End effector assembly for surgical instruments

Abstract

A surgical end effector assembly includes a first jaw member and a second jaw member configured to grasp tissue. Each of the first jaw member and the second jaw member includes a proximal flange portion and a distal body portion. The proximal flange portions are pivotably coupled to one another to move the distal body portions between a spaced-apart position and an approximated position.

Description

Technical Field

[0001] The present disclosure relates to surgical instruments, and more particularly, to end effector assemblies for surgical instruments used, for example, in robotic surgical systems. Background Art

[0002] Surgical robotic systems are increasingly used in a 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 selectively mounted to the robotic arm. The robotic arm provides one or more inputs to the mounted surgical instrument to enable operation of the mounted surgical instrument.

[0003] Surgical forceps are instruments used with robotic surgical systems that rely on mechanical action between their jaw members to grasp, clamp, and constrict tissue. Electrosurgical forceps utilize mechanical clamping action and energy to heat tissue for processes such as coagulation, cauterization, or sealing. Typically, once the tissue has been processed, a cutting element is used to sever it. Summary of the Invention

[0004] As used herein, the term "distal" refers to the portion away 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," and the like are intended to account for manufacturing, material, environmental, usage, and / or measurement tolerances and variations, and in any case may encompass differences of up to 10%. In addition, any aspect described herein may be used in combination with any or all other aspects described herein to the extent consistent.

[0005] According to aspects of the present disclosure, there is provided an end effector assembly for a surgical instrument, comprising a first jaw member and a second jaw member, at least one of the first jaw member and the second jaw member being movable relative to the other between a spaced-apart position and an approximated position to grasp tissue between their opposing tissue contacting surfaces. Each of the first jaw member and the second jaw member comprises a proximal flange portion and a distal body portion, and each of the proximal flange portions comprises at least one pivot hole axially disposed rearwardly of the distal body portion of the second jaw member, the pivot holes being aligned to receive a pivot pin therethrough. The proximal flange portions are pivotally coupled to each other about the pivot pin.

[0006] In an aspect of the present disclosure, the proximal flange portion of the first jaw member includes a single flange defining a pivot aperture therethrough, and the proximal flange portion of the second jaw member includes a pair of spaced-apart flanges defining aligned pivot apertures therethrough. The single flange of the first jaw member is disposed between the pair of spaced-apart flanges of the second jaw member.

[0007] In another aspect of the present disclosure, the proximal flange portion of the first jaw member further includes a cam slot defined therethrough. The cam slot is configured to slidably receive a cam pin therein for transitioning the first and second jaw members between a spaced-apart position and an approximated position. The proximal flange portion of the first jaw member may include a lip extending around the cam slot. The lip may extend tangentially outward from a side surface of the plate-like flange of the proximal flange portion.

[0008] In yet another aspect of the present disclosure, the second jaw member includes an internal spacer disposed on a distal portion of the structural jaw and a conductive plate disposed on the internal spacer. The structural jaw includes a proximal portion forming a proximal flange portion of the second jaw member. The conductive plate can define a tissue contacting surface of the second jaw member, and the tissue contacting surface can define a longitudinally extending knife groove therethrough. The internal spacer can include a partially cylindrical cutout in communication with the longitudinally extending channel defined through the conductive plate. The partially cylindrical cutout can have a generally D-shaped configuration and can be open at a proximal end of the internal spacer to allow the blade and knife bar to be inserted therethrough.

[0009] In yet another aspect of the present disclosure, the internal spacer includes a wing extending from a side edge thereof in a spaced relationship relative to a side surface of the internal spacer. The wing of the internal spacer can be disposed between the structural jaws and the conductive plate, and the electrical lead can be attached to a portion of the conductive plate positioned above the wing.

[0010] In yet another aspect of the present disclosure, a first jaw member includes an internal spacer disposed on a distal portion of the structural jaw and a conductive plate disposed on the internal spacer. The structural jaw includes a proximal portion forming a proximal flange portion of the first jaw member. The conductive plate of the first jaw member may define a tissue-contacting surface of the first jaw member, and the tissue-contacting surface may define a longitudinally extending slit therethrough.

[0011] In yet another aspect of the present disclosure, the inner spacer of the first jaw member includes a wing-shaped portion extending from a side edge thereof in a spaced relationship relative to a side surface of the inner spacer. The wing-shaped portion of the inner spacer of the first jaw member can be disposed between the structural jaw and the conductive plate of the first jaw member, and the electrical lead can be attached to a portion of the conductive plate of the first jaw member positioned above the wing-shaped portion.

[0012] In another aspect of the present disclosure, the first jaw member includes an outer housing disposed about an inner spacer, a distal portion of the structural jaw, and a portion of a conductive plate. The outer housing of the first jaw member may include a plate extending over a portion of a proximal flange portion of the first and second jaw members.

[0013] A surgical instrument provided according to aspects of the present disclosure includes the end effector assembly described above and a shaft extending proximally from the end effector assembly. The shaft includes a distal segment within which a proximal flange portion of the end effector assembly is disposed. The surgical instrument may further include a housing extending proximally from the shaft. The housing may include an actuation assembly operably associated with the shaft and the end effector assembly. The actuation assembly may include a plurality of inputs configured to operably interface with a robotic surgical system.

[0014] Another end effector assembly of a surgical instrument provided according to aspects of the present disclosure includes a first jaw member pivotally coupled to a second jaw member. The first jaw member includes: a first structural jaw; a first internal spacer disposed on the first structural jaw, the first internal spacer including a first wing-shaped portion extending from a side edge thereof in a spaced relationship relative to a side surface of the first internal spacer; a first conductive plate disposed on the first internal spacer, the first conductive plate having a first tissue contacting surface, the first tissue contacting surface defining a first longitudinally extending knife groove therethrough; and a first outer shell disposed about the first internal spacer, a portion of the first structural jaw, and a portion of the first conductive plate.

[0015] In one aspect of the present disclosure, a first electrical lead is attached to a portion of the first electrically conductive plate positioned over the first wing of the first inner spacer.

[0016] In another aspect of the present disclosure, a second jaw includes: a second structural jaw; a second internal spacer disposed on the second structural jaw, the second internal spacer including a second wing-shaped portion extending from a side edge thereof in a relationship spaced apart relative to a side surface of the second internal spacer; a second conductive plate disposed on the second internal spacer, the second conductive plate having a second tissue contact surface, the second tissue contact surface defining a second longitudinally extending knife groove therethrough; and a second outer shell disposed around the second internal spacer, a portion of the second structural jaw, and a portion of the second conductive plate.

[0017] In yet another aspect of the present disclosure, a second electrical lead is attached to a portion of the second conductive plate positioned above the second wing of the second inner spacer.

[0018] In yet another aspect of the present disclosure, the second inner spacer includes a partially cylindrical cutout in communication with a second longitudinally extending knife slot defined through the second conductive plate. The partially cylindrical cutout may have a generally D-shaped configuration and may be open at a proximal end of the second inner spacer to allow insertion of a blade and knife bar therein.

[0019] In another aspect of the present disclosure, the distal portion of the first structure jaw, the first internal spacer, the first outer shell and the first conductive plate form a distal body portion of the first jaw member, and the proximal portion of the first structure jaw forms a proximal flange portion of the first jaw member.

[0020] In another aspect of the present disclosure, the distal portion of the second structural jaw, the second internal spacer, the second outer shell and the second conductive plate form a distal body portion of the second jaw member, and the proximal portion of the second structural jaw forms a proximal flange portion of the second jaw member.

[0021] In yet another aspect of the present disclosure, the proximal flange portions of the first and second jaw members are pivotally coupled to each other about a pivot pin. Each of the proximal flange portions may include at least one pivot hole axially disposed rearwardly of the distal body portion of the second jaw member, and the pivot holes may be aligned to receive the pivot pin therethrough.

[0022] In another aspect of the present disclosure, the proximal flange portion of the first jaw member includes a single flange defining a pivot aperture therethrough, and the proximal flange portion of the second jaw member includes a pair of spaced-apart flanges defining aligned pivot apertures therethrough. The single flange of the first jaw member is disposed between the pair of spaced-apart flanges of the second jaw member.

[0023] In one aspect of the present disclosure, the proximal flange portion of the first jaw member further includes a cam slot defined therethrough, the cam slot being configured to slidably receive the cam pin. The proximal flange portion of the first jaw member may include a lip extending around the cam slot. The lip may extend tangentially outward from a side surface of the plate-like flange of the proximal flange portion.

[0024] According to aspects of the present disclosure, a surgical instrument is provided that includes the end effector assembly described above and a shaft extending proximally from the end effector assembly. The shaft includes a distal segment, a proximal flange portion of the end effector assembly is disposed within the distal segment, and a first jaw member and a second jaw member are pivotally coupled to each other and to the distal segment of the shaft via a pivot pin extending through the proximal flange portion and the distal segment.

[0025] In one aspect of the present disclosure, the first outer housing of the first jaw member includes a plate extending over a portion of the proximal flange portions of the first and second jaw members.

[0026] In another aspect of the present disclosure, a housing extends proximally from the shaft. The housing includes an actuation assembly operably associated with the shaft and end effector assembly.

[0027] In yet another aspect of the present disclosure, the surgical instrument further includes a cam slot assembly including a cam slot defined in a proximal flange portion of at least one of the first jaw member or the second jaw member, a cam pin slidably received within the cam slot, and a cam lever coupled to the cam pin. The cam lever extends from the housing, through the shaft, and into the end effector assembly.

[0028] In yet another aspect of the present disclosure, the surgical instrument further includes a knife assembly including a blade coupled to a distal end of a knife lever, the knife lever extending from the housing, through the shaft, and into the end effector assembly.

[0029] In yet another aspect of the present disclosure, the actuation assembly includes a plurality of inputs configured to operably interface with a robotic surgical system. BRIEF DESCRIPTION OF DRAWINGS

[0030] Various aspects and features of the present disclosure are described below in the context of the following drawings, in which:

[0031] Figure 1 is a perspective view of a surgical instrument according to the present disclosure, the surgical instrument configured for mounting on a robotic arm of a robotic surgical system;

[0032] Figure 2 is Figure 1 is a rear perspective view of a proximal portion of the surgical instrument with an outer housing removed;

[0033] Figure 3 is Figure 1 is a perspective view of the first jaw member and the second jaw member of the surgical instrument;

[0034] Figure 4 is Figure 3 is a perspective view of the second jaw member;

[0035] Figure 5 is Figure 3 is a side perspective view of the first jaw member and the second jaw member of the surgical instrument with the end effector assembly detached therefrom; Figure 1 is a distal segment of the shaft of the surgical instrument;

[0036] Figure 6A and 6B is a side perspective view of a proximal flange portion of the first jaw member according to aspects of the present disclosure;

[0037] Figure 7 is Figure 4 is a side perspective view of the second jaw member with Figure 1 is a blade of the surgical instrument;

[0038] Figure 8A and 8B is Figure 1A perspective view of a knife assembly of a surgical instrument;

[0039] Figure 9A for Figure 4 a proximal end view of the second jaw member;

[0040] Figure 9B To follow Figure 9A The section line 9B-9B is taken Figure 9A a cross-sectional view of a second jaw member;

[0041] Figure 10A for Figure 9A a rear perspective view of an internal spacer of a second jaw member;

[0042] Figure 10B for Figure 9A a rear perspective view of the second jaw member showing the outer housing of the second jaw member removed;

[0043] Figure 11A for Figure 3 a side perspective view of an internal spacer of a first jaw member;

[0044] Figure 11B for Figure 3 a side perspective view of a first jaw member showing the outer housing of the first jaw member removed;

[0045] Figure 12A According to aspects of the present disclosure Figure 1 a side view of a first jaw member of a surgical instrument;

[0046] Figure 12B According to aspects of the present disclosure Figure 1 A perspective view of a first jaw member and a second jaw member of a surgical instrument; and

[0047] Figure 13 To be configured to releasably receive Figure 1 Schematic illustration of an exemplary robotic surgical system with surgical instruments. DETAILED DESCRIPTION

[0048] refer to Figure 1 and 2 The surgical instrument 10 provided in accordance with the present 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 operably associated with the shaft 30 and the end effector assembly 40. The surgical instrument 10 is described herein as being configured to be used with, for example, a robotic surgical system 500 ( Figure 13) for use with a robotic surgical system. However, the aspects and features of the surgical instrument 10 provided in accordance with the present disclosure, as described in detail below, are equally applicable for use with other suitable surgical instruments (including non-robotic surgical instruments) and / or in other suitable surgical systems (including non-robotic surgical systems).

[0049] The housing 20 of the surgical instrument 10 includes a first body portion 22a and a second body portion 22b and a proximal panel 24 ( Figure 2 ). The proximal panel 24 includes apertures defined therein through which the input ends 110, 120, 130, 140 of the actuation assembly 100 extend. A pair of latch levers 26 (at Figure 1 Only one of which is shown) extends outwardly from opposite sides of the housing 20 and enables the housing 20 to be connected to, for example, a robotic surgical system 500 ( Figure 13 ) is releasably engaged with a robotic arm of a surgical system of the type described herein. Aperture 28 defined through housing 20 allows thumbwheel 440 to extend therethrough to enable manual manipulation of thumbwheel 440 from outside of housing 20, thereby allowing manual opening and closing of end effector assembly 40.

[0050] The shaft 30 of the surgical instrument 10 includes a distal section 32 (e.g., a collar or a clevis), a proximal section 34, and an articulation section 36 disposed between the distal section 32 and the proximal section 34. The articulation section 36 includes one or more articulation components 37, such as links, joints, etc. A plurality of articulation cables 38 (e.g., four (4) articulation cables) or other suitable actuators extend through the articulation section 36. More specifically, the articulation 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 articulation section 36 and the proximal segment 34 of the shaft 30, and into the housing 20, wherein the articulation cable 38 is operably coupled to the articulation assembly 200 of the actuation assembly 100 to enable selective articulation of the distal segment 32 relative to the proximal segment 34 and the housing 20 (and thus to the end effector assembly 40), for example, about at least two articulation axes (e.g., yaw and pitch articulation). The articulation assembly 200 is operably coupled to the first input end 110 and the second input end 120 of the actuation assembly 100, respectively, and the articulation cable 38 ( Figure 1 ) so that upon receiving appropriate rotational input to the first input end 110 and / or the second input end 120, the articulation assembly 200 manipulates the cables 38 to articulate the end effector assembly 40 in a desired direction, such as to pitch and / or yaw the end effector assembly 40. The articulation cables 38 are arranged in a generally rectangular configuration, although other suitable configurations are also contemplated.

[0051] With respect to articulation of the end effector assembly 40 relative to the proximal segment 34 of the shaft 30, actuation of the articulation cables 38 is accomplished in pairs. More specifically, to pitch the end effector assembly 40, the upper pair of cables 38 is actuated in a similar manner, while the lower pair of cables 38 is actuated in a manner similar to each other but opposite to the upper pair of cables 38. With respect to yaw articulation, the right pair of cables 38 is actuated in a similar manner, while the left pair of cables 38 is actuated in a manner similar to each other but opposite to the right pair of cables 38.

[0052] refer to Figures 3 to 5 The end effector assembly 40 includes a first jaw member 42 and a second jaw member 44. Each of the first jaw member 42 and the second jaw member 44 includes a proximal flange portion 43a, 45a and a distal body portion 43b, 45b. The proximal flange portions 43a, 45a are pivotally connected around the pivot pin 60 ( Figure 1 ) are pivotally coupled to each other and via a cam groove assembly 62 ( Figure 5 ) are operably coupled to each other. The cam slot assembly 62 includes a cam pin 64 ( Figure 1 ), the cam slot 63 is defined in at least one of the proximal flange portions 43a, 45a of the first jaw member 42 and the second jaw member 44, respectively, to enable the first jaw member 42 to pivot relative to the second jaw member 44. Pivoting of the first jaw member 42 relative to the second jaw member 44 causes the distal body portions 43b, 45b to move between a spaced-apart position (e.g., an open position of the end effector assembly 40) and an approximated position (e.g., a closed position of the end effector assembly 40) for grasping tissue between the tissue contacting surfaces 46, 48 of the first jaw member 42 and the second jaw member 44, respectively. As an alternative to this unilateral configuration, a bilateral configuration can be provided whereby both the first jaw member 42 and the second jaw member 44 can pivot relative to each other and the distal segment 32 of the shaft 30.

[0053] like Figure 3 and 4 As seen in FIG. 1 , the proximal flange portion 43a of the first jaw member 42 has a single plate-like flange 50 defining a pivot hole 51 therethrough ( Figure 6A ) and an angled or curved cam slot 63 extending therethrough and along its length. The proximal flange portion 45a of the second jaw member 44 includes a pair of spaced-apart, plate-like flanges 52a, 52b defining aligned pivot apertures 53a, 53b, respectively, therethrough. The proximal flange portions 43a, 45a are configured such that the flange 50 of the first jaw member 42 can be positioned between the flanges 52a, 52b of the second jaw member 44, with the pivot aperture 51 of the first jaw member 42 aligned with the pivot apertures 53a, 53b of the second jaw member 44.

[0054] The pivot holes 53a, 53b of the second jaw member 44 are defined in a portion of the proximal flange portion 45a axially rearward of the distal body portion 45b to minimize the dead zone in the distal section 32 of the shaft 30 in which the proximal flange portions 43a, 45a are disposed. In various aspects, the pivot holes 53a, 53b of the second jaw member 44 are disposed in the lower half of the proximal flange portion 45a immediately rearward of the distal body portion 45b, and the pivot hole 51 of the proximal flange portion 43a of the first jaw member 42 is disposed in a position configured to align with the pivot holes 53a, 53b of the second jaw member 44 when the second jaw member 44 is received therebetween. The pivot pin 50( Figure 1 ) are inserted through the pivot holes 51, 53a, 53b and the pivot hole 31 defined by the distal section 32 of the shaft 30 to pivotally couple the first jaw member 42 and the second jaw member 44 to the shaft 30 and to each other.

[0055] Continue to refer Figure 5 The cam slot assembly 62 includes a cam rod 66 having a distal end portion 66a coupled to a block 68 and a cam pin 64 extending outwardly from opposite lateral sides of the block 68. The block 68 defines an annular cutout 69 configured to receive the pivot pin 60 ( Figure 1 ). Thus, the annular cutout 69 allows the cam rod 66 to fully translate distally without interference from the pivot pin 60. A first end of the cam pin 64 is received in the linear cam slot 33 of the distal section 32 of the shaft 30 to guide and support the linear movement of the cam rod 66, while a second end (not explicitly shown) of the cam pin 64 is received in the cam slot 63 of the proximal flange portion 43a of the first jaw member 42.

[0056] The cam slot 63 in the proximal flange portion 43a of the first jaw member 42 is shaped so that advancement (e.g., distal translation) of the cam rod 66 relative to the proximal flange portion 43a causes the cam pin 64 to distally traverse the cam slot 63 and drive the first jaw member 42 to pivot away from the second jaw member 44 to transition the end effector assembly 40 from the closed position to the open position. Similarly, retraction (e.g., proximal translation) of the cam rod 66 relative to the proximal flange portion 43a causes the cam pin 64 to proximally traverse the cam slot 63 and drive the first jaw member 42 to pivot toward the second jaw member 44 to transition the end effector assembly 40 from the open position to the closed position for grasping tissue between the tissue contacting surfaces 46, 48. Alternatively, the cam rod 66 can be moved distally to transition the end effector assembly 40 to the closed position and moved proximally to transition the end effector assembly 40 to the open position.

[0057] The cam bar 66 extends proximally from the end effector assembly 40 through the shaft assembly 30 and into the housing 20, where the cam bar 66 is operably coupled with a jaw drive assembly 400 of the actuation assembly 100 Figure 2 ) to enable selective actuation of the end effector assembly 40. The jaw drive assembly 400 is operably coupled between the fourth input 140 of the actuation assembly 100 and the cam bar 66 so as to, upon receipt of an appropriate rotational input to the fourth input 140, cause the first and second jaw members 42, 44 to pivot between open and closed positions to grasp tissue therebetween and apply a closing force within an appropriate closing force range.

[0058] In aspects, as shown in Figure 6A and 6B , the proximal flange portion 43a of the first jaw member 42 includes a lip 41 extending around the cam slot 63. The lip 41 extends tangentially outward from the side surfaces of the proximal flange portion 43a around the entire cam slot 63 to increase cam slot strength and / or reduce cam slot stress, e.g., if the proximal flange portion 43a has a thin-walled construction and / or the first and second jaw members 42, 44 are exposed to heavy loads. However, the lip 41 can have other configurations. For example, the lip 41 can be discontinuous and extend along opposite sides and / or ends of the cam slot 63, e.g., around a proximal end portion of the cam slot 63 (or a distal end portion of the cam slot 63 in aspects where the cam bar 66 is moved distally for closing the first and second jaw members 42, 44) in unison with closure of the first and second jaw members 42, 44. As another example, the lip 41 can extend outward from both side surfaces of the proximal flange portion 43a.

[0059] Turning again to Figure 3 and 4 , the distal body portions 43b, 45b of the first and second jaw members 42, 44, respectively, define opposing tissue contact surfaces 46, 48. The tissue contact surfaces 46, 48 are at least partially formed of an electrically conductive material and can be energized to different potentials to enable the conduction of electrical energy through tissue grasped therebetween, but the tissue contact surfaces 46, 48 can alternatively be configured to provide any suitable energy, e.g., heat, microwave, light, ultrasound, etc., through tissue grasped therebetween for energy-based tissue treatment. The surgical instrument 10 ( Figure 1) define an electrically conductive path (not shown) through the housing 20 and the shaft 30 to the end effector assembly 40, which includes electrical leads 99a, 99b, contacts and / or conductive components to enable the tissue contact surfaces 46, 48 of the first and second jaw members 42, 44 to be electrically connected to an energy source (not shown), such as an electrosurgical generator, via an electrosurgical cable extending therebetween for supplying energy to the tissue contact surfaces 46, 48 to treat, e.g., seal, tissue grasped between the tissue contact surfaces 46, 48.

[0060] The tissue contact surfaces 46, 48 each define a longitudinally extending knife slot 47 (only the knife slot 47 of the second jaw member 44 is clearly seen in Figure 4 FIG. 4). As shown in Figures 7 to 8B FIG. 4, a knife assembly 80 is provided that includes a knife bar 82 and a blade 84 secured or otherwise coupled to a distal end of the knife bar 82. The knife assembly 80 is capable of cutting tissue grasped between the tissue contact surfaces 46, 48 of the first and second jaw members 42, 44, respectively. A collar 86 is engageable about a distal portion of the knife bar 82 and securable within a slot 83 defined within a proximal portion of the blade 84 to securely engage the knife bar 82 with the blade 84 such that actuation of the knife bar 82 reciprocates the blade 84 between the first and second jaw members 42, 44 to cut tissue grasped between the tissue contact surfaces 46, 48. The knife bar 82 and the collar 86 are offset relative to the blade 84 such that the knife bar 82 and the collar 86 protrude further (or completely) from one side of the blade 84 and less (or not at all) from the other side.

[0061] The knife bar 82 extends from the housing 20 Figure 1 through the shaft 30 to the end effector assembly 40. The knife bar 82 is operably coupled to a knife drive assembly 300 Figure 2 of the actuation assembly 100 for selectively actuating the knife assembly 80 to reciprocate the blade 84 through the first and second jaw members 42, 44. The knife drive assembly 300 Figure 2 is operably coupled between the knife bar 82 of the knife assembly 80 and the third input 130 of the actuation assembly 100 such that upon receipt of an appropriate rotational input to the third input 130, the knife drive assembly 300 manipulates the knife bar 82 to reciprocate the blade 84 between the first and second jaw members 42, 44 to thereby cut tissue grasped between the tissue contact surfaces 46, 48.

[0062] Turning now to Figure 9A, a second jaw member 44 is shown. As mentioned above, the second jaw member 44 includes a proximal flange portion 45a and a distal body portion 45b. More specifically, the second jaw member 44 includes a structural jaw 49a, an internal spacer 49b (e.g., an insulating spacer), an outer shell 49c, and a conductive plate 49d that defines a tissue contact surface 48. It should be understood that the first jaw member 42 is configured similarly to the second jaw member 44 and includes similar components (e.g., a structural jaw, an internal spacer, an outer shell, and a conductive plate).

[0063] The structural jaw 49a provides structural support for the second jaw member 44 and includes a distal portion that supports components of the distal body portion 45b of the second jaw member 44 and a proximal portion that extends proximally from the distal body portion 45b to form a proximal flange portion 45a of the second jaw member 44. The distal portion of the structural jaw 49a, together with an internal spacer 49b, an outer shell 49c, and a conductive plate 49d, forms the distal body portion 45b of the second jaw member 44. The internal spacer 49b is disposed on the distal portion of the structural jaw 49a, the conductive plate 49d is disposed on the internal spacer 49b, and the outer shell 49c is disposed around the internal spacer 49b, the distal portion of the structural jaw 49a, and a portion of the conductive plate 49d to secure these components to one another, for example, by overmolding, although other configurations are also contemplated.

[0064] The longitudinally extending channel 47 of the second jaw member 44 is formed by cooperating channel portions defined within the conductive plate 49d and the internal spacer 49b. The internal spacer 49b also includes a partially cylindrical cutout 55 that communicates with the longitudinally extending channel 47. The cutout 55 has a generally D-shaped configuration and opens at the proximal end of the distal body portion 45b of the second jaw member 44 to allow the blade 84 and the knife bar 82 and the collar 86 ( Figure 8B ) is inserted into it. Figure 9B As shown in FIG, the cutout 55 has an angled distal end 55a that tapers laterally inwardly toward the longitudinally extending channel 47 to prevent tissue from entering the second jaw member 44 (e.g., by pushing or ejecting tissue from the longitudinally extending channel 47 when the blade 84 is deployed). It should be understood that the cutout 55 can have other shapes depending on, for example, the knife assembly 80 ( Figure 8A ) configuration.

[0065] like Figure 10A and 10B As shown in Figure 9AThe inner spacer 49b of the second jaw member 44 includes a wing 90 extending from its side edge 57a. The wing 90 extends downward from the side edge 57a of the top surface 57b on which the conductive plate 49d is disposed, such that the wing 90 is spaced relative to the side surface 57c of the inner spacer 49b. The gap "G1" defined between the wing 90 and the inner spacer 49b is sized and shaped to accommodate the structural jaw 49a therein, thereby separating the structural jaw 49a from the conductive plate 49d. Electrical leads 99a, which electrically connect the tissue-contacting surface 48 to an energy source (not shown), are attached to the portion of the conductive plate 49d that extends above the wing 90. The wing 90 extends from a portion of the inner spacer 49b that covers and insulates the attachment location (e.g., a wire bonding strap) of the electrical leads 99a to the conductive plate 49d.

[0066] like Figure 11A and 11B As shown in FIG, the inner spacer 49b' of the first jaw member 42 similarly includes a wing 90' extending from its side edge 57a'. The wing 90' extends downwardly from the side edge 57a' of the top surface 57b' on which the conductive plate 49d' is disposed, such that the wing 90' is spaced relative to the side surface 57c' of the inner spacer 49b'. The gap "G2" defined between the wing 90' and the inner spacer 49b' is sized and shaped to accommodate the structural jaw 49a' therein, thereby separating the structural jaw 49a' from the conductive plate 49d'. Electrical leads 99b, which electrically connect the tissue contacting surface 46 to an energy source (not shown), are attached to the portion of the conductive plate 49d' that extends above the wing 90'. The wing 90' extends from a portion of the interior spacer 49b' that covers and insulates the attachment location (eg, wire bond strap) of the electrical lead 99b to the conductive plate 49d'.

[0067] like Figure 12A and 12B , the first jaw member 42 may further include a plate 92 extending over the gap "G" defined between the distal segment 32 of the shaft 30 and the distal body portion 43b of the first jaw member 42. The plate 92 covers the gap "G" and, therefore, covers the proximal flange portions 43a, 45a of the first and second jaw members 42, 44 and the blade 84, thereby minimizing tissue accumulation that may otherwise occur in the gap "G" and reducing pinch points between the first and second jaw members 42, 44. The plate 92 may be coupled to or integrally formed with the outer housing 49c of the first jaw member 42, for example, via overmolding, although other configurations are also contemplated.

[0068] Now turn Figure 13The robotic surgical system 500 is configured for use in accordance with the present disclosure. Aspects and features of the robotic surgical system 500 that are not closely related to the understanding of the present disclosure are omitted in order to avoid obscuring the aspects and features of the present disclosure in unnecessary detail.

[0069] The robotic surgical system 500 generally comprises a plurality of mechanical arms 502, 503; a control device 504; and an operating console 505 coupled to the control device 504. The operating console 505 can comprise a display device 506, which can be specifically arranged to display three-dimensional images; and manual input devices 507, 508, by means of which a person, such as a surgeon, can remotely manipulate the mechanical arms 502, 503 in a first operating mode. The robotic surgical system 500 can be configured for a patient 513 to be treated in a minimally invasive manner, who lies on a patient table 512. The robotic surgical system 500 can further comprise a database 514, in particular coupled to the control device 504, in which preoperative data and / or anatomical maps, for example from the patient 513, are stored.

[0070] Each of the mechanical arms 502, 503 can comprise a plurality of members connected by joints, and can be a mounting device for a surgical tool "ST". One or more of the surgical tools "ST" can be the surgical instrument 10 Figure 1 ), so that this functionality is provided on the robotic surgical system 500.

[0071] In particular, the actuation assembly 100 Figure 2 ) is configured to operably interface with the robotic surgical system 500 to enable robotic operation of the actuation assembly 100 when the surgical instrument 10 is mounted on the robotic surgical system 500. That is, the robotic surgical system 500 selectively provides rotational inputs to the inputs 110, 120, 130, 140 of the actuation assembly 100 to articulate the end effector assembly 40, grasp tissue between the first jaw member 42 and the second jaw member 44, and / or cut the grasped tissue between the first jaw member 42 and the second jaw member 44.

[0072] The mechanical arms 502, 503 can be driven by electric drives, such as electric motors, connected to the control device 504. The control device 504, for example a computer, can be configured to activate the electric motors, in particular by means of a computer program, in such a way that the mechanical arms 502, 503, and thus the surgical tools "ST" mounted thereon, respectively perform desired movements and / or functions in accordance with corresponding inputs from the manual input devices 507, 508. The control device 504 can also be configured in such a way that it regulates the movements of the mechanical arms 502, 503 and / or the electric motors.

[0073] It should be understood that various modifications may be made to the aspects and features disclosed herein. Therefore, the above description should not be interpreted as limiting, but merely as an example of various aspects and features. Those skilled in the art will envision other modifications within the scope and spirit of the claims appended hereto.

Claims

1. An end effector assembly of a surgical instrument, comprising: A first jaw member, the first jaw member comprising: First structure clamping jaw; a first inner spacer disposed on the first structural jaw, the first inner spacer including a first wing-shaped portion extending from a side edge of the first inner spacer in spaced relation relative to a side surface of the first inner spacer to define a gap therebetween; a first conductive plate disposed on the first inner spacer, the first conductive plate having a first tissue contacting surface defining a first longitudinally extending slit therethrough, wherein the gap is configured to receive the first structural jaw therein to separate the first structural jaw from the first conductive plate; a first electrical lead attached to a portion of the first electrically conductive plate positioned above the first wing of the first inner spacer; and a first outer shell disposed around the first inner spacer, a portion of the first structural jaw, and a portion of the first conductive plate; as well as A second jaw member is pivotally coupled to the first jaw member.

2. The end effector assembly of claim 1 , wherein the second jaw member comprises: Second structure clamping jaw; a second inner spacer disposed on the second structural jaw, the second inner spacer including a second wing-shaped portion extending from a side edge of the second inner spacer in spaced relation relative to a side surface of the second inner spacer; a second electrically conductive plate disposed on the second inner spacer, the second electrically conductive plate having a second tissue contacting surface defining a second longitudinally extending slit therethrough; and A second outer shell is disposed around the second inner spacer, a portion of the second structural jaw, and a portion of the second conductive plate. 3 . The end effector assembly of claim 2 , further comprising a second electrical lead attached to a portion of the second conductive plate positioned above the second wing of the second inner spacer. 4 . The end effector assembly of claim 2 , wherein the second inner spacer includes a partially cylindrical cutout in communication with the second longitudinally extending slit defined through the second conductive plate.

5. The end effector assembly of claim 4, wherein the partially cylindrical cutout has a generally D-shaped configuration and is open at a proximal end of the second inner spacer to allow a blade and a knife bar to be inserted therein.

6. The end effector assembly of claim 2 , wherein the distal portion of the first structural jaw, the first internal spacer, the first outer shell, and the first conductive plate form a distal body portion of the first jaw member, and the proximal portion of the first structural jaw forms a proximal flange portion of the first jaw member.

7. The end effector assembly of claim 6 , wherein the distal portion of the second structural jaw, the second internal spacer, the second outer shell, and the second conductive plate form a distal body portion of the second jaw member, and the proximal portion of the second structural jaw forms a proximal flange portion of the second jaw member.

8. The end effector assembly of claim 7, wherein the proximal flange portion of the first jaw member and the proximal flange portion of the second jaw member are pivotally coupled to each other about a pivot pin.

9. The end effector assembly of claim 8 , wherein each of the proximal flange portion of the first jaw member and the proximal flange portion of the second jaw member includes at least one pivot hole axially disposed behind the distal body portion of the second jaw member, the pivot hole being aligned for receiving the pivot pin therethrough.

10. An end effector assembly according to claim 9, wherein the proximal flange portion of the first jaw member includes a single flange defining a pivot hole therethrough, and the proximal flange portion of the second jaw member includes a pair of spaced-apart flanges defining aligned pivot holes therethrough, the single flange of the first jaw member being disposed between the pair of spaced-apart flanges of the second jaw member.

11. The end effector assembly of claim 6, wherein the proximal flange portion of the first jaw member further comprises a cam slot defined therethrough, the cam slot being configured to slidably receive a cam pin.

12. The end effector assembly of claim 11, wherein the proximal flange portion of the first jaw member includes a lip extending around the cam slot.

13. The end effector assembly of claim 12, wherein the lip extends tangentially outward from a side surface of the plate-like flange of the proximal flange portion.

14. A surgical instrument comprising: The end effector assembly according to any one of claims 1 to 13, comprising: A first jaw member, the first jaw member comprising: First structure clamping jaw; a first inner spacer disposed on the first structural jaw, the first inner spacer including a first wing-shaped portion extending from a side edge of the first inner spacer in spaced relation relative to a side surface of the first inner spacer; a first electrically conductive plate disposed on the first inner spacer, the first electrically conductive plate having a first tissue contacting surface defining a first longitudinally extending slit therethrough; and a first outer shell disposed around the first inner spacer, a portion of the first structural jaw, and a portion of the first conductive plate; and a second jaw member pivotally coupled to the first jaw member; and A shaft extends proximally from the end effector assembly, the shaft including a distal segment, a proximal flange portion of the end effector assembly being disposed within the distal segment, the first jaw member and the second jaw member being pivotally coupled to each other and the distal segment of the shaft via a pivot pin extending through the proximal flange portion and the distal segment.

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