the compression spring 456 is compressed so that the proximal hub 452 and the drive rod 484 are held in place regardless of the continued movement of the distal hub 454, thereby preventing the application of additional closing force between the jaw elements 42, 44.When tissue is held between jaw elements 42 and 44 under appropriate closing force, energy can be supplied to jaw elements 42 and 44 to process (e.g., seal) the tissue. Afterward, the blade 68... Figure 29A It can advance between jaw members 42 and 44 to cut the processed tissue.

[0074] refer to Figure 6 , combined Figure 1 As described above, shaft 30 extends distally from housing 20 and includes a distal segment 32, a proximal segment 34, and a hinged segment 36. In some configurations, also as described above, the proximal end portion of the proximal segment 34 of shaft 30 extends into housing 20, wherein it engages with a hinged assembly 200 within housing 20 (see...). Figure 2A The distal plate 220 is fixedly engaged (directly or indirectly). Hinged cable 38 ( Figure 1 , Figure 4 and Figure 5 ), knife tube 62 ( Figure 4 and Figure 5 ) and conductive structures (e.g., lead 99) Figure 1 The proximal segment 34 extending through the shaft 30 reaches the articulated segment 36, the distal segment 32, or the end effector assembly 40, such that the end effector assembly 40 can be articulated in the pitch and jaw directions, and can be operated to grasp, process, and / or cut tissue. To provide support for these components extending through the shaft 30 and to maintain their proper position, spacing, and / or orientation, one or more internal structures 39 are provided or formed within the shaft 30. These internal structures 39 may include any combination of, for example, one or more supports, spacers, guides, bushings, etc., and may extend continuously or intermittently along a portion or entirely of the shaft 30.

[0075] See in general Figure 1-6 During the use of the instrument 10, fluids from the surgical site (blood, other bodily fluids, surgical fluids, etc., including fluids carrying tissue, surgical debris, etc.) can enter the instrument 10, for example, via the end effector assembly 40, the hinged section 36 of the shaft 30, and / or at other locations, and travel proximally within and / or around the shaft toward or into the housing 20. This is to protect systems such as robotic surgical systems (e.g., robotic surgical system 500) Figure 3The main equipment of the robotic arm, the instrument 10, is mounted to the robotic surgical system (and / or for other purposes, such as, for example, to facilitate cleaning of all or part of the instrument 10 when ready for reuse). This disclosure provides various configurations (single-part seals, multi-part seals, multiple seals, seal assemblies including one or more seals and one or more support / retaining portions, etc.) arranged at various different locations along the instrument 10 to prevent proximal fluid contamination of the robotic arm (and / or multiple parts of the instrument 10).

[0076] More specifically, one or more seals may be disposed at one or more of the following locations: location “A” within the housing 20 or adjacent to the proximal end portion of the shaft 30; location “B” at one or more locations along a portion of the proximal segment 34 of the shaft 30; location “C” at or near the proximal end portion of the blade assembly 60, the blade drive assembly 300, and / or the jaw drive assembly 400; location “D” at or near the distal end portion of the blade assembly 60 and / or the jaw drive assembly 400; and / or location “E” at or near the hinged section 36 of the shaft 30. Furthermore, although a seal used at one location is described in detail herein, it is considered that, to the extent feasible, any such seal may be used at any other defined location or other suitable location. Similarly, any suitable combination of seals at one or more defined locations and / or other suitable locations may be provided.

[0077] refer to Figure 7 This illustrates the sealing configuration 700 provided according to this disclosure at position "A" ( Figure 1 , 2A Use at -2C and 6). More specifically, the sealing configuration 700 includes an enlarged proximal end portion 702 of the proximal section 34 of the shaft 30 and a seal 704 disposed therein. The enlarged proximal end portion 702 is disposed within the housing 20 and is fixed, for example by welding or otherwise connected to the distal plate 220 of the lead screw subassembly 210 (see Figure 2A-2CCompared to the main body of the proximal segment 34 of shaft 30, the enlarged proximal end portion 702 defines a larger inner diameter. The relatively larger inner diameter of the enlarged proximal end portion 702 facilitates the manufacture of the seal 704 and / or the assembly of the seal 704 within the enlarged proximal end portion 702. Furthermore, during assembly, the seal 704 is substantially held in place within the enlarged proximal end portion 702 of the proximal segment 34 of shaft 30 because the distal plate 220 substantially inhibits proximal movement of the seal 704, while the smaller diameter main body of the proximal segment 34 of shaft 30 substantially inhibits distal movement of the seal 704. The seal 704 may be formed as a solid sheet of material, such as an elastomeric material, as a single sheet of material inserted into the enlarged proximal end portion 702, or as multiple sheets of material joined together before or during insertion into the enlarged proximal end portion 702. In some configurations, seal 704 may include a grease-lubricated or otherwise lubricated plug to facilitate seal insertion and formation. Grease or other lubricants may also be used to facilitate sealing in any of the other configurations detailed herein. Alternatively, seal 704 may be a semi-solid material, such as a gel, or a material that is injected in one form, state, or condition into the enlarged proximal end portion 702 and then transformed into another form, state, or condition (e.g., foam, injectable silicone, etc.). Combinations of the above materials may also be used. Regardless of the specific configuration of seal 704, seal 704 serves to be used within and around the actuating member 706 extending through it (e.g., articulated cable 38). Figure 1 , 4 and 5), knife tube 62 ( Figure 4 and 5 ) and lead 99 ( Figure 1 A seal is established. Therefore, the function of seal 704 is to prevent fluid from flowing proximally through seal 704, while still allowing operation of the actuator 706 extending through it. Other suitable configurations of seal 704 are also possible, such as those detailed below.

[0078] Reference Figure 8 This illustrates another sealing configuration 800 provided according to this disclosure at position "A" ( Figure 1 , 2A Use at -2C and 6). More specifically, the sealing configuration 800 includes a connector shaft 802, which includes a seal 804 disposed therein. The connector shaft 802 is disposed within the housing 20 and is secured (e.g., welded or otherwise connected) to the distal plate 220 of the lead screw subassembly 210 (see Figure 2A-2CThe connector shaft 802 defines a larger inner diameter compared to the proximal section 34 of the shaft 30. The relatively larger inner diameter of the connector shaft 802 facilitates the manufacture of the seal 804 and / or the assembly of the seal 704 within the connector shaft 802. Furthermore, during assembly, the seal 804 is substantially held in place within the proximal section 34 of the connector shaft 802 because the distal plate 220 substantially inhibits proximal movement of the seal 804, while the smaller diameter proximal section 34 of the shaft 30 substantially inhibits distal movement of the seal 804. The seal 804 may be similar to the seal 704 described above. Figure 7 As detailed herein or in any other suitable manner, it may be formed, inserted, assembled and / or configured.

[0079] Figure 9A and 9B This illustrates the method for use at location "A" (as provided in this disclosure) Figure 1 , 2A -2C and 6) or any other suitable location for use in another sealing configuration 900. More specifically, sealing configuration 900 includes an enlarged proximal end portion 902 of the proximal section 34 of shaft 30 and a two-part seal 904 disposed therein. The enlarged proximal end portion 902 is disposed within housing 20 (see Figure 4 and 5 And it can be fixed, for example, by welding or otherwise attached to the distal plate 220 of the lead screw subassembly 210 (see...). Figure 2A-2C Compared to the body of the proximal segment 34 of shaft 30, the enlarged proximal end portion 902 defines a larger inner diameter. The relatively larger inner diameter of the enlarged proximal end portion 902 facilitates the manufacture of the seal 904 and / or the assembly of the seal 904 within the enlarged proximal end portion 902. The enlarged proximal end portion 902 includes one or more retaining grooves 908 defined therein, each retaining groove 908 defining an L-shaped configuration. Although in Figure 9B The diagram shows two L-shaped retaining grooves 908 that are diametrically opposed, but other numbers and / or configurations of retaining grooves 908, such as T-shaped grooves, may also be considered.

[0080] The two-part seal 904 includes an outer collar 910 and an inner plug 920. The outer collar 910 includes one or more retaining protrusions 912 extending radially outward therefrom, each retaining protrusion defining an L-shaped configuration. Although in Figure 9BTwo radially opposed L-shaped protrusions 912 are shown, but other numbers and / or configurations of retaining protrusions 912 complementary to the retaining groove 908 are also contemplated. The retaining protrusions 912 are configured to be received within the retaining groove 908 to securely seat the outer collar 910 against the inner annular surface of the enlarged proximal end portion 902 in a sealing relationship. The outer collar 910 also includes an irregular (e.g., non-circular) lumen 914 defined therethrough.

[0081] The inner plug 920 of the seal 904 is configured to be complementaryly received within the irregular cavity 914 of the outer ring 910. The outer ring 910 and the inner plug 920, together with the inner plug 920 received within the irregular cavity 914 of the outer ring 910, define complementary features 922, such as protrusions and recesses, and / or other suitable features or configurations, such that the inner plug 920 is fixedly retained within the outer ring 910 and forms a seal therewith (despite any defined passageways therein). The outer ring 910 and the inner plug 920 may also cooperate to define one or more radial cavities 924 therebetween and / or the inner plug 920 may define a central cavity 926. The cavities 924, 926 are configured to accommodate an actuating element, such as a hinged cable 38, extending through them. Figure 1 , 4 and 5), knife tube 62 ( Figure 4 and 5 ) and lead 99 ( Figure 1 Establish a seal.

[0082] The outer collar 910 and inner plug 920 of the seal 904 may be formed of the same or different materials and are configured to cooperate to establish a seal within the enlarged proximal end portion 902 and around the actuating component extending therethrough. Thus, the seal 904 functions to prevent fluid from flowing through the proximal end while still allowing operation of the actuating component extending therethrough.

[0083] Go to Figure 10-13Various sealing configurations 1000, 1100, 1200, and 1300 provided according to this disclosure are shown. Sealing configurations 1000, 1100, 1200, and 1300 may be used with or without the enlarged proximal end portion of the proximal segment 34 of the shaft 30, and include retaining features defined on, within, or otherwise associated with the proximal end portions 1002, 1102, 1202, and 1302 of the proximal segment 34 of the shaft 30, to facilitate holding the corresponding seals 1004, 1104, 1204, and 1304 in a substantially fixed position within the proximal segment 34 of the shaft 30 and maintaining a sealing relationship. Sealing configurations 1000, 1100, 1200, and 1300 may be used repeatedly and / or in combination with each other, and although described as being used at position “A,” alternatively or additionally, to a consistent extent, may be used at position “B” and / or any other suitable position (see [reference]). Figure 1 , 2A Use at -2C and 6).

[0084] Figure 10 The sealing configuration 1000 shown includes a locking ring 1030 having a locking ring configured to proximally abut against the lead screw subassembly 210 (see...). Figure 2A-2C The distal flange 1032 of the distal plate 220 and the distal body 1034 of the proximal end portion 1002 of the proximal segment 34 of the shaft 30 are configured, for example, to extend through the distal plate 220 and into the shaft 30 in a press-fit manner. The distal body 1034 reduces the effective inner diameter of the proximal end portion 1002, thus inhibiting proximal movement of the seal 1004. The seal 1004 may be similar to the seal 700. Figure 7 (or any other suitable seal.)

[0085] like Figure 11 As shown, the sealing configuration 1100 includes a plurality of protrusions 1106 arranged annularly around and extending radially outward from the seal 1104, and a plurality of corresponding orifices 1108 annularly defined around the proximal end portion 1102 of the proximal segment 34 of the shaft 30, although an opposite configuration or protrusions and orifices on the seal 1104 and the proximal end portion 1102 is also contemplated. When the seal 1104 is inserted into the proximal end portion 1102, the protrusions 1106 are compressed radially inward to allow the seal 1104 to be inserted into the proximal end portion 1102. When the protrusions 1106 are aligned with the orifices 1108, the protrusions 1106 elastically return to extend through the orifices 1108, thereby holding the seal 1104 in place within the proximal end portion 1102. The seal 1104 may additionally resemble the seal 700 ( Figure 7 (or any other suitable seal.)

[0086] Figure 12The illustrated sealing configuration 1200 includes one or more annular ribs 1206 extending radially inward into the proximal end portion 1202 of the proximal segment 34 of the shaft 30. The ribs 1206 can be formed by recessing the outer surface of the proximal end portion 1202, adding additional material within the proximal end portion 1202, or in any other suitable manner. Furthermore, the ribs 1206 may be provided proximal, distal, or on both sides of the seal 1204. When the seal 1204 is inserted into the proximal end portion 1202, the seal 1204 is compressed radially inward to allow it to pass through the ribs 1206 to reach a more distal position on the ribs 1206. Once the seal 1204 has passed the ribs 1206, the seal 1204 resiliently returns to seal the inner surface of the proximal end portion 1202. The reduced effective diameter of the proximal end portion 1202 provided by the ribs 1206 prevents the seal 1204 from moving proximally. Seal 1204 can be similar to seal 700 ( Figure 7 (or any other suitable seal.)

[0087] Figure 13 The image shown is of sealing configuration 1300, which is similar to sealing configuration 1200. Figure 12 The difference is that the sealing configuration 1300 includes a plurality of radially and axially arranged protrusions 1306 that project radially inward into the interior of the proximal end portion 1302 to reduce its effective inner diameter, rather than ribs preventing the seal from moving proximally.

[0088] Go to Figure 14 This provides yet another sealing configuration 1400 according to this disclosure for position "A", position "C", the position between them, or any other suitable position (see [link to disclosure]). Figure 1 , 2A -2C and 6). Sealing configuration 1400 includes a seal 1404 and a locking plate 1440. Seal 1404 includes a proximal flange 1412 and a distal body 1414, the proximal flange being configured to proximally abut against the distal plate 220, and the distal body being configured to extend through the distal plate 220 and into the proximal end portion 1402 of the proximal segment 34 of the shaft 30. Seal 1404 may include one or more lumens 1416 extending therethrough, one or more orifices 1418 extending through the proximal flange 1412, and / or one or more channels 1420 extending along the distal body 1414, these channels individually or collaboratively sealingly engaging actuating components extending therethrough, such as a hinged cable 38, a knife tube 62, and a lead 99. Figure 1A slit defined within the proximal flange 1412 and / or the distal body 1414 provides a sealable connection between the lumen 1416, the orifice 1418, and / or the outer annular surfaces of the proximal flange 1412 and / or the distal body 1414, facilitating the insertion and engagement of an actuating component therein. Such slits can also be used for similar purposes in other sealing configurations detailed herein.

[0089] The locking plate 1440 includes a body 1442 defining one or more orifices 1444, which are aligned with the lumen 1416, orifice 1418, and channel 1420 of the seal 1404, such that actuating components (e.g., hinged cable 38, knife tube 62, and lead wire 99) Figure 1 The locking plate 1440 is configured to proximally abut the proximal flange 1412 of the seal 1404 to at least partially compress the proximal flange 1412 between the locking plate 1440 and the distal plate 220, thereby establishing a seal around the passage extending through the distal plate 220 and the shaft 30. Alternatively or additionally, any gap may be filled with grease or other suitable material to establish a seal. The locking plate 1440 is secured in place relative to the distal plate 220 by screwing the locking plate 1440 onto the distal plate 220 and / or by using any other suitable fasteners or engagement features. The distal body 1414 of the seal 1404 may additionally or alternatively extend through the distal plate 220 and into the proximal end portion 1402 of the proximal segment 34 of the shaft 30, in a sealing relationship with the inner surface of the proximal end portion 1402 to establish a seal therein.

[0090] Reference Figure 15-17A According to this disclosure, configuration is also provided for use at location "A" and / or any other suitable location (see Figure 1 , 2A Other configurations 1500, 1600, and 1700 used in -2C and 6) may each include one or more portions 1501, 1601, and 1701 of the housing 20, which are sealed, for example via partitions 1503, 1603, or other suitable structures or combinations thereof, to define a sealed space within the housing 20; in some configurations, the entire interior of the housing 20 defines the sealed space. Although portions 1501, 1601, and 1701 are shown at the distal end of the housing 20, additional and / or alternative locations may also be considered.

[0091] about Figure 15In configuration 1500, one or more orifices 1506 or other openings are defined as passing through a proximal end portion 1502 of the proximal section 34 of the shaft 30, which is in fluid communication with a sealed space defined by portion 1501. Therefore, fluid flowing proximal to the housing 20 through the proximal section 34 of the shaft 30 can exit the proximal end portion 1502 and enter portion 1501 through orifices 1506. Alternatively or additionally, a drain pipe 1550 may be provided connected to one of the orifices 1506 and / or in fluid communication with portion 1501 of the housing 20 to allow for the drainage of these fluids. In this configuration, fittings or other suitable connections (not shown) may be provided on the housing 20 to allow for the connection of a drain line (not shown).

[0092] Figure 16 The illustrated configuration 1600 also includes one or more orifices 1606 or other openings defined by a proximal end portion 1602 of the proximal segment 34 of the shaft 30, said orifices or other openings being in fluid communication with a sealed space defined by portion 1601. Configuration 1600 and configuration 1500 ( Figure 15 The difference is that configuration 1600 includes one or more sponges 1660 or other suitable fluid-absorbing materials disposed within portion 1601 to absorb fluid entering portion 1601 via orifice 1606, rather than providing a discharge pipe.

[0093] Figure 17A Configuration 1700 is shown, in which a portion 1701 or the entirety of housing 20 is filled with an injectable material 1770, such as a sealant material and / or an absorbent material, to form a seal against and / or absorb fluid. The injectable material 1770 can be a foam, gel, grease, phase change material, etc. Figure 17B As shown, in other configurations, an aperture 1772 defined within the shaft 30 (or other component) may be provided to allow injection of injectable material 1770, for example at position "B" or "E" (see Figure 1772). Figure 1 , 2A Additional sealing and / or absorption areas are provided at -2C and 6), such as sealing shaft 30 and components extending through it.

[0094] Go to Figure 18 Another seal 1804 provided in this disclosure is configured for use at positions “A”, “B”, “E” ( Figure 1 , 2A-2C and 6) and / or any other suitable location. Seal 1804 includes a pair of wedge seals 1882, 1884. The wedge seals 1882, 1884 may define complementary engagement features 1886, such as interlocking tabs, protrusions, and bores, configured to engage with each other to secure the wedge seals 1882, 1884 to each other. Each wedge seal 1882, 1884 further defines one or more lumens 1888 extending therethrough, these lumens being aligned with each other when the wedge seals 1882, 1884 are engaged. When the wedge seals 1882, 1884 are engaged with each other, seal 1804 may define a rectangular cross-section configuration, a circular cross-section configuration, or any other suitable configuration to enable seal 1804 to seal within a region, such as on shaft 30 ( Figure 1 The lumen 1888 is configured to accommodate one or more actuating components, such as the articulated cable 38. Figure 1 , Figure 4 and Figure 5 ), knife tube 62 ( Figure 4 and Figure 5 ), and lead 99 ( Figure 1 It is sealed to these actuating components, while still enabling them to operate.

[0095] In relation to axis 30 ( Figure 1 In use, for example, wedge seal 1882 is inserted in a first direction, such as the distal direction, through a portion of shaft 30 and around one or more actuating components, while wedge seal 1884 is inserted in the opposite second direction, such as the proximal direction, through a portion of shaft 30 and around one or more actuating components, until wedge seals 1882 and 1884 meet and engage with each other through complementary engagement features 1886, thereby forming a seal within shaft 30 and around one or more actuating components. Wedge seals 1882 and 1884 may be formed of the same or different materials, including elastomeric materials or other suitable materials.

[0096] See Figure 19 Another seal 1904 provided in this disclosure is configured for positions “A”, “B”, “E” ( Figure 1 , 2A -2C and 6) and / or any other suitable location. Seal 1904 includes seal body 1920. Seal body 1920 is configured to establish an inner surface of the abutment structure (e.g., shaft 30). Figure 1 The inner surface of the sealing body 1920 is sealed. The sealing body 1920 has one or more lumens 1922 extending therethrough. Each lumen 1922 defines a diameter equal to or greater than the diameter of an actuating element (one or more), such as a hinged cable 38. Figure 1 , 4and 5), knife tube 62 ( Figure 4 and 5 ) and lead 99 ( Figure 1 The actuating element is configured to pass through it. A plurality of duckbill-shaped seals 1924 extend from one or both sides of the seal body 1920, each duckbill-shaped seal 1924 surrounding one end of a cavity 1922. The duckbill-shaped seals 1924 may be zero-closure seals, or may be approximately smaller than the diameter of the actuating element(s), such as the hinged cable 38. Figure 1 , 4 and 5), knife tube 62 ( Figure 4 and 5 ) and lead 99 ( Figure 1 The actuating component is configured to pass through it. In this way, the seal 1920 seals against an external structure, such as shaft 30, while the duckbill seal 1924 seals around an internal structure, such as the actuating component. When a pressure difference exists across the seal 1904, for example when shaft 30 ( Figure 1 When inserted into the inflated body cavity, the duckbill seal 1924 additionally or alternatively establishes a seal around the actuating component.

[0097] Go to Figure 20 Another seal 2004 provided is configured at positions “A”, “B”, “E” ( Figure 1 , 2A Used at -2C and 6) and / or any other suitable location, and includes a compressible seal 2006 trapped between a pair of rigid plates 2008. The body 2006 and plates 2008 can cooperate to define a lumen 2010 through which, thereby allowing passage of an actuating element in a sealing relationship with the sealing body 2006. During assembly, prior to positioning the plates 2008, the seal 2006 can be inserted into an external structure (e.g., shaft 30) and / or around an internal structure (e.g., one or more actuating elements). The plates 2008 can then be positioned on either side of the seal 2006 and moved toward each other to axially compress the seal 2006, thereby pushing the seal 2006 to seal within and / or around the internal structure. The plates 2008 can be held in place by engagement with each other and / or the external structure.

[0098] Reference Figure 21 Another seal 2104 is configured at positions “A”, “B”, “E” ( Figure 1 , 2AUsed at -2C and 6) and / or any other suitable location. Seal 2104 includes a plurality of sealing elements 2105, each sealing element sealing around an actuating element (e.g., one of the articulated cables 38) and positioned relative to the actuating element (e.g., one of the articulated cables) in a fixed relationship (e.g., by overmolding). The sealing elements 2105 cooperate to function as a wiper, which maintains a seal around, for example, the external structure of shaft 30 and / or the internal structure of blade tube 62, even in the event of relative translation therebetween.

[0099] Reference Figure 22 According to the information provided in this disclosure for the locations “A”, “B”, “E” ( Figure 1 , 2A The absorber and / or sealing member 2204 (2C and 6) and / or any other suitable location is initially configured in a contraction configuration. Member 2204 is positioned (e.g., hermetically positioned) around an internal actuating component (e.g., knife tube 62) and may define a slit 2206 such that member 2204 can be inserted laterally around knife tube 62. Member 2204 is configured for positioning within shaft 30 (or other suitable external component) and is initially configured to be non-sealed with it, thus occupying a relatively small space within shaft 30. Slit 2206 may be a zero-closure slit. When fluid contacts and is absorbed by member 2204, member 2204 expands to fill a relatively large space within shaft 30, and in some configurations, a seal is established therein when fully saturated and expanded.

[0100] Figure 23 The following diagram illustrates the locations “A”, “B”, “E” (as provided in this disclosure) Figure 1 , 2A Another seal 2304 (-2C and 6). For example, seal 2304 can be configured to be positioned on the outer structure (e.g., shaft 30). Figure 1 The seal 2304 is designed to establish a seal around its inner surface. The seal 2304 includes a central bore 2306 and a plurality of radial bores 2308. The bores 2306 and 2308 are configured to receive and sealably engage an actuating component, such as a hinged cable 38. Figure 1 , 4 and 5), knife tube 62 ( Figure 4 and 5 ) and lead 99 ( Figure 1 Each hole 2306, 2308 includes slits 2307, 2309, respectively, connecting holes 2306, 2308 to the outer annular periphery of the seal 2304, such that each of the actuating components can slide laterally through one of the slits 2307, 2309 and seal within the corresponding hole 2306, 2308. Slits 2307, 2309 can be zero-closure slits.

[0101] like Figure 24 As shown, another sealing configuration 2400 is provided, which includes a sealing member 2404 defining one or more holes 2406 extending longitudinally through it. Sealing configuration 2400 can be used at positions “A”, “B”, “E” (… Figure 1 , 2A -2C and 6) and / or any other suitable location. The sealing member 2404 is configured to be inserted into a structure and abut against the inner surface of that structure (e.g., shaft 30). Figure 1 A seal is established on the inner surface of the actuating element. One or more holes 2406 can be configured to accommodate one or more actuating components, such as the articulated cable 38. Figure 1 , 4 and 5), knife tube 62 ( Figure 4 and 5 ), and lead 99 ( Figure 1 A portion of the sealing member 2404 is radially compressed inward, for example via a band 2420 disposed around a portion of the sealing member 2404, causing one or more holes 2406 to collapse and the sealing member 2404 to establish a sealing engagement with one or more actuating components. When the compressed portion of the sealing member 2404 no longer sufficiently expands to seal the shaft 30 ( Figure 1 When ), other parts of seal 2404 or another seal can be used to seal shaft 30. Figure 1 ).

[0102] Figure 25 A sealing configuration 2500 is provided, which includes a component similar to sealing member 2404. Figure 24 The sealing member 2504, except that the sealing member 2504 can be configured to compress axially inward from opposite ends rather than radially inward, for example, by compressing the sealing member 2504 disposed between two guide structures 39 within the shaft 30 to establish a seal within the shaft 30 and / or around the actuating component. Alternatively, the sealing member 2504 can be configured for any other seal detailed herein, such as seal 2304 (FIG. 2), and is held in a substantially fixed position within the shaft 30 between the guide structures 39 (with or without compression).

[0103] Go to Figure 26A and 26B As described above, one or more seals may be provided in the blade assembly 60, the blade drive assembly 300, and / or the jaw drive assembly 400 (see above). Figure 2A-2C Location “C” at or near the proximal end portion of the ) More specifically, a seal 2604 may be provided to seal the annular region between the blade drive lead screw 340 (and / or the blade tube 62) and the jaw drive rod 484.

[0104] The knife drive lead screw 340 may include a pair of diameter-opposing T-slots 2622 defined within its unthreaded proximal sleeve portion 2620. A seal 2604 may define a pair of diameter-opposing T-shaped protrusions 2624 extending from the seal and configured to mutually engage within the T-slots 2622, thereby engaging the seal 2604 with the knife drive lead screw 340. The seal 2604 functions as a cap to sealably close the proximal end of the knife drive lead screw 340 and the knife tube 62 disposed therein, except for an orifice 2626 defined by its proximal wall, which sealably accommodates the jaw drive rod 484. Thus, fluid moving proximal through the knife tube 62 is prevented from passing proximal across the seal 2604.

[0105] Figure 27 and 28 Alternative sealing arrangements are shown for sealing between internal components (e.g., jaw drive lever 484) and external components (e.g., blade tube 62 or blade drive lead screw 340), such as those located at or near blade assembly 60, blade drive assembly 300, and / or jaw drive assembly 400 (see [link to documentation]). Figure 2A-2C At position "C" on the proximal end portion of the outer components 62, 340. The ends of the outer components 62, 340 are formed with internal annular recesses 2702, 2802 surrounding lumens 2701, 2801, through which the lumens extend, for example, by machining. Recesses 2702, 2802 can be semicircular relative to recess 2702, V-shaped relative to recess 2802, or can define any other suitable configuration capable of capturing O-rings 2706, 2806 therein. O-rings 2706, 2806 protrude into lumens 2701, 2801 respectively to sealably engage internal components, such as jaw drive rods 484 extending through lumens 2701, 2801.

[0106] See Figure 29A and 29B A sealing configuration 2900 is provided for establishing a seal at or near the distal end portion of the blade assembly 60 and / or jaw drive assembly 400 at location “D”, but other locations are also conceivable (see [link to documentation]). Figure 1-6 More specifically, by sealing the distal end of the opening of the blade tube 62 with a sealing configuration 2900 surrounding the jaw drive rod 484 extending therefrom, fluid is prevented from entering and traveling through the blade tube 62 toward the proximal end.

[0107] Also refer to Figure 1 The blade 62 temporarily extends through the proximal section 34 of the housing 20 and the shaft 30 to a position near the hinge section 36 of the shaft 30 (see...). Figure 1The intermediate elongated collar 66 engages around the distal end portion of the cutter tube 62. The distal cutter shank 64 engages at an offset position, for example, via a coiled tube 69, and extends distally through a hinged section 36 of the shaft 30 to the end actuator assembly 40 (see...). Figure 1 The blade 68 engages at the distal end of the articulated section 36 of the shaft 30 with a distal shank 64. The distal shank 64 is flexible and / or includes one or more joints or hinged portions to allow the articulated section 36 of the shaft 30 to articulate with the distal shank 64 extending therethrough. A jaw drive rod 484 extends through and from the cutter tube 62 and distally through the articulated section 36 of the shaft 30 to reach the end effector assembly 40 (see...). Figure 1 The jaw drive rod 484 is operably coupled to the cam groove assembly 52, including enabling the jaw member 42 to pivot relative to the jaw member 44 and the distal segment 32 of the shaft 30 in response to translation of the jaw drive rod 484 between a spaced-out position (e.g., an open position of the end effector assembly 40) and a close position (e.g., a closed position of the end effector assembly 40). Offset engagement of the distal tool holder 64 with the intermediate collar 66 allows the jaw drive rod 484 to extend distally from the tool holder 62 to the end effector assembly 40. The jaw drive rod 484 is flexible and / or includes one or more joints or hinged portions to allow the hinged section 36 of the shaft 30 to hinge with the jaw drive rod 484 extending therethrough.

[0108] See you again Figure 29A and 29B The sealing configuration 2900 includes a proximal sealing member 2904 and a distal sealing member 2906. The proximal seal 2904 is disposed around the blade 62 proximal to the intermediate elongated collar 66 and may also accommodate the proximal end portion of the distal blade shank 64 therein. The distal seal 2906 is disposed around a coiled tube 69 (which includes the distal blade shank 64 extending through it) or directly around the blade shank 64 (e.g., in configurations where the coiled tube 69 is omitted or otherwise positioned). The distal seal 2906 is also disposed around a jaw drive rod 484 and is located distal to the intermediate elongated collar 66.

[0109] The proximal seal 2904 and the distal seal 2906 are configured to face each other and slide around a central elongated collar 66 to a partially overlapping state, wherein one of these seals (e.g., the proximal seal 2904) is partially received within the other seal (e.g., the distal seal 2906). Furthermore, the proximal seal 2904 and the distal seal 2906 include complementary engagement features, such as a locking tongue 2908 extending from the inner seal (e.g., the proximal seal 2904) and a locking orifice 2910 defined within the outer seal (e.g., the distal seal 2906). In this manner, when the proximal and distal seals 2904, 2906 move to a partially overlapping state, the locking tongue 2908 engages with each other within the locking orifice 2910, thereby jointly establishing a seal around the intermediate elongated collar 66, the open distal end of the blade tube 62, and the jaw drive rod 484. The sealing configuration 2900 can move with the blade tube 62 and / or allows translation of the jaw drive rod 484 relative to it. Furthermore, the proximal and distal seals 2904, 2906 can be formed of the same or different materials.

[0110] Figure 30A and 30B Another sealing configuration 3000 is shown for establishing a seal at or near the distal end portion of the blade assembly 60 and / or jaw drive assembly 400 at position "D," but other positions may also be considered (see [link to documentation]). Figure 1-6 The sealing configuration 3000 is configured to seal the annular region defined between the distal end of the opening of the intermediate elongated collar 66 (and / or the distal end of the opening of the blade tube 62) and the jaw drive rod 484.

[0111] The sealing configuration 3000 includes a plug 3004 comprising a body 3006 configured to establish a seal around the inner surface of an intermediate elongated collar 66 when inserted therein. The plug 3004 also includes a pair of radially opposing wings 3008, each wing defining a T-shaped configuration. The wings 3008 are configured to be received within complementary, diameter-opposing T-grooves 3010 defined within the distal end portion of the intermediate elongated collar 66. The plug 3004 is inserted into the intermediate elongated collar 66 such that the body 3006 seals against the inner surface of the intermediate elongated collar 66, while the wings 3008 engage within the grooves 3010 to securely retain the plug 3004 in a sealing engagement within the intermediate elongated collar 66. The plug 3004 also includes a central lumen 3012 extending therethrough, configured to sealably engage a jaw drive rod 484. Figure 30B While still allowing for relative translation, the plug 3004 can be formed of an elastic material or other suitable material.

[0112] Go to Figures 31A-31CAnother sealing configuration 3100 is shown, which is configured to establish a seal at or near the hinge section 36 of shaft 30 at location "E" (see also...). Figure 1 More specifically, shaft 30 includes a hinged section 36 having one or more hinged components 37 (see...). Figure 1 For example, hinged component 37 ( Figure 1 One of them can be a proximal link 3120, which includes a proximal body portion 3122, a distal side portion 3124 disposed at the distal end of the proximal body portion 3122, and a pair of spaced-apart pivot flags 3126 extending distally from the distal side portion 3124. The pivot flags 3126 include bosses 3128 to allow the proximal link 3120 to be pivotally connected to another hinge member 37 of the hinge section 36 of the shaft 30 (see [link]). Figure 1 The proximal body portion 3122 can be configured to be inserted into the proximal segment 34 of the shaft 30, with the distal side 3124 adjacent to the distal end of the opening of the proximal segment 34 of the shaft 30 (see...). Figure 1 ).

[0113] Continue to refer to Figures 31A-31C The sealing configuration 3100 includes a plug 3130, a sealing ring 3140, and a clip 3150. The sealing ring 3140 may be formed of an elastomer or other suitable material; the plug 3130 and the clip 3150 may be formed of an elastomer material or a more rigid material. The plug 3130 includes a base 3132 and a pair of opposing arms 3134, the base being configured to proximally approach the proximal body portion 3122 of the proximal link 3120, and the arms extending distally from the base 3132. The arms 3134 are configured to engage within corresponding slots 3136 defined within the proximal body portion 3122 of the proximal link 3120. The sealing ring 3140 is configured to proximally abut the base 3132 of the plug 3130, and the clip 3150 includes an arm 3154 that is configured to proximally abut the base 3152 of the sealing ring 3140 and extends through the sealing ring 3150 and is configured to engage the base 3132 of the plug 3130 in a groove 3138, for example, in a snap-fit ​​manner, thereby securing the seal 3130 and the clip 3150 to each other, wherein the sealing ring 3140 is disposed between them.

[0114] In the assembled state, the plug 3130, sealing ring 3140, and clip 3150 cooperate with each other and with the proximal body portion 3122 of the proximal link 3120 to establish a seal, for example, via the outer annular surface of the sealing ring 3140, within the inner surface of the proximal segment 34 of the shaft 30 (see...). Figure 1 ), and seals and guides the actuating components extending through the proximal section 34 of the shaft 30 (see Figure 1More specifically, the sealing ring 3140 defines a central orifice 3142, which is configured to sealably receive the jaw drive rod 484. Figure 2C Multiple (e.g., four (4)) radially arranged apertures 3144, configured to hermetically accommodate articulated cables 38. Figure 1 A pair of adjacent apertures 3146 are configured to hermetically accommodate lead 99. Figure 1 ); and offset orifice 3148, which is configured to sealably receive the distal tool bar 64 or the coiled tube 69 disposed therearound (see Figure 29A The clip 3150 may define an orifice 3156 and / or a cutout 3158 to provide access to various orifices 3142-3148 defined by the sealing ring 3140. The plug 3130 may also include a channel 3139, such as an orifice and / or channel, for the actuating component to pass through.

[0115] Figure 32 A similar sealing configuration 3100 is shown. Figures 31A-31C Another sealing configuration 3200 is configured to operatively engage with the proximal body portion 3122 of the proximal link 3120 to establish a seal at or near the hinge section 36 of the shaft 30 at location “E” (see also...). Figure 1 The sealing configuration 3200 includes an engaging plug 3230, an outer sealing ring 3240, and an inner sealing plug 3260. The sealing ring 3240 and sealing plug 3260 may be formed of an elastomer or other suitable material; the engaging plug 3230 may be formed of an elastomer material or a more rigid material. The engaging plug 3230 includes a base 3232, a pair of opposing arms 3234 extending distally from the base 3232, and a central cylinder 3237 extending distally from the base 3232 between the arms 3234. The outer sealing ring 3240 is configured to be positioned around the central cylinder 3237 and between the arms 3234, while the inner sealing plug 3260 is configured to distally abut the distal end portion of the central cylinder 3237. Engaging plug 3230 is configured to engage the proximal body portion 3122 of proximal link 3120, for example, by engagement of arm 3234 within a slot, similar to the above description of sealing configuration 3100. Figures 31A-31C As detailed in the description, a sealing ring 3240 is disposed therebetween for sealing engagement, and a central cylinder 3237 and a sealing plug 3260 extend into the proximal body portion 3122 of the proximal connecting rod 3120 for sealing engagement to form a seal against the inner surface of the proximal connecting rod 3120. In use, the outer sealing ring 3240 establishes a seal within the inner surface of the proximal section 34 of the shaft 30 (see...). Figure 1 ) and around the articulated cable 38 ( Figure 1The inner sealing plug 3260 surrounds the jaw drive rod 484. Figure 2C ), lead wire 99 ( Figure 1 ) and distal tool holder 64 (see Figure 29A )seal.

[0116] See Figure 33 It offers similar sealed configurations to 3100 and 3200 (which are respectively) Figures 31A-31C Another sealing configuration 3300 of (and 32) is configured to operably engage with the proximal body portion 3122 of the proximal link 3120 to establish a seal at or near the hinge section 36 of the shaft 30 at location “E” (see also 32). Figure 1 ).

[0117] The sealing configuration 3300 includes a plug 3330, an outer sealing ring 3350, and an O-ring seal 3370. The plug 3330 includes a base 3332 and a tapered body 3338 extending distally from the base 3332. The tapered body 3338 is configured for insertion into the proximal body portion 3122 of the proximal link 3120. The plug 3330 can be configured to engage the proximal body portion 3122 in any suitable manner, such as by a press fit, for example, via an arm and slot engagement. The outer sealing ring 3350 is configured to engage within a groove 3333 defined within the plug 3330 (between its base 3332 and the tapered body 3338). The outer sealing ring 3350 projects radially outward from the plug 3330 and the proximal body portion 3122 of the proximal link 3120 to form a seal within the inner surface of the proximal section 34 of the shaft 30 (see...). Figure 1 The outer sealing ring 3350 also defines a radial lumen to sealably engage the hinged cable 38 and the distal blade 64 or coiled tube 69 (see...). Figure 29A The O-ring seal 3370 is disposed within the central cavity 3331 of the plug and is configured to seal the jaw drive rod 484.

[0118] Figures 34-40 Various mechanisms are shown for manually actuating the end effector assembly 40 (e.g., jaw members 42, 44) for inspection, cleaning, and sterilization, or for mounting various hardware onto the end effector assembly 40 for use in operation. It is contemplated that one or more of the following mechanisms and features may be applied to other aspects of the surgical instrument 10, depending on the specific purpose, and allow for its manual actuation.

[0119] The following figures briefly illustrate the actuation of the end effector assembly 40 relative to its respective manual actuation feature. A more detailed description of the robot-assisted actuation of the end effector assembly 40 has been given above; similarly, only those details necessary for a full understanding of the manual actuation components are described here.

[0120] Figure 34 The image shows an internal cross-section of the various jaw actuation components described in the above general description, illustrating a typical process of manually actuating the end effector assembly 40 using one or more of the designs described above. More specifically, the jaw actuation assembly 4020 includes a compression assembly 4055 and a jaw drive assembly 4005. The compression assembly is configured to receive a spring force assembly 4050, and the jaw drive assembly includes a jaw input gear 4022 operably coupled to a jaw drive input end 4035. The spring force assembly 4050 includes a distal hub 4054, a proximal hub 4052, a drive gear 4030, and a locking tongue 4075. Each hub 4052, 4054 includes an inner circumferential surface having a plurality of teeth 4053, 4057, respectively, which are configured to matingly engage corresponding plurality of teeth or threads 4031 of the drive gear 4030.

[0121] Manual actuation of the jaw drive input 4035 rotates the jaw input gear 4022, which is connected to the drive gear 4030. The rotation of the drive gear 4030 forces the proximal hub 4052 of the spring force assembly 4050 to translate linearly relative to the distal hub 4054, overcoming the bias of the compression spring 4056. This distal hub, in turn, translates linearly relative to the jaw drive rod 4084 by means of the mechanical engagement of the proximal end of the jaw drive rod 4084 and the locking tab 4075. The jaw members 42 and 44 can be manually opened and closed in this manner as needed.

[0122] Figures 35A-35B These are a side view and an internal perspective view of one embodiment of the manual jaw actuation assembly 4120. In this embodiment, a finger roller 4125 is provided that extends through the jaw housing 20 for external access by an operator. The finger roller 4125 operably engages with a plurality of threads 4111 on the jaw input shaft 4110 away from the spring compression assembly 4155. Rotation of the finger roller 4125 rotates the jaw input shaft 4110, which in turn rotates the proximal hub of the spring compression assembly 4155 (not shown, but see above). Figure 34 Translation.

[0123] Figures 36A-36BThis is an internal side view of another embodiment of the manual jaw actuation assembly 4220. In this embodiment, and similar to the foregoing embodiments, a finger roller 4225 is included, extending outside the jaw housing 20 for external manual actuation. The finger roller 4225 is operably engaged with and mounted to a spring compression assembly 4255 via a support shaft 4226 configured to sit within a groove 4256 defined therein. More specifically, the shaft 4226 is supported within the groove 4256 on top of a leaf spring 4227, which is configured to bias the finger roller 4225 in a disengaged position. The finger roller 4225 is selectively movable relative to the spring compression assembly 4255 between a disengaged and engaged position (e.g., in direction "P"). In the disengaged position, the finger roller 4225 is spaced apart from the drive gear 4230 of the spring compression assembly 4255. Figure 36A In the engaged position, the finger wheel 4225 is operably engaged with the drive gear 4230 to allow manual rotation of the drive gear 4230, thereby overcoming the bias of the leaf spring 4227 and translating the proximal hub 4252 of the spring compression assembly 4255 relative to the distal hub 4254 of the spring compression assembly 4255. Figure 36B As described above, the translation of the jaw drive rod 4284 compresses the spring 4236 by the translation of the proximal hub 4252 relative to the distal hub 4254.

[0124] When in the engaged position, manual rotation of the finger wheel 4225 correspondingly translates the jaw drive rod 4284 to open and close the jaw members 42, 44. When the finger wheel 4225 is released, it disengages from the drive gear 4230 under the bias of the leaf spring 4227 and returns to the disengaged position. Figure 36B ).

[0125] Figures 37A-37E Various views are shown for another embodiment of the manual jaw actuation assembly 4320. In this embodiment, similar to the preceding embodiments, a finger roller 4325 is included, extending outside the jaw housing 20 for external manual actuation. The finger roller 4325 is operatively engaged with the jaw input shaft 4310 of the jaw drive input 4335. More specifically, the finger roller 4325 is positioned on top of the jaw input shaft 4310 remote from the compression assembly 4355 and can be laterally moved thereon by a user to engage manual actuation. A spring (not shown) may be included to bias the finger roller 4325 into a disengaged position.

[0126] The jaw input shaft 4310 includes a series of castle-shaped grooves 4380 defined therein, which are configured to engage a corresponding series of teeth 4326 disposed on the inner circumferential surface of the finger wheel 4325. The user pushes the finger wheel 4325 distally to engage the castle-shaped grooves 4380 and the corresponding teeth 4326, and then rotates the finger wheel 4325 to rotate the jaw input shaft 4310 and open or close the jaw members 42, 44. Other mechanical interfaces have also been considered for this purpose. The user can manually engage and disengage the jaw input shaft 4310 to actuate the jaw members 42, 44 as needed. If the finger wheel 4325 is engaged under spring bias, it automatically disengages from the jaw input shaft 4310 when the user releases the finger wheel 4325, thereby allowing unimpeded robotic actuation during surgery.

[0127] Figures 38A-38B This is a schematic diagram of yet another embodiment of the manual jaw actuation assembly 4420. In this embodiment, similar to the previous embodiments, it includes a finger roller 4425 that extends outside the jaw housing 20 for external manual actuation. Similar to... Figures 37A-37E In the illustrated embodiment, the finger roller 4425 can be manually engaged and disengaged from the jaw input shaft 4410. In this embodiment, the finger roller 4425 can move radially to engage and disengage from the jaw input shaft 4410 (see arrow "R").

[0128] More specifically, the finger wheel 4425 includes a series of teeth 4426 disposed on its inner circumferential surface, and the jaw input shaft 4410 includes a gear 4412 having a series of corresponding teeth 4416 disposed on its outer circumference. The user pushes the finger wheel 4425 toward the jaw input shaft 4410 to engage the series of teeth 4416 of the gear 4412 with the corresponding teeth 4426 of the finger wheel 4425, and then rotates the finger wheel 4425 to rotate the jaw input shaft 4410 and open or close the jaw components 42, 44. The user can manually engage and disengage the jaw input shaft 4410 to actuate the jaw components 42, 44 as needed. If the finger wheel 4425 is engaged under spring bias (spring not shown), it automatically disengages from the jaw input shaft 4410 when the user releases it, thereby allowing unimpeded robotic actuation during surgery.

[0129] Figures 39A-39FAn embodiment of a selectively removable locking tab 4575 for use with a spring assembly 4550 is shown. More specifically, the spring assembly 4550 includes a compressor cover 4555 configured to receive a compression spring 4556 mounted atop a compressor valve stem 4545. The compressor valve stem 4545 includes an inner periphery 4547 defined therein, configured to receive a jaw actuation rod 4584 passing through it. A proximal end 4549 of the compressor valve stem 4545 includes an orifice 4551 defined therein, configured to be horizontally aligned with the jaw actuation rod 4584 for reception therein. The proximal end 4549 also includes a vertical slot 4546 defined therein, extending through the orifice 4551 and configured to selectively receive the locking tab 4575 therein.

[0130] The locking tab 4575 includes a gripping tab 4577 extending from its upper end, which is configured to be selectively gripped by a user to lock and unlock the jaw drive rod 4584 as needed during assembly and disassembly. The locking tab 4575 includes a valve stem 4576 extending from the gripping tab 4577, the gripping tab having a keyway 4560 defined therein, the keyway including an upper orifice 4579 and a lower, larger orifice 4578. The locking tab 4575 is configured to be received in a groove 4546 in the compressor valve stem 4545.

[0131] The proximal end 4585 of the jaw drive lever 4584 is key-shaped, including a first segment 4588 at its closest end, the first segment being configured to receive through an orifice 4551 of the compressor valve stem 4545, and a second segment 4586, the second segment being larger than the orifice 4551. A recess 4587 is defined between the first and second segments 4588 and 4586.

[0132] like Figures 39B-39D As shown, during assembly, the compressor valve stem 4545, compressor spring 4550, and compressor cap 4555 are assembled, and the locking tongue 4575 is inserted into the groove 4546 of the compressor valve stem 4545 to the first loading position, such that the lower orifice 4578 of the locking tongue 4575 is aligned with the orifice 4551 of the compressor valve stem 4545. The proximal end 4585 of the jaw drive rod 4584 is then loaded into the inner periphery 4547 of the compressor valve stem 4545, such that a first section 4588 of the proximal end 4585 extends through the orifice 4578 of the locking tongue 4575 and through the orifice 4551 of the compressor valve stem 4545. A second section is pushed in to abut against the larger orifice 4578. Once in place, the locking tab 4575 is further pushed into the compressor valve stem 4545, causing the orifice 4579 to slide into the top of the recess 4587 to engage, thereby locking the jaw drive rod 4584 into place for use (see...). Figure 39F ).

[0133] To disengage the jaw drive rod 4584, the user simply grasps the gripping tab 4577 and pulls the locking tab 4575 away from the housing 20. This disengages the orifice 4579 from the recess 4587 and aligns the first segment 4588 with the orifice 4551, thereby allowing removal of the jaw drive rod 4584 from the inner periphery 4547 of the compressor valve stem 4545 (see...). Figure 39E ).

[0134] Figure 40 This is a side view of another embodiment of the manual jaw actuation assembly 4620. In this embodiment, similar to the previous embodiments, a thumb slider 4625 is included, and this thumb slider is actuable from outside the jaw housing 20. The thumb slider 4625 is operatively coupled to a spring compressor assembly 4655 such that sliding the thumb slider 4625 in either direction moves the spring compressor assembly 4655. More specifically, sliding the spring compressor assembly 4655 causes the distal hub relative to the proximal hub (e.g., Figure 34 The distal and proximal hubs 4054 and 4052 move, which in turn causes the jaw drive rod (e.g., Figure 34 The jaw drive rod 4084 moves to open and close the jaw components 42, 44. A spring (not shown) may be used to bias the slider in a particular direction.

[0135] It should be understood that various modifications can be made to the aspects and features disclosed herein. Therefore, the above description should not be construed as limiting, but merely as examples of various aspects and features. Those skilled in the art will contemplate other modifications within the scope and spirit of the appended claims.

Claims

1. A robotic surgical instrument, the robotic surgical instrument comprising: case; A shaft extending distally from the housing; An end effector assembly disposed at the distal end of the shaft; At least one drive gear is disposed within the housing; A drive rod extends from the housing through the axial distal side to the end effector assembly, the drive rod being coupled between the at least one drive gear and the end effector assembly such that actuation of the at least one drive gear moves the drive rod relative to the axis to actuate the end effector assembly, wherein the at least one drive gear is adapted to be connected to a surgical robot for driving rotation of the at least one drive gear, thereby moving the drive rod; A locking tab, which selectively connects the at least one drive gear and the drive rod within the housing. A spring assembly, the spring assembly including a cover configured to receive a spring mounted on top of a valve stem. The valve stem includes a groove defined therein, the groove extending through an orifice and configured to selectively receive the locking tab therein. The locking tab has a keyhole defined therein, the keyhole comprising a first opening and a larger second opening. The proximal end of the drive rod is key-shaped and includes a first section at its closest end, the first section being configured to receive through an orifice of the valve stem, and a second section larger than the orifice, with a recess defined between the first and second sections. The first section extends through the orifice of the locking tongue, and the second section is pushed in to abut against the larger second orifice, so that the drive rod is positioned in the valve stem, and The drive rod can be disengaged from the housing by pulling the locking tab away from the housing to disengage the first orifice from the recess and aligning the first section with the orifice of the valve stem, thereby allowing the drive rod to be removed from the inner periphery of the valve stem.

2. The robotic surgical instrument according to claim 1, wherein, The spring assembly connects the drive rod to the at least one drive gear.

3. The robotic surgical instrument according to claim 2, wherein, The spring assembly includes a first hub connected to the at least one drive gear, a second hub connected to the drive rod, and a spring disposed between the first hub and the second hub.

4. The robotic surgical instrument according to claim 3, wherein, In the engaged position of the locking tab, the drive rod is connected to the second hub of the spring assembly, and in the disengaged position of the locking tab, the drive rod disengages from the second hub of the spring assembly.

5. The robotic surgical instrument according to claim 3, wherein, The spring is configured to adjust the force applied from the first hub to the second hub.

6. The robotic surgical instrument according to claim 3, wherein, The locking tongue is received in a groove associated with the at least one drive gear and includes a keyhole configured to receive a key of the drive rod, wherein the locking tongue is slidable within the groove between an engaged position in which the key engages with the keyhole and a disengaged position in which the key disengages from the keyhole.

7. The robotic surgical instrument according to claim 4, wherein, The locking tab can move from the engaging position away from the housing to the disengaged position.

8. The robotic surgical instrument according to claim 1, wherein, The end effector assembly includes a first jaw member and a second jaw member, and actuation of the end effector assembly includes movement of at least one of the first jaw member and the second jaw member relative to the other of the first jaw member and the second jaw member.

9. The robotic surgical instrument according to claim 8, wherein, At least one of the first jaw member and the second jaw member is adapted to be connected to an energy source for conducting energy through tissue clamped between the first jaw member and the second jaw member.

10. The robotic surgical instrument according to claim 1, wherein, The shaft includes a hinge portion configured to hinge the end effector assembly relative to the housing.

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