Pivot joint for surgical cutting device and system thereof

Abstract

The invention relates to a surgical robotic system with surgical scissors. In some embodiments, the surgical scissors include independently actuatable cutting members, where each cutting member is configured to rotate about an axis of a pin to perform a cutting operation. In some embodiments, the surgical scissors include an integrated spring. In some embodiments, the surgical scissors include cutting members configured to rotate about one or more axes while being constrained from rotating about another axis. In some embodiments, the surgical scissors include a plurality of curvatures, where one or more curvatures may maintain an opening angle of the scissors.

Description

[0001] Cross - Reference to Related Applications

[0002] This application claims the benefit of U.S. Provisional Application No. 63 / 380,201, filed on October 19, 2022, the content of which is hereby incorporated by reference in its entirety. Technical Field

[0003] This application generally relates to surgical robotic systems, such as end effectors with spring - based scissor blades for surgical instruments. Background Art

[0004] Surgical scissors are generally used to cut body tissue during a surgical procedure by bringing the cutting edges of the blades of the surgical scissors together. The cutting edges can be brought together by rotating the blades about a rotational axis. However, typical surgical scissors often experience a change in the shear angle, resulting in uneven or ineffective cutting.

[0005] In addition, surgical scissors used in traditional laparoscopic surgery typically have tabs that extend proximally away from the pivot point of the surgical scissors and are proximal to the cutting blades. These tabs curve towards each other such that when held together, the tabs act as a spring, thereby providing a reaction force for the blades. While manual full - size scissors typically have a gentle curvature of the blades that can be used to provide a reaction force, this is not possible in surgical scissors because surgical scissors do not have sufficient length for the gentle curve used in manual scissors. Additionally, it may not be desirable to design robotic surgical scissors in the same way as laparoscopic scissors because such tabs would elongate the instrument tip and reduce dexterity.

[0006] Accordingly, the blades of some surgical scissor assemblies do not cut effectively, and for some other surgical scissor assemblies, the blades may cut unevenly due to the varying shear angle. Thus, there is a need for improved surgical scissors for use in robotic surgery. Summary of the Invention

[0007] This disclosure generally relates to systems, devices, and methods for providing an apparatus for use with a surgical instrument, such as a cutting end effector for use with a surgical instrument.

[0008] In some embodiments, a device may include a first cutting member and a second cutting member, wherein each of the first cutting member and the second cutting member has a cutting edge and a mounting end defining an oval opening. A pin may extend through the oval openings of each of the mounting ends of the first cutting member and the second cutting member. Each of the first cutting member and the second cutting member may be configured to rotate independently about a first axis defined by the pin and a second axis perpendicular to the first axis, while being constrained from rotating about a third axis perpendicular to the first axis and the second axis, such that the shear angle between the first cutting edge and the second cutting edge of the first cutting member and the second cutting member may remain constant. In some embodiments, the shear angle may be between about 160 degrees and about 180 degrees. Each of the first cutting member and the second cutting member may have a curved section. The cutting edge of the first cutting member may contact the cutting edge of the second cutting member at a contact point that translates along the respective cutting edge when one or more of the first cutting member and the second cutting member rotate about the first axis. In some embodiments, the first cutting member and the second cutting member may be configured to translate along the first axis.

[0009] Each oval opening may have a first lateral dimension that is less than a second lateral dimension. The second axis may be parallel to the first lateral dimension. The first lateral dimension may be substantially equal to the outer diameter of the pin. Each of the mounting ends of the first cutting member and the second cutting member may further define a circular opening connected to the oval opening. The pin may be configured to extend through the circular opening and the oval opening of each of the mounting ends of the first cutting member and the second cutting member. In some embodiments, the first lateral dimension of the oval opening may be substantially equal to the diameter of the circular opening. The first lateral dimension of the oval opening and the diameter of the circular opening may be substantially equal to the outer diameter of the pin. The oval openings may be provided on the inner sides of the first cutting member and the second cutting member facing each other, and the circular openings may be provided on the outer sides of the first cutting member and the second cutting member.

[0010] The device may further include a first spring coupled to the first cutting member and a second spring coupled to the second cutting member. The first spring and the second spring may be configured to press the first cutting member and the second cutting member against each other. Each of the first spring and the second spring may include a Belleville spring. Each of the first spring and the second spring may be configured to allow the respective cutting member of the first cutting member and the second cutting member to translate along the first axis.

[0011] In some embodiments, a device may include: a first cutting member including a first cutting edge and a first mounting end defining a first elliptical opening; a second cutting member including a second cutting edge and a second mounting end defining a second elliptical opening that is aligned with the first elliptical opening; and a cylindrical pin defining an x-axis. The cylindrical pin may extend through the first elliptical opening and the second elliptical opening. Each of the first elliptical opening and the second elliptical opening may include a first lateral dimension that is substantially equal to the diameter of the cylindrical pin and a second lateral dimension that is greater than the diameter of the cylindrical pin. Each of the first cutting member and the second cutting member is configured to (1) rotate independently about the x-axis and about a z-axis parallel to the first lateral dimension of the first elliptical opening and the second elliptical opening, and (2) translate independently along the x-axis while being constrained from rotating about a y-axis perpendicular to the x-axis and the z-axis. The ratio of the first lateral dimension to the second lateral dimension of the first elongated opening and the second elongated opening may be configured to allow rotation about the z-axis to accommodate translation of the contact point between the first cutting member and the second cutting member.

[0012] Each of the first cutting member and the second cutting member may have a curved section. Each of the first cutting member and the second cutting member may be configured to rotate about one or more of the x-axis and the z-axis and translate along the x-axis simultaneously. The first cutting member contacts the second cutting member at a contact point that translates along the first cutting edge and the second cutting edge when one or both of the first cutting member and the second cutting member rotate about the x-axis. In some embodiments, this may be facilitated by rotation of one or both of the first cutting member and the second cutting member about the z-axis.

[0013] The device may further include a first spring coupled to the first cutting member and a second spring coupled to the second cutting member. The first spring and the second spring may be configured to bias the first cutting member and the second cutting member against each other. Each of the first spring and the second spring may include a Belleville spring.

[0014] In some embodiments, a device may include a first cutting member and a second cutting member, wherein each of the first cutting member and the second cutting member may include a cutting edge, a coupled proximal end, and a free distal end, and a pin that extends through the coupled proximal end of each of the first cutting member and the second cutting member such that each of the first cutting member and the second cutting member may be configured to rotate independently about an axis of the pin. The cutting edge of each of the first cutting member and the second cutting member may have a proximal portion and a distal portion, the proximal portion including a curvature having a first radius of curvature and the distal portion including a curvature having a second radius of curvature that is less than the first radius of curvature. Thus, when the free distal ends of the first cutting member and the second cutting member are rotated toward each other to form an incision in a cutting plane, the opening angle between the cutting edges of each of the first cutting member and the second cutting member may remain constant. The opening angle may be between about 30 degrees and about 40 degrees, for example throughout the cutting range.

[0015] The distal portion of each of the first cutting member and the second cutting member may account for about 25% to about 40% of the length of the respective first cutting member or second cutting member. The distal portion of each of the first cutting member and the second cutting member may include the free distal end of the respective first cutting member or second cutting member. The curvature of each of the proximal portion and the distal portion may curve in a direction away from the cutting plane. The curvature of each of the proximal portion and the distal portion may be a first curvature, and each of the proximal portion and the distal portion may include a second curvature in a direction parallel to the cutting plane.

[0016] In some embodiments, the device may include a first spring coupled to the first cutting member and a second spring coupled to the second cutting member. The first spring and the second spring may be configured to press the first cutting member and the second cutting member against each other. Each of the first spring and the second spring may include a Belleville spring.

[0017] The coupled proximal end of each of the first cutting member and the second cutting member may define an oval opening. The pin may extend through the oval opening. The oval opening may have a first lateral dimension that may be less than a second lateral dimension. The first lateral dimension may be substantially equal to the outer diameter of the pin. The axis of the pin may be a first axis, and each of the first cutting member and the second cutting member may be configured to rotate independently about the first axis and a second axis perpendicular to the first axis while being constrained from rotating about a third axis perpendicular to the first axis and the second axis such that the shear angle between the cutting edges of each of the first cutting member and the second cutting member may remain constant. The shear angle may be between about 160 degrees and about 180 degrees.

[0018] According to an embodiment, the device described herein may provide a constant cutting angle. The device may include a first cutting member and a second cutting member that form a cutting angle during cutting. The cutting angle may be defined at the point of contact of the cutting edges of the cutting members. The curvature of one of the cutting members (e.g., the first cutting member) may be a predetermined curvature, while the curvature of the other cutting member (e.g., the second cutting member) may be defined based on the predetermined curvature of the first cutting member so as to maintain a constant cutting angle between the respective cutting edges of the first cutting member and the second cutting member. In an embodiment, the cutting edge of the first cutting member has a constant radius of curvature in the xy plane (e.g., the cutting plane), while the cutting edge of the second cutting member has portions each having a radius of curvature selected so as to maintain a constant cutting angle between the respective cutting edges of the first cutting member and the second cutting member. The cutting edge of the second cutting member includes at least two portions, which are referred to as a proximal portion and a distal portion, each portion having a determined radius of curvature. The number of portions may be selected so as to maintain the cutting angle constant (or substantially constant) as the first cutting member and the second cutting member rotate towards each other. In some embodiments, the number of portions may be between 1 and 10 portions, including all values and subranges therebetween. Thus, when the free distal ends of the first cutting member and the second cutting member can rotate towards each other to form an incision in the cutting plane, the cutting angle between the cutting edges of each of the first cutting member and the second cutting member may be maintained constant. The cutting angle may be between about 1 degree and about 5 degrees, including all values and subranges therebetween.

[0019] In some embodiments, the end effector may include a first scissor blade having a first mounting body and a first blade, the first mounting body being configured to be actuated to rotate the first scissor blade about an axis of the end effector, the first blade having a first root portion coupled to the first mounting body and a first cutting portion extending distally from the first root portion. The first root portion may include a first spring formed integrally with the first blade. Additionally, the end effector may include a second scissor blade having a second mounting body and a second blade, the second mounting body being configured to be actuated to rotate the second scissor blade about the axis of the end effector, the second blade having a second root portion coupled to the second mounting body and a second cutting portion extending distally from the second root. The second root may also include a second spring formed integrally with the second blade. Further, the first mounting body and the second mounting body are configured to be actuated independently such that actuation of the first mounting body and the second mounting body in opposite directions causes actuation of the first scissor blade and the second scissor blade in the open and closed degrees of freedom.

[0020] At least one of the first spring and the second spring may include a U-shaped spring, and the first blade and the second blade may have a predetermined curvature. The first spring and the second spring may not extend proximally beyond the axis of the end effector. Additionally, the first spring and the second spring are configured to provide a relatively consistent reaction force between the first blade and the second blade in the opening and closing degrees of freedom. The first mounting body may be formed integrally with the first blade, and the second mounting body may be formed integrally with the second blade. Actuation of the first mounting body and the second mounting body in the same direction may result in actuation of the first scissor blade and the second scissor blade in the pitch degree of freedom.

[0021] The second mounting body may be concentrically aligned with the first mounting body. Additionally, the first mounting body and the second mounting body may be configured to be actuated independently via a first force transmission element and a second force transmission element, respectively. For example, the first force transmission element and the second force transmission element may be cables. The first mounting body may have a first groove sized and shaped to receive the first force transmission element, and the second mounting body may have a second groove sized and shaped to receive the second force transmission element. Additionally, the first mounting body may include a first clamp configured to secure the first force transmission element to the first groove, and the second mounting body may include a second clamp configured to secure the second force transmission element to the second groove. The end effector may further include a frame having a proximal region and a distal region, the frame being configured to rotatably receive the first mounting body and the second mounting body. The frame may include a pin configured to permit rotation of the first mounting body and the second mounting body about the axis of the end effector. Additionally, the proximal region of the frame may be configured to be actuated to result in actuation of the first scissor blade and the second scissor blade in the yaw degree of freedom.

[0022] In some embodiments, the proximal portion of the end effector may include one or more bumps sized and shaped to be received by one or more corresponding openings provided in a distal region of an instrument shaft of a surgical instrument, the distal region of the instrument shaft including flexible flaps configured to secure the one or more bumps within the one or more corresponding openings, thereby securing the end effector to the instrument shaft. The one or more bumps include a geometry such that movement of the one or more bumps proximally relative to the flexible flaps causes the flexible flaps to transition between a radially expanded state and a collapsed state, in the radially expanded state, the one or more bumps being permitted to move towards one or more corresponding grooves, and in the collapsed state, the flexible flaps securing the one or more bumps within the one or more corresponding grooves.

[0023] Accordingly, an end effector for use with a surgical instrument may include a pair of scissor blades that are capable of being actuated independently, each scissor blade including a mounting body and a blade, the mounting body being configured to be actuated to rotate a respective one of the pair of scissor blades that are capable of being actuated independently about an axis of the mounting body, the blade including a root portion coupled to the mounting body and a cutting portion extending distally from the root portion. The root portion may include a spring integrally formed with the blade, the spring being configured to provide a relatively consistent reaction force between the pair of scissor blades that are capable of being actuated independently when the pair of scissor blades that are capable of being actuated independently are actuated. Accordingly, actuation of the pair of scissor blades that are capable of being actuated independently in opposite directions causes actuation of the blades in the pair of scissor blades that are capable of being actuated independently in the opening and closing degrees of freedom.

[0024] According to another aspect of the present invention, a method for actuating an end effector of a surgical instrument is provided. The method may include: rotating a first mounting body of a first scissor blade of the end effector to actuate a first blade extending from the first mounting body via a first root portion, the first root portion including a first U-shaped spring integrally formed with the first blade; and rotating a second mounting body of a second scissor blade of the end effector to actuate a second blade extending from the second mounting body via a second root portion, the second root portion including a second U-shaped spring integrally formed with the second blade, wherein rotation of the first mounting body and the second mounting body in opposite directions causes actuation of the first scissor blade and the second scissor blade in the opening and closing degrees of freedom such that the first U-shaped spring and the second U-shaped spring provide a relatively consistent reaction force between the first blade and the second blade.

[0025] According to another aspect of the present disclosure, there is provided a surgical instrument having the end effector and a surgical robot system having the surgical instrument. For example, the instrument shaft of the surgical instrument may include one or more openings disposed on a distal region of the instrument shaft, and one or more flexible flaps distal to the one or more openings such that the one or more flexible flaps extend from a distal end of the instrument shaft toward the one or more openings. The surgical instrument may further include an end effector configured to be removably coupled to the distal region of the instrument shaft such that a proximal portion of the end effector may include one or more bumps sized and shaped to be received by the one or more openings of the instrument shaft. Additionally, the one or more bumps may have a geometry such that movement of the one or more bumps proximally relative to the one or more flexible flaps causes the one or more flexible flaps to transition between a radially expanded state and a collapsed state, in the radially expanded state, the one or more bumps are permitted to move toward the one or more openings, and in the collapsed state, the one or more flexible flaps secure the one or more bumps within the one or more openings, thereby securing the end effector to the instrument shaft.

[0026] Additionally, the instrument shaft may include one or more openings disposed on a proximal region of the instrument shaft, and one or more flexible flaps proximal to the one or more openings. The one or more flexible flaps may extend from a proximal end of the instrument shaft toward the one or more openings at the proximal region of the instrument shaft. Accordingly, the system may further include an instrument hub configured to be removably coupled to the proximal region of the instrument shaft such that the instrument hub may include one or more hub bumps sized and shaped to be received by the one or more openings at the proximal region of the instrument shaft. Additionally, the one or more hub bumps of the instrument hub include a geometry such that movement of the one or more hub bumps distally relative to the one or more flexible flaps causes the one or more flexible flaps to transition between a radially expanded state and a collapsed state, in the radially expanded state, the one or more hub bumps are permitted to move toward the one or more openings, and in the collapsed state, the one or more flexible flaps secure the one or more hub bumps within the one or more openings, thereby securing the instrument hub to the instrument shaft. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] Figure 1 A surgical robot system according to an embodiment is schematically depicted.

[0028] Figure 2 A manipulator of a surgical robot system according to an embodiment is schematically depicted.

[0029] Figure 3 Schematically depicted according to an embodimentFigure 2 The instrument of the surgical robot system.

[0030] Figure 4 Schematically depicts an Figure 3 end effector of the instrument according to an embodiment.

[0031] Figure 5 Depicts a surgical robot system according to an embodiment.

[0032] Figure 6 Depicts a detailed view of the instrument connection of a surgical robot system according to an embodiment.

[0033] Figure 7 Depicts a surgical instrument of a surgical robot system according to an embodiment.

[0034] Figure 8A Depicts an Figure 7 end effector of a surgical instrument according to an embodiment in perspective view. Figure 8B Depicts an Figure 7 end effector of a surgical instrument according to an embodiment in top view. Figure 8C Depicts a Figure 7 first cutting portion of an end effector of a surgical instrument according to an embodiment.

[0035] Figure 9A and Figure 9B Depicts a Figure 8A and Figure 8B cross-sectional view of an end effector according to an embodiment.

[0036] Figures 10A to 10C Depicts the actuation of an end effector about a rotational axis according to an embodiment.

[0037] Figure 11A Depicts a coupling mechanism for coupling an end effector to a surgical instrument shaft according to an embodiment. Figure 11B Depicts a Figure 11A coupling mechanism according to an embodiment. Figure 11C Depicts Figure 11A and Figure 11B proximal end of a surgical instrument shaft.

[0038] Figure 12 Depicts a variant of a surgical instrument of a surgical robot system according to an embodiment.

[0039] Figure 13 Depicts a surgical instrument without a shaft according to an embodiment. Figure 12 of

[0040] Figure 14ADepicts the axis of motion of an end effector according to an embodiment. Figure 14B Depicts the axis of rotation of an end effector according to an embodiment. Figure 14C Depicts another axis of rotation of an end effector according to an embodiment.

[0041] Figure 15A Depicts an end effector in a closed configuration according to an embodiment. Figure 15B Depicts an end effector in an open configuration according to an embodiment.

[0042] Figure 16 Depicts the axis of an end effector according to an embodiment.

[0043] Figure 17A Depicts the opening of an end effector according to an embodiment. Figure 17B and Figure 17C Depicts an Figure 17A end effector according to an embodiment

[0044] Figure 18 Depicts a pin within the opening of an end effector according to an embodiment.

[0045] Figure 19A and Figure 19B Depicts the opening angle of an end effector according to an embodiment.

[0046] Figure 20A and Figure 20B Depicts an alternative opening angle of an end effector according to an embodiment. DETAILED DESCRIPTION

[0047] The present disclosure relates to a cutting device for use with a robotic surgical system. The systems, devices, and methods described herein allow a surgical robotic system to perform effective and substantially uniform cutting during a surgical procedure. For example, the cutting device can be a surgical scissor having scissor blades configured to cut tissue. The surgical scissor can include one or more springs configured to press the scissor blades together. The one or more springs can provide the scissor blades with degrees of freedom of translation along one or more axes and / or rotation about one or more axes. The scissor blades can define one or more openings configured to receive pins. The one or more openings of the scissor blades can have a shape that allows the scissor blades to rotate independently about one or more axes defined by the pins while being constrained from rotating about another axis defined by the pins. In combination with the action of the one or more springs, the constrained rotation facilitated by the one or more openings can advantageously provide a constant or substantially constant shear angle as the scissor blades rotate about one or more axes. The constant shear angle can provide effective and substantially uniform cutting during use of the surgical scissor.

[0048] According to an embodiment, the surgical scissors described herein may also provide a constant or substantially constant opening angle. The opening angle may be defined at the point of contact between the cutting edges of the scissor blades. As the scissor blades transition from an open configuration to a closed configuration (e.g., during a cutting process), the point of contact may traverse the length of the scissor blades. Associated with the opening angle may be a slice push ratio. The slice push ratio may refer to the ratio of the amount of material cut between the scissor blades to the amount of material pushed between the scissor blades. The slice push ratio may increase as the opening angle decreases, which may result in less uniform and / or less efficient cutting. In contrast, the constant opening angle maintained by the surgical scissors described herein may facilitate a constant slice push ratio. The constant slice push ratio may be optimized to facilitate a desired amount of material cut relative to material pushed, which may result in optimal cutting performance (e.g., efficient and substantially uniform cutting). The constant slice push ratio may be predetermined by the design of the scissor blades. According to an embodiment, the scissor blades may include one or more curved portions, which may facilitate a constant or substantially constant opening angle and a corresponding constant or substantially constant slice push ratio.

[0049] According to an embodiment, the surgical scissors described herein may also provide a constant or substantially constant cutting angle. The angle formed between the first cutting member and the second cutting member during cutting may be referred to as the cutting angle, as described below with reference to Figure 14AThis is further described. The cutting angle can be defined at the point of contact of the cutting edges of the cutting members. The curvature of one of the cutting members (e.g., the first cutting member) can be predetermined, while the curvature of the other cutting member (e.g., the second cutting member) can be defined based on the predetermined curvature of the first cutting member so as to maintain a constant or substantially constant cutting angle between the respective cutting edges of the first and second cutting members. In an embodiment, the cutting edge of the first cutting member has a constant radius of curvature in the xy plane (e.g., the cutting plane), while the cutting edge of the second cutting member has portions each having a radius of curvature selected so as to maintain a constant cutting angle between the respective cutting edges of the first and second cutting members. For example, the cutting edge of the second cutting member includes at least two portions, e.g., a proximal portion and a distal portion, each of which has a defined radius of curvature. The number of portions can be selected so as to maintain the cutting angle constant or substantially constant as the first and second cutting members rotate towards each other. In some embodiments, the number of portions can be between 1 portion and 10 portions, including all values and sub-ranges therebetween, including e.g., 5 portions. Thus, when the free distal ends of the first and second cutting members can rotate towards each other to form an incision in the cutting plane, the cutting angle between the cutting edges of each of the first and second cutting members can be maintained constant. Each portion can have a defined radius of curvature. The cutting angle can be between about 1 degree and about 5 degrees, including all values and sub-ranges therebetween, including e.g., between about 1.5 degrees and about 2.5 degrees, or about 1.9 degrees. It may be desirable to keep the cutting angle within this range to avoid making the force on the moving cutting member (or the resistance between the cutting members) too high or too low. The force or the resistance between the cutting members can depend on the cutting angle. Having an excessive (e.g., greater than about 2.5 degrees) cutting angle can cause significant force (or require high force), which can lead to jamming or sticking of the cutting members. Alternatively, if the cutting angle becomes too small (e.g., less than about 1.5 degrees), the force may not be significant enough (or sufficient enough) to hold the material (e.g., tissue) between the cutting blades such that the material is not cut but deformed. A constant cutting angle can provide effective and substantially uniform cutting during the use of the surgical scissors.

[0050] According to an embodiment, the surgical scissors described herein can provide a constant or substantially constant cutting angle, a constant or substantially constant shearing angle, and a constant or substantially constant opening angle, as described below with reference to Figures 14A to 14C described.

[0051] According to some embodiments, provided are surgical scissors having scissor blades for use in robotic and / or laparoscopic surgery, the scissor blades having an integrated spring at the root of the scissor blades. For example, the integrated spring may have a waveform or U-shaped configuration, so as to provide a more consistent reaction force between the pair of scissor blades when the spring-loaded surgical scissors are actuated, which results in a more effective and reliable surgical scissor. Thus, the spring-loaded surgical scissors described herein do not require a separate additional Bayonet spring and thus have a reduced number of components compared to other robotic surgical scissors. Different from other surgical scissors that integrate the spring as part of the scissor blade, the spring-loaded surgical scissors described herein allow articulation of the scissors because there is no component that extends proximally away from the pivot point of the spring-loaded surgical scissors.

[0052] Figure 1 Schematically depicted is a surgical robotic system 1000 according to an embodiment. The system 1000 may include a master console 1010 and one or more slave consoles 1020. The system 1000 may also include an instrument 1030. The master console 1010 is operatively coupled to the slave console 1020. For example, the master console 110 may be coupled to the slave console 1020 via a wired and / or wireless connection. The master console 1010 may include one or more master manipulators 1012 and one or more master controllers 1014. The master manipulator 1012 may include a plurality of master links interconnected by a plurality of joints. Movement may be applied to the master manipulator 1012 through a sterile handle, which may be actuated by a sterile user (e.g., a surgeon). Movement of one or more actuators of the master manipulator 1012 and the handle may be sensed, for example, using a plurality of sensors and transmitted to the master controller 1014. In operation, the master controller 1014 may send instructions to one or more slave consoles 1020 to cause movement of one or more drive units and / or actuators at the slave console 1020 based on the movement applied at the master console 1010.

[0053] Each slave console 1020 may include a slave manipulator 1022 and / or an instrument 1030 coupled to the slave manipulator 1022. The slave manipulator 1022 may include a plurality of linkages interconnected by a plurality of joints, and the instrument 1030 may include one or more components that are actuatable in a plurality of degrees of freedom (DOF). The slave console 1020 may include one or more drive units and / or actuators that control the movement of the plurality of linkages and joints of the slave manipulator 1022 and the components of the instrument 1030. In accordance with aspects of the present disclosure, the slave manipulator 1012 and the instrument 1030 of the slave console 1010 may be configured to move in response to movement applied at the handle of the master console 1020 such that the slave manipulator 1022 and the instrument 1030 reproduce the movement applied at the handle of the master console 1010. Specifically, the master console 1010 may generate instructions or commands based on the movement applied at the handle and transmit those instructions or commands to the slave console 1020 to cause movement of the slave manipulator 1012 and / or the instrument 1030. The slave console 120 may include a slave controller 1024 that may be configured to interpret instructions or other signals from the master console 1010 and control the movement of the slave manipulator 1012 and / or the instrument 1030.

[0054] Although the slave console 1020 is described as having a slave manipulator 1022 and an instrument 1030, it is understood that a single slave console 1020 may include more than one slave manipulator 1022 and / or more than one instrument 1030. For example, the slave console 1020 may include two slave manipulators 1022, each slave manipulator supporting one or more instruments 1030.

[0055] As described herein, the master controller 1014 and / or the slave controller 1024 may include one or more of a memory, a processor, a communication interface, and / or an input / output device. The memory may include any type of suitable non-transitory computer-readable medium that can store instructions executable by one or more processors. The memory may be, for example, random access memory (RAM), a memory buffer, a hard disk drive, a database, an erasable programmable read-only memory (EPROM), an electrically erasable read-only memory (EEPROM), a read-only memory (ROM), etc. The processor may be any suitable processing device configured to run and / or execute functions associated with the surgical robotic system 100. The processor may be a general-purpose processor, a field-programmable gate array (FPGA), an application-specific integrated circuit (ASIC), a digital signal processor (DSP), etc. The communication interface may include wired and / or wireless interfaces for receiving information and / or sending information to other devices. The input / output device may include one or more displays, audio devices, touchscreens, keyboards, or other input or output devices for presenting information to the user and / or receiving information from the user.

[0056] Figure 2 Schematically depicts a slave manipulator 1022 from a console 1020 according to an embodiment. The slave manipulator 1022 may include an actuator 1021 and an instrument interface 1025. The actuator 1021 may include one or more electric actuators (e.g., motors), mechanical actuators (e.g., pulleys, chains, gears, shafts, etc.), or other drive mechanisms configured to actuate or move one or more components of the slave manipulator 1022 and / or other components connected thereto. For example, the actuator 1021 may be configured to move a plurality of connectors and joints of the slave manipulator 1022, the instrument interface 1025, and / or one or more components of the instrument 1030. The instrument 1030 may be coupled to the actuator 1021 via the instrument interface 1025. In some embodiments, the instrument interface 1025 may include a hub for receiving the instrument 1030. The hub may be mounted on the distal end of the slave manipulator 1022 and define an opening for receiving the instrument 1030. In some embodiments, the instrument interface 1025 may include or be coupled to a sterile adapter or cover. The sterile adapter may be configured to be received within the hub and may define a lumen for receiving the sterile instrument 1030. Suitable examples of instrument hubs and sterile covers are described in International Patent Application Publication No. WO 2018 / 207136, published November 15, 2018, and this International Patent Application Publication is incorporated herein by reference. When coupled to the instrument interface 1025, the instrument 1030 may be moved by one or more actuators 1021, for example, in one or more degrees of freedom. In some embodiments, the instrument interface 1025 may be configured to receive more than one instrument 1030.

[0057] Figure 3 Schematically depicts an instrument 1030 according to an embodiment. The instrument 1030 may include a proximal head 1032, a shaft 1034, and a distal end effector 1040. The proximal head 1032 may be configured to be coupled to the instrument interface 1025 as Figure 2 shown. The proximal head 1032 may include one or more engagement elements or adapters 1031. The engagement element 1031 may be coupled to one or more transmission members 1036 (e.g., force transmission elements such as cables, wires, pulleys, rods, etc., or electrical transmission elements such as wires, leads, electrodes, etc.) disposed within the shaft 1034 of the instrument 1030. The shaft 1034 may be an elongated structure, e.g., an elongated cylinder. The shaft 1034 may define a lumen (or lumens) for accommodating the transmission members 1036.

[0058] In an embodiment, the engagement element 1031 includes one or more extensions, protrusions, latches, tabs, hooks, apertures, electrical contacts, or other suitable structures that can be configured to engage corresponding structures of the instrument interface 1025. In one embodiment, the engagement element 1031 can include radially extending tabs that are configured to be received in receivers disposed in the hub of the manipulator 1022. These receivers can be driven by the actuator 1021 to move, thereby transferring force to the engagement element 1031. Examples of suitable engagement elements (or adapters) and receivers are described in International Patent Application Publication No. WO 2018 / 207136, which is incorporated by reference. Although reference Figure 3 is made to engagement elements and receivers, it is understood that any suitable form of coupling that allows the actuator 1021 of the manipulator to be coupled to one or more actuated elements 1042 of the end effector 1040 such that the actuated elements 1042 are actuated in one or more degrees of freedom can be used. For example, in some embodiments, the coupling between the instrument interface 1025 and the instrument 1030 can include a mechanical coupling (e.g., latches, pins and holes, clamps, fasteners, etc.), a magnetic coupling (e.g., electromagnets, permanent magnets, etc.), and / or an electrical coupling.

[0059] The end effector 1040 can be a surgical tool, such as for example a set of jaws, clamps, grippers, blades, scissors, hooks, needles, staplers, electrocautery devices, endoscopes, etc. The end effector 1040 can include one or more actuated elements 1042, such as for example one, two, three, four, five, six, seven, eight or more actuated elements. The actuated elements 1042 can be configured to be actuated (e.g., driven to move or otherwise operate) by the actuator 1021 via the engagement element 1031 and the transfer element 1036. For example, the actuated elements 1042 can include jaws, clamps, or cutting elements that can be actuated in one or more degrees of freedom (e.g., opening / closing, pitching, yawing, translating, etc.).

[0060] In one embodiment, the end effector 1040 can be a surgical scissor including a pair of cutting members or scissor blades. Thus, one or more actuated elements 1042 can move in one or more degrees of freedom (e.g., rotate, pivot, translate). In embodiments having multiple actuated elements (e.g., two actuated elements), the movement of the actuated elements relative to each other can facilitate opening and / or closing of the end effector 1040. For example, a first actuated element can move (e.g., rotate) in a direction toward a second actuated element such that the cutting portions of the actuated elements can contact. According to some embodiments, each of the actuated elements can move toward or away from each other. In still other embodiments, each of the actuated elements can move together in the same direction such that the actuated elements can maintain an open angle defined therebetween. The direction and magnitude of the movement of the end effector 1040 can be controlled by the force applied by one or more actuators 1021 to the engagement element 1031. When performing a cutting procedure, the movement of the end effector 1040 can provide adjustability and flexibility to the user. Further details of the instrument 1030 implemented as a surgical scissor are provided below with reference to Figure 4 provided.

[0061] As described above, in some embodiments, a sterile adapter can be used to facilitate the coupling between the instrument interface 1025 and the instrument 1030. The sterile adapter can be configured to maintain the sterility of the instrument 1030 while allowing the transfer of force and / or other signals from the manipulator 1022 to the instrument 1030, e.g., to actuate one or more elements of the end effector 1040. The sterile adapter can include one or more mechanical and / or electrical connectors configured to transfer force, energy, etc. generated at the manipulator 1022 to the instrument 1030. For example, the sterile adapter can include one or more movable components (e.g., sliders, cams, etc.) that allow the transfer of mechanical force generated by the actuator 1021 of the manipulator 1022 to the engagement element 1031 of the instrument 1030.

[0062] In operation, the instrument 1030 can be coupled to the instrument interface 1025 and a user, via a user interface (e.g., at the main console 1010), can be configured to cause the actuator of the manipulator 1022 to generate force and / or other signals that can be transferred to the instrument 1030 via the instrument interface 1025. In some embodiments, the force and / or other signals can be configured to cause the actuated elements 1042 to move in one or more degrees of freedom, apply energy, and / or perform other operations.

[0063] In some embodiments, the end effector 1040 can have a pivot joint that allows one or more actuated elements 1042 to move in multiple degrees of freedom. Figure 4Schematically depicts an end effector implemented as a surgical scissor 1040 according to an embodiment. The end effector 1040 may include a proximal support or body 1049, a pin 1048, and actuated elements 1042a, 1042b. The actuated elements 1042a, 1042b may be cutting members, where the first cutting member includes a first mounting body 1043a and a first cutting portion 1044a, and the second cutting member includes a second mounting body 1043b and a second cutting portion 1044b. In some embodiments, the first mounting body 1043a and the first cutting portion 1044a may be integrally formed or formed as a single piece, while in other embodiments, the first mounting body 1043a and the first cutting portion 1044a may be two separate structures coupled to each other. Similarly, the second mounting body 1043b and the second cutting portion 1044b may be formed as a single piece and / or formed as two separate components coupled to each other. As described below, the actuated elements or cutting members 1042a, 1042b may be configured to move in multiple degrees of freedom.

[0064] The proximal body 1049 may be configured to support the pin 1048. In one embodiment, the pin 1048 may be a cylindrical pin. The first end and the second end of the pin 1048 may be disposed in openings defined by respective first and second portions of the body 1049. According to an embodiment, the first end of the pin 1048 may be coupled to the first side of the body 1049, and the second end of the pin 1048 may be coupled to the second side of the body 1049. The body 1049 may be a fastening device, such as, for example, a U-shaped clip fastener configured to hold the pin 1048 in place. In some embodiments, the body 1049 may form part of a wrist or other joint of the end effector 1040. For example, the body 1049 may be a distal connector of the wrist of the end effector 1040 and coupled to a proximal connector of the wrist. The distal and proximal connectors of the wrist may be configured to allow the end effector 1040 to move in one or more degrees of freedom (e.g., pitch, yaw, etc.).

[0065] The cutting members 1042a, 1042b may be rotatably mounted on the pin 1048 via a first mounting body 1043a and a second mounting body 1043b, respectively. The mounting bodies 1043a, 1043b of the cutting members 1042a, 1042b may include an opening or passage through which the pin 1048 may extend. When mounted to the pin 1048, the cutting members 1042a, 1042b may be configured to rotate about the axis of the pin 1048. Rotation of the cutting members 1042a, 1042b about the pin 1048 may cause the cutting members 1042a, 1042b to open and / or close and / or pivot together about the axis of the pin 1048. The cutting members 1042a, 1042b include cutting portions 1044a, 1044b having cutting edges 1045a, 1045b, which may be closed to apply a shearing or cutting force to material (e.g., tissue) positioned between the cutting edges 1045a, 1045b.

[0066] In an embodiment, the cutting members 1042a, 1042b may be actuated independently to rotate about the pin 1048. For example, the cutting members 1042a, 1042b may each rotate about the pin 1048 in a clockwise or counterclockwise direction. The cutting members 1042a, 1042b may be rotated in the same direction or in different directions. Rotating one or both of the cutting members 1042a, 1042b toward the other may cause the cutting edges 1045a, 1045b to move toward each other or close the two cutting edges 1045a, 1045b. In other words, rotating one or both of the cutting members 1042a, 1042b may cause the distal ends of at least one of the cutting edges 1045a, 1045b to move toward the other and cause the contact point between the cutting edges 1045a, 1045b to advance distally. For example, rotating the cutting member 1042a clockwise and the cutting member 1042b counterclockwise may cause the cutting edge 1045a to move toward the cutting edge 1045b to close the cutting edges 1045a, 1045b. As another example, rotating the cutting member 1042a clockwise while holding the cutting member 1042b in place may cause the cutting edge 1045a to move toward the cutting edge 1045b to close the cutting edges 1045a, 1045b (or vice versa). Rotation of the cutting members 1042a, 1042b may be controlled by a force generated by the actuator 1021 and applied to the engagement element 1031 of the instrument 1030, as referenced above Figure 2 and Figure 3 described.

[0067] According to an embodiment, one or more spring elements or features may be configured to apply a reaction force (e.g., a spring force) to the cutting members 1042a, 1042b. In some embodiments, springs 1041a, 1042b may be disposed between the sides of the body 1049 and the respective mounting bodies 1043a, 1043b of the cutting members 1042a, 1042b. Springs 1041a, 1041b may be configured to apply a reaction force to the respective cutting members 1042a, 1042b. This reaction force may advantageously provide a consistent reaction force between these cutting members during rotation of the cutting members 1042a, 1042b. This consistent reaction force may be configured to press the cutting members 1042a, 1042b towards each other such that a more effective and reliable cut may be performed by the cutting edges of the cutting members 1042a, 1042b. That is, pressing the cutting members 1042a, 1042b towards each other may maintain the optimal alignment of the cutting members 1042a, 1042b during rotation of one or both of the cutting members 1042a, 1042b.

[0068] According to some embodiments, springs 1041a, 1041b may be positioned between the sides of the body 1049 and the respective mounting bodies 1043a, 1043b. Each spring 1041a, 1401b may include an opening for receiving a pin 1048. As shown, spring 1041a may be positioned between the first side of the body 1049 and the mounting body 1043a, and spring 1041b may be positioned between the second side of the body 1049 and the mounting body 1043b. When the cutting members 1042a, 1042b are actuated to perform a cut, springs 1041a, 1041b may be configured to apply a reaction force to the respective mounting bodies 1043a, 1043b (and thus to the respective cutting members 1042a, 1042b). This reaction force may be configured to press the mounting bodies 1043a, 1043b towards each other to constrain them together. According to an embodiment, each of springs 1041a, 1041b may include a Belleville spring.

[0069] Additionally or alternatively, one or more integrally formed springs 1047a, 1047b may provide a reaction force to corresponding cutting members 1042a, 1042b. For example, as an alternative or supplement to springs 1041a, 1041b that are separate components and are configured to apply an external reaction force to cutting members 1042a, 1042b, one or both of cutting members 1042a, 1042b may have integrally formed springs 1047a, 1047b. The integrally formed springs 1047a, 1047b may be disposed between mounting bodies 1043a, 1043b and corresponding cutting portions 1044a, 1044b of cutting members 1042a, 1042b. In some embodiments, the integrally formed springs 1047a, 1047b may include one or more bent portions configured to apply a reaction force to cutting portions 1044a, 1044b, respectively. For example, the integrally formed springs 1047a, 1047b may have a wave shape or one or more curvatures, such as, for example, a U-shape, an S-shape, a sine curve shape, a V-shape, etc. The wave shape of the integrally formed springs 1047a, 1047b may allow a certain degree of lateral bending or flexibility of cutting portions 1044a, 1044b without increasing the overall length of cutting members 1042a, 1042b. As will be understood by one of ordinary skill in the art, although a wave shape has been described for the integrally formed springs 1047a, 1047b, the integrally formed springs 1047a, 1047b may have other formed profiles or material properties to provide a reaction force to cutting members 1042a, 1042b.

[0070] In an embodiment, cutting portions 1044a, 1044b may be configured to move in multiple degrees of freedom. As described above, each cutting member 1042a, 1042b may be configured to rotate about an axis of a pin 1048 (also referred to as a rotational axis). Springs 1041a, 1041b also allow cutting members 1042a, 1042b to translate along the rotational axis, for example, to press cutting edges 1045a, 1045b of compressed cutting members 1042a, 1042b against each other. In some embodiments, mounting bodies 1043a, 1043b of cutting members 1042a, 1042b may also define openings that allow cutting members 1042a, 1042b to move in one or more additional degrees of freedom. For example, mounting bodies 1042a, 1042b may define openings that are greater than the diameter of pin 1048 in at least one dimension such that each mounting body 1042a, 1042b may pivot or rotate about an axis that is perpendicular or orthogonal to the actuation direction or cutting rotation of cutting members 1042a, 1042b. These additional degrees of freedom may allow a unique contact point during actuation of cutting members 1042a, 1042b. Further details of the movement of the actuated element or cutting member of the end effector are described below with reference toFigures 14A to 16 Provided.

[0071] Figure 5 Depicted is a surgical robotic system according to an embodiment. As shown, the surgical robotic system 10 includes a master console 12 that may be coupled to one or more slave consoles 14a, 14b. The master console 12 and the slave consoles 14a, 14b may be structurally and / or functionally similar to other master consoles and slave consoles described herein, including, for example, master console 1010 and slave console 1020. Suitable examples of master consoles and slave consoles are also described in International Patent Application Publication No. WO 2019 / 155383 published on August 15, 2019, and International Patent Application Publication No. WO 2020 / 141487 published on July 9, 2020, the disclosures of which are incorporated herein by reference.

[0072] As Figure 5 shown, an instrument 30 may be used with the remotely operated robotic surgical system 10. Each slave console 14a, 14b may include a slave manipulator that may receive the instrument 30, similar to that described with reference to Figure 2 and Figure 3 . The master console 12 may be operatively coupled to the slave consoles 14a, 14b via a wired connection (e.g., a cable) and / or a wireless connection. The master console 12 may include one or more master manipulators 13a, 13b that may be actuated by a user (e.g., a surgeon) to cause one or more actuators (e.g., motors) of the slave consoles 14a, 14b to apply movement to the end effector of the instrument 30. Preferably, the slave manipulators (or their linkages and joints) of the slave consoles 14a, 14b are configured to move in such a way that the end effector replicates the movement applied at the handle of the master console 12 without deviation during operation of the surgical robotic system 10. Thus, degrees of freedom of translation (e.g., left / right, up / down, in / out), degrees of freedom of joint movement (e.g., pitch, yaw, open / close, and rotation such as pronation / supination), etc. are replicated electromechanically via sensors, actuators, and a controller (e.g., slave controller 1024) of the slave consoles 14a, 14b.

[0073] The master console 12 may be positioned within an operating room where a user (e.g., a surgeon) may be located and adjacent to the slave consoles 14a, 14b where a patient undergoing surgery may be located, such that in the event of necessity, the user may quickly move between the master console 12 and the slave consoles 14a, 14b, for example, to manually perform laparoscopic surgery during the operation. In some embodiments, the master console 12 may be covered with a sterile drape and may include removable sterile handles that a surgeon may manipulate, for example, to actuate the end effector of the instrument 30. The master console 12 may include a left master manipulator 13a and a right master manipulator 13b. The left master manipulator 13a and the right master manipulator 13b may be positioned on a single master console 12 such that when the surgeon is located at the master console 12, the left master manipulator 13a may be manipulated by the surgeon's left hand, and the right master manipulator 13b may be manipulated by the surgeon's right hand. The left master manipulator 13a and the right master manipulator 13b may be operated simultaneously, for example, by the surgeon's right and left hands, and / or independently of each other.

[0074] As Figure 5 further shown therein, the slave consoles 14a, 14b may include a left slave manipulator operatively coupled to the left master manipulator 13a and a right slave manipulator operatively coupled to the right master manipulator 13b. The slave manipulators may be positioned on separate consoles, where one slave console may be positioned on a first side of the patient undergoing surgery, and the other slave console may be positioned on the first side or the other side of the patient undergoing surgery.

[0075] Figure 6 A close-up view of the instrument 30 positioned within the hub of the slave manipulator located at the slave console 14a is provided according to an embodiment. As Figure 6 shown, the instrument 30 has a proximal head 32, a shaft 34, and a distal end effector 40. The instrument 30 may be structurally and / or functionally similar to other instruments described herein, including, for example, the instrument 1030. The proximal head 32 of the instrument 30 may be releasably coupled to the hub 15 of the slave manipulator. The hub 15 may define an opening through which the instrument 30 may be inserted. After the instrument 30 is inserted into the hub 15 and coupled to the slave manipulator, it may be configured to be actuated in one or more degrees of freedom, as described above.

[0076] Now referring Figure 7 , an exemplary surgical instrument is provided. The surgical instrument 100 may be structurally and / or functionally similar to other instruments described herein, including, for example, the instruments 1030, 30. The surgical instrument 100 may include: a proximal region 102 including an instrument hub or head 110; a distal region 104 having an end effector 200; and an instrument shaft 108 extending between the proximal region 102 and the distal region 104. The end effector 200 may be implemented as surgical scissors, as Figures 8A to 10Cis shown in greater detail below. In some embodiments, the end effector 200 may be removable from the shaft 108. In some embodiments, the shaft 108 may be removable from the head 110 and / or the end effector 200.

[0077] As Figure 7 shown, the instrument 100 may include one or more pairs of couplers 106 configured to be actuated to actuate the end effector 200 in one or more degrees of freedom (e.g., pitch, yaw, and open / close). For example, the couplers 106 may be operatively coupled to the end effector 200 via a plurality of force transfer elements (e.g., cables) extending from the couplers 106 through the instrument shaft 108 to the end effector 200. As described in further detail below, a first pair of the couplers 106 may be actuated to actuate the end effector 200 in the yaw degree of freedom. A second pair of the couplers 106 may be operatively coupled to a first scissor blade of the end effector 200 and configured to actuate movement of the first scissor blade, and a third pair of the couplers 106 may be operatively coupled to a second scissor blade of the end effector 200 and configured to actuate movement of the second scissor blade. Actuation of the first scissor blade and the second scissor blade in the same direction may actuate the end effector 200 in the pitch degree of freedom, and actuation of the first scissor blade and the second scissor blade in opposite directions may actuate the end effector 200 in the open / close degree of freedom. The one or more pairs of couplers 106 may be removably engaged, for example, via a releasable hook mechanism with corresponding structures of a hub of the console such that movement at a handle of the master console (e.g., operated by a surgeon) may be replicated at the end effector 200 of the surgical instrument 100.

[0078] Now referring Figures 8A to 8C , a more detailed view of the surgical instrument 200 is provided. As shown, in some embodiments, the surgical instrument 200 may be a spring-loaded surgical scissor for use in robotic and / or laparoscopic surgery. The spring-loaded surgical scissor 200 may include an upper scissor portion (or first scissor portion) 201a rotatably coupled, for example, about an axis ω to a lower scissor portion (or second scissor portion) 201b. Although the terms upper and lower are used in the following paragraphs to refer to the scissor portions 201a, 201b, it is understood that the terms upper and lower are not intended to impart any particular arrangement of the scissor portions 201a, 201b other than indicating the presence of two separate scissor portions 201a, 201b configured to interact with one another.

[0079] In some embodiments, the upper scissor portion 201a and the lower scissor portion 201b may be formed via metal injection molding (MIM), metal three-dimensional (3D) printing, and / or by milling. The upper scissor portion 201a may include a mounting body 202a and a cutting portion 206a (e.g., a curved blade) extending distally from the mounting body 202a. At the proximal end or root of the cutting portion 206a, e.g., at the end of the cutting portion 206a closer to the mounting portion 202a, a spring 204a may be integrally formed with the cutting portion 206a and / or the mounting body 202a. In some embodiments, the cutting portion 206a and the spring 204a are integrally formed with the mounting body 202a. Thus, the mounting body 202a narrows and becomes the spring 204a, which directly enters the blade of the cutting portion 206a. In some embodiments, the cutting portion 206a itself may have spring force. Additionally, the cutting portion 206a may have a sharp cutting inner edge and a blunt outer edge.

[0080] As Figures 8A to 8C shown, the spring 204a may have a wave shape, such as a U shape. For example, the spring 204a may extend upward and distally from the mounting portion 202a toward a vertex and then downward and distally from the vertex to the cutting portion 206a. Then, the cutting portion 206a may extend distally from the spring 204a in a slight predefined curve (e.g., in a downward direction). The spring 204a thus provides an area with a longer chord length, thereby providing flexibility to the cutting portion 206a without increasing (or not significantly increasing) the total length of the blade. The spring 204a also allows the bending stress to be distributed along the length of the cutting portion 206a rather than concentrated at the root or base of the cutting portion 206a. As will be understood by those of ordinary skill in the art, the spring 204a may have other forming profiles to thereby provide a consistent reaction force of the upper scissor portion 201a in the downward direction, e.g., against the lower scissor portion 201b. For example, the spring 204a may have a sinusoidal shape, a V shape, etc.

[0081] Further, the mounting body 202a may have a circular profile and may have a groove 208a extending at least partially circumferentially along the outer edge of the mounting body 202a, as Figure 9AAs shown. The size and shape of the groove 208a can be configured to receive one or more force transmission elements, such as the cable 110a. The cable 110a coupled to the mounting body 202a can be coupled to an adapter (e.g., adapter 106) at the proximal end of the instrument, such that actuation of the adapter causes actuation of the cable 110a, which causes rotation of the mounting body 202a and correspondingly rotation of the upper scissor portion 201a. For example, the cable 110a can be a single cable having one end coupled to a first adapter of a pair of adapters and wrapped around the groove 208a of the mounting body 202a such that the other end of the cable 110a is coupled to the second adapter of the pair of adapters. Thus, the pair of adapters can be actuated in equal and opposite directions, thereby causing rotation of the mounting body 202a via the cable 110a. Alternatively, the cable 110a can include two separate cables, each cable coupled to a respective adapter of the pair of adapters at one end and to the mounting body 202a at the other end. Additionally, the mounting body 202a can include a clamp 210a configured to secure the cable 110a to the groove 208a such that the cable 110a is fixed to the mounting body 202a, as Figure 8C and Figure 9B shown.

[0082] The lower scissor portion 201b can be constructed similarly to the upper scissor portion 201a. For example, as Figure 8A and Figure 8B shown, the lower scissor portion 201b can include a mounting body 202b and a cutting portion 206b extending distally from the mounting body 202b, such as a curved blade. At the proximal end or root of the cutting portion 206b, e.g., the end of the cutting portion 206b closer to the mounting portion 202b, a spring 204b can be integrally formed with the cutting portion 206b and / or the mounting body 202b. In some embodiments, the cutting portion 206b and the spring 204b are integrally formed with the mounting body 202b. Thus, the mounting body 202b narrows and becomes the spring 204b, which directly enters the blade of the cutting portion 206b. In some embodiments, the cutting portion 206b itself can have a spring force. Additionally, the cutting portion 206b can have a sharp cutting inner edge and a blunt outer edge such that when the upper scissor portion 201b rotates relative to the lower scissor portion 201a, the sharp cutting inner edge of the cutting portion 206b interacts with the sharp cutting inner edge of the cutting portion 206a. Alternatively, only one of the inner edges of the cutting portion 206a or the cutting portion 206b can have a sharp cutting edge such that the other inner edge can be blunt. As Figure 8A and Figure 8B shown, the spring 204b can have a wavy shape similar to the spring 204a, such as a U shape. Although the spring 204a and the spring 204b areFigures 8A to 8B are shown as having a similar shape, but it is understood that in some embodiments, spring 204a may have a first shape while spring 204b has a second shape different from the first shape.

[0083] In some embodiments, cutting portions 206a, 206b may extend distally from springs 204a, 204b, respectively, in a non-bending manner. As will be understood by those of ordinary skill in the art, cutting portions 206a, 260b may be longer or shorter than those shown in Figure 8A and Figure 8B Furthermore, in some embodiments, the spring-based mechanisms described herein may be used with passive surgical instruments (e.g., instruments without electrosurgery) or with electrosurgical instruments. Additionally, cutting portions 206a, 206b may have increased friction at certain regions or portions along cutting portions 206a, 206b, such as by selecting materials for cutting portions 206a, 206b to increase the friction therebetween, or by treating at least a portion of the surfaces of cutting portions 206a, 206b by applying lubricants, coatings, or other finishing.

[0084] Additionally, mounting body 202b may have a circular profile and may have a groove 208b extending at least partially circumferentially along the outer edge of mounting body 202b, as shown in Figure 9A The size and shape of groove 208b may be configured to receive one or more force transfer elements, e.g., cable 110b. Cable 110b may act similarly to cable 110a and may be configured to cause rotation of mounting body 202b and correspondingly rotation of lower scissor portion 201b. For example, cable 110b coupled to mounting body 202b may be coupled to an adapter (e.g., adapter 106) such that actuation of the adapter causes actuation of cable 110b, which causes rotation of mounting body 202b and correspondingly rotation of lower scissor portion 201b. In some embodiments, cable 110b may be a single cable, while in other embodiments, cable 110 may be two cables. Mounting body 202b may include a clamp 210b configured to secure cable 110b to groove 208b such that cable 110b is secured to mounting body 202b, as shown in Figure 9B shown.

[0085] As shown in Figure 8A the spring-loaded surgical scissors 200 may further include a body or frame having a distal portion 212 and a proximal portion 214. The frame may be functionally and / or structurally similar to that described above with reference to Figure 4The described body 1049. The mounting bodies 202a and 202b can be disposed within the distal portion 212 of the frame and are rotatably coupled to the distal portion via pins 211, as Figure 9A and Figure 9B shown, such that the distal portion 212 urges the mounting bodies 202a and 202b toward each other. The mounting body 202a can define an opening for receiving the pin 211 (the opening being concentric with a similar opening of the mounting body 202b), such that both the mounting bodies 202a, 202b are configured to rotate relative to the frame about an axis ω of the spring-loaded surgical scissors 200, which axis extends along the longitudinal axis of the pin 211. When the mounting bodies 202a, 202b are rotatably coupled together within the frame, the springs 204a, 204b respectively cause the cutting portions 206a, 206b to exert a consistent reaction force on each other.

[0086] Figures 10A to 10C An example configuration of the surgical scissors 200 described herein is shown. For example, as described above, the mounting bodies 202a, 202b can be actuated to rotate in opposite directions about the axis ω via force transmission elements 110a, 110b (e.g., cables), respectively, to actuate the spring-loaded surgical scissors 200 in the open / close degree of freedom, as Figure 10A shown. The mounting bodies 202a, 202b can also be actuated to rotate in the same direction to actuate the spring-loaded surgical scissors 200 in the pitch degree of freedom, as Figure 10C shown. As will be understood by one of ordinary skill in the art, actuation of only one of the mounting bodies 202a or mounting body 202b relative to the other is sufficient to actuate the open / close degree of freedom of the spring-loaded surgical scissors 200. The proximal portion 214 of the frame can be rotatably coupled to the instrument shaft 108 of the surgical instrument 100. The proximal portion 214 can be coupled to one or more other force transmission elements such that actuation of the force transmission elements coupled to the proximal portion 214 causes the frame and correspondingly the upper scissor portion 201a and the lower scissor portion 201b to rotate about the pivot point 213 of the proximal portion 214 (e.g., about an axis Ф as Figure 10B shown). The axis Ф of the pivot point 213 of the proximal portion 214 can be perpendicular to the axis ω of the distal portion 212. Thus, actuation of the force transmission elements coupled to the proximal portion 214 can cause actuation of the spring-loaded surgical scissors 200 in the yaw degree of freedom, as Figure 10B shown in.

[0087] Now referring to Figure 11A and Figure 11B , an example coupling mechanism for coupling the end effector to the instrument shaft is provided. Although Figure 11Aillustrates a surgical scissor end effector without an integrated spring as described above, but as will be understood by one of ordinary skill in the art, a spring-loaded surgical scissor 200 (and any other instrument as described herein) may also be incorporated into the coupling mechanism described herein. The end effector 500 may be configured to be similar to other end effectors described herein, including, for example, end effectors 1040, 200. For example, as Figure 11A shown, the end effector 500 may include an upper scissor portion (or first scissor portion) 501a and a lower scissor portion (or second scissor portion) 501b, which may be actuated in a manner similar to the upper scissor portion 201a and the lower scissor portion 201b described above, respectively. For example, the upper scissor portion 501a and the lower scissor portion 501b may be actuated to rotate in opposite directions relative to the distal frame portion 514 via their respective mounting portions to actuate the open / close degree of freedom, and rotate in the same direction to actuate the pitch degree of freedom. Additionally, the end effector 500 may be actuated such that the proximal frame portion 514 rotates relative to the distal connection portion 518, thereby actuating the yaw degree of freedom.

[0088] As Figure 11A shown, the end effector 500 may include a connection portion having a proximal connection portion 516 and a distal connection portion 518. The proximal connection portion 516 may be sized and shaped to be received within the lumen of the distal portion 112 of the instrument shaft 108. As Figure 11A shown, the proximal connection portion 516 may include one or more bumps 520 disposed about the circumference of the proximal connection portion 516. For example, the bumps 520 may be spatially uniformly distributed about the circumference of the proximal connection portion 516. The bumps 520 may have a geometry configured to facilitate advancement of the proximal connection portion 516 within the distal portion 112 of the instrument shaft 108. For example, the proximal face of the bump 520 may be tapered / angled. Additionally, the distal face of the bump 520 may have a geometry configured to facilitate securing the bump 520 to the distal portion 112, as described in further detail below.

[0089] As Figure 11A further shown therein, the distal portion 112 of the instrument shaft 108 may include one or more flexible flaps 120 disposed along the circumference of the distal portion 112. For example, the number of flexible flaps 120 may correspond to the number of bumps 520. Additionally, there may be at least as many flexible flaps 120 as there are bumps 520. The flexible flaps 120 may be defined by a lateral incision 116 extending along the longitudinal axis of the instrument shaft 108 and a circumferential incision 118 extending along the circumference of the distal portion 112 such that the flexible flaps 120 extend from the distal end of the distal portion 112 towards the circumferential incision 118. Thus, the flexible flaps may radially expand outwardly in response to an outward radial force applied thereto.

[0090] In addition, the distal portion 112 may further include one or more openings 114 disposed proximal to one or more flexible flaps 120. For example, each opening 114 may be disposed proximal to each flexible flap 120. The openings 114 may be formed during manufacture together with the formation of the lateral incisions 116 and the circumferential incisions 118. The size and shape of the openings 114 may be configured to receive the bumps 520 therein. Thus, when the proximal connection portion 216 advances through the lumen of the distal portion 112, the bumps 520 engage the flexible flaps 120 such that the tapered proximal faces of the bumps 520 apply a radially outward force to the flexible flaps 120, thereby causing the flexible flaps 120 to expand radially outward as the bumps 520 move proximally relative to the flexible flaps 120.

[0091] The proximal connection portion 216 may advance proximally relative to the distal portion 112 until the bumps 520 are disposed within the openings 114, and the flexible flaps 120 collapse back to their natural state, as Figure 11B shown. As described above, the distal face of the bump 520 may have a geometry that facilitates securing the bump 520 within the opening 114. For example, the distal face of the bump 520 may be flat, thereby preventing the distal movement of the proximal connection portion 216 from causing the flexible flaps 120 to expand radially outward. Thus, when the bumps 520 are disposed within the openings 114, the end effector 500 is locked to the instrument shaft 108 via the flat distal faces of the bumps 520 and the flexible flaps 120.

[0092] As Figure 11C shown, the proximal end of the instrument shaft may further include a similar coupling mechanism for coupling to the instrument hub as described above. For example, the proximal portion 112 of the instrument shaft 108 may include one or more flexible flaps 130 defined by lateral incisions 126 and circumferential incisions 128 such that the flexible flaps 130 extend from the proximal end of the proximal portion 122 toward the circumferential incision 128. Thus, the flexible flaps 130 may expand radially outward in response to an outward radial force applied thereto (e.g., via a corresponding bump similarly configured to the bump 520 on the instrument hub). In addition, the proximal portion 122 may further include one or more openings disposed distal to the flexible flaps 130. The size and shape of the openings 124 may be configured to receive the corresponding bumps of the instrument hub therein such that the flexible flaps 130 secure the bumps within the openings 124.

[0093] Thus, when a portion of the instrument hub advances through the lumen of the proximal portion 122, the bumps of the instrument hub engage the flexible flaps 130 such that the tapered distal face of the bumps applies an outward radial force to the flexible flaps 130, causing the flexible flaps 130 to expand radially outward as the bumps move distally relative to the flexible flaps 130. The instrument hub can be advanced distally relative to the distal proximal 122 until the bumps are disposed within the openings 124, and the flexible flaps 130 collapse back to their natural state, thereby fixing the bumps within the openings 124 and locking the instrument hub to the instrument shaft 108. For example, the proximal face of the bumps of the instrument hub can be flat to facilitate fixing the bumps within the openings 124.

[0094] As will be appreciated by those of ordinary skill in the art, the coupling mechanisms described herein can be used to couple other types of end effectors and instrument hubs to an instrument shaft, such as those described in International Patent Application Publication No. WO 2019 / 155383 and International Patent Application Publication No. WO 2020 / 141487, which are incorporated herein by reference.

[0095] Now referring Figure 12 , another variant of the exemplary surgical instrument 630 is provided. The surgical instrument 630 can be functionally and / or structurally similar to other surgical instruments described herein, including, for example, the surgical instruments 1030, 30, 100. For example, the surgical instrument 630 includes: a proximal region 637 including a proximal head; a distal region 639 including an end effector implemented as surgical scissors 640; and an instrument shaft 632 extending between the proximal region 637 and the distal region 639.

[0096] The surgical instrument 630 includes an electrical connector 636 that can be configured to connect to an electrical port or other electrical connector, for example, to establish an electrical connection and enable the surgical instrument 630 to be used as an electrosurgical device (e.g., an ablation device, an electrocautery device, an electrocoagulation device, etc.) and / or otherwise permit electrically driven operation of the surgical instrument 630. Alternatively, in some embodiments, the surgical instrument 630 can be a mechanically operated surgical instrument that does not include the electrical connector 636.

[0097] The surgical instrument 630 also includes a plurality of adapters 634 that can be coupled to one or more actuators (e.g., motors) from a manipulator (e.g., from manipulator 1022) to enable actuation of one or more actuated elements of the surgical scissors 640. The coupling between the plurality of adapters 634 and the actuators from the manipulator can be structurally and / or functionally similar to that described above with reference to Figure 2 and Figure 7Coupling of the described instruments 1030 and / or 100. For example, adapter 634 can be coupled to one or more actuators of the slave manipulator via a receiver, and adapter 634 can also be coupled to surgical scissors 640 via a force transmission element (e.g., a cable). Actuation of adapter 634 in response to a force generated by an actuator of the slave manipulator can cause adapter 634 to move (e.g., linear translation), thereby actuating one or more elements of surgical scissors 640 in one or more degrees of freedom (e.g., pitch, yaw, and open / close). In some embodiments, adapter 634 (and instrument 630) is configured to be releasably coupled to the slave manipulator such that instrument 630 can be coupled to and detached from the slave manipulator. Although not shown or described with reference to Figure 12 or the following figures, it is understood that a sterile adapter can be used with surgical instrument 630 to provide a sterile connection between instrument 630 and the slave manipulator. When surgical instrument 630 is coupled to the slave manipulator, movement at the handle of the master console (e.g., operated by a surgeon) can be replicated or cause movement of one or more components of surgical scissors 640.

[0098] Figure 13 Surgical instrument 630 is shown Figure 12 without showing the external components of instrument 630 (e.g., shaft 632, instrument head, etc.) to aid in visualizing the plurality of force transmission elements 631 (e.g., cables) disposed within shaft 632. Force transmission elements 631 can be structurally and / or functionally similar to the transmission members 1036 described above with reference to Figure 3 As Figure 13 shown, electrical connector 636 can be coupled to electrical transmission element 635 (e.g., a wire or lead). Each of force transmission elements 631 can have a proximal end coupled to a corresponding adapter within adapter 634 (as Figure 12 shown) and a distal end coupled to an actuated component of surgical scissors 640. The surgical scissors can include a pair of cutting members 642, 644 held together by a first frame or body 646. Body 646 includes a distal portion configured to hold pin 641 (depicted in a later figure) in place, which in turn rotatably supports cutting members 642, 644. Thus, the distal portion of body 646 functions similarly to a U-bolt. Body 646 also includes a proximal portion configured to be rotatably coupled to a second frame or body 648, for example, via a similar U-bolt and pin mechanism. In operation, cutting members 642, 644 can be configured to rotate about axis A1 of pin 641, and body 646 can be configured to rotate about axis A2, as Figure 13 shown.

[0099] The force transfer element 631 may include a first pair of force transfer elements that are coupled to the body 646 and that, in response to a force applied at the adapter 634 that is coupled to the pair of force transfer elements, may actuate the body 646 to rotate about an axis A2, for example, in the yaw degree of freedom. The force transfer element 631 may also include a second pair of force transfer elements and a third pair of force transfer elements that may be coupled to the first cutting member 642 and the second cutting member 644, respectively, and that, in response to a force applied at the adapter 634 that is coupled to the second pair of force transfer elements and the third pair of force transfer elements, may actuate the first cutting member and the second cutting member 642, 644 to rotate about the axis A2. In an embodiment, the first cutting member and the second cutting member 642, 644 may rotate independently about the pin 641. That is, the cutting member 642 may rotate about the pin 641 in a first direction or a second direction, and the second cutting member 644 may rotate about the pin 641 in a first direction or a second direction. The first cutting member and the second cutting member 642, 644 actuate the end effector 640 in the pitch degree of freedom in response to actuation in the same direction of forces transmitted via the second pair of force transfer elements and the third pair of force transfer elements, and actuation of the first cutting member and the second cutting member 642, 644 in opposite directions (or actuation of one of the first cutting member and the second cutting member 642, 644 without actuation of the other) actuates the end effector 640 in the open / close degree of freedom.

[0100] Figures 14A to 14C The motion and associated parameters of the surgical scissors 640 are shown. As shown, the surgical scissors 640 include a first cutting member 642, a second cutting member 644, a pin 641, and a body or frame 646 that supports the pin. The first cutting member and the second cutting member 642, 644 may be coupled together by the pin 641 and the body 646. The pin 641 may define an axis (e.g., axis A2) that is similar to the axis ω described in reference Figures 8A to 8C The first cutting member 642 and the second cutting member 644 may engage in a cutting rotation, whereby at least one of the first cutting member 642 and the second cutting member 644 rotates about the axis of the pin 641 toward the other, for example, to perform a cut. The angle formed between the first cutting member and the second cutting member 642, 644 during performance of the cut may be referred to as the cutting angle. The cutting angle may be defined at the point of contact of the cutting edges of the cutting members 642, 644. As Figure 14A shown, the cutting angle may be determined in the xy plane of the end effector (as defined by the axes shown based on Figure 16 shown).

[0101] In some embodiments, the surgical scissors 640 (and other surgical scissors described herein) as described herein may provide a constant or substantially constant cutting angle. The curvature of one of the cutting members (e.g., the first cutting member 642) may be predetermined, and the curvature of the other cutting member (e.g., the second cutting member 644) may be defined based on the predetermined curvature of the first cutting member 642 so as to maintain a constant or substantially constant cutting angle between the respective cutting edges of the first and second cutting members. For example, the cutting edge of the second cutting member may include at least two portions, e.g., a proximal portion and a distal portion, each having a determined radius of curvature. The number of portions may be selected so as to maintain the cutting angle constant or substantially constant as the first and second cutting members 642, 644 rotate towards each other. In some embodiments, the number of portions may be between 1 and 10 portions, including all values and subranges therebetween, including e.g., 5 portions. Thus, when the free distal ends of the first and second cutting members 642, 644 may rotate towards each other to form an incision in the cutting plane, the cutting angle between the cutting edges of each of the first and second cutting members may remain constant. The cutting angle may be between about 1 degree and about 5 degrees, including all values and subranges therebetween, including e.g., between about 1.5 degrees and about 2.5 degrees.

[0102] The first and second cutting members 642, 644 may engage in an opening rotation, whereby at least one of the first and second cutting members 642 rotates away from the other about the axis of the pin 641, e.g., to open. The angle formed between the first and second cutting members 642, 644 when open may be the opening angle. The opening angle may be defined at the contact point of the cutting edges of the cutting members 642, 644. As Figure 14B shown, the opening angle may be determined in the yz plane of the end effector (as defined by the axes as shown Figure 16 ). The opening angle may correspond to the slice push ratio as will be further described with reference to Figures 19A to 19B and Figures 20A to 20B .

[0103] In some embodiments, the first and second cutting members 642, 644 may also be configured to translate along the axis of the pin. The translation of the cutting members 642, 644 may be controlled or restricted by one or more springs (e.g., Belleville springs) disposed between each cutting member 642, 644 and the body 646. As Figures 15A to 15BAs shown, springs 643, 645 can be configured to press cutting members 642, 644 toward each other, thereby restricting their translation about the axis of the pin while allowing a limited amount of axial translation. Specifically, surgical scissors 640 include a first spring 643 disposed between the first cutting member 642 and the first side of the body 646 and a second spring 645 disposed between the second cutting member 644 and the second side of the body 646. The first spring 643 and the second spring 645 can apply an elastic force to the respective cutting members 642, 644. For example, the elastic force applied by springs 643, 645 can push the cutting members 642, 644 toward each other. The spring force applied by springs 643, 645 causes the cutting members 642, 644 to apply a consistent reaction force to each other as they perform a cutting rotation. Figure 15A depicts cutting members 642, 644 in a closed configuration, and Figure 15B depicts cutting members 642, 644 in an open configuration. In both configurations, the cutting members 642, 644 are constrained together such that they contact each other at their proximal ends and have a unique contact point where the respective cutting edges of the cutting members 642, 644 contact each other.

[0104] The first and second cutting members 642, 644 can also form a shear angle, as Figure 14C shown. If one or both of the cutting members 642, 644 rotate about their axes (e.g., rotate or tilt about the longitudinal axis of the cutting members 642, 644), the shear angle as shown in the xz plane of the end effector (as defined by the axes shown in Figure 16 ) can be affected. Changing the shear angle during the cutting process may be undesirable because the change in the shear angle may affect the quality or consistency of the cut. In conventional surgical scissors not mounted to a robot-driven surgical instrument (e.g., instrument 630 or any other instrument described herein), the shear angle is maintained by the nature of the geometry of the blades. Specifically, such conventional scissors can have blades that are constrained from translating and axially rotating by relying on blade deformation to press the two blades against each other. The blades can be coupled at a pivot point and have a much longer proximal segment, allowing the blades to deform. In robot-operated surgical scissors such as Figures 14A to 14C the surgical scissors 640 depicted in, the proximal length of the cutting members 642, 644 is limited. Therefore, other mechanisms must be used to restrict the axial rotation of the cutting members 642, 644.

[0105] Figure 16The movement of the cutting members 642, 644 of the surgical scissors 630 is depicted in a three-dimensional view. A plurality of axes (x-axis, y-axis, and z-axis) are defined relative to the axis of the pin 641. The x-axis (e.g., the first axis) may extend along the length of the pin 641 such that the x-axis defines the axis of rotation about which the cutting members 642, 644 are configured to rotate (e.g., in a cutting rotation or an opening rotation). Rotation about the x-axis corresponds to the pitch degree of freedom. In an embodiment, the cutting members 642, 644 may be configured to pitch between approximately -110 degrees and approximately +110 degrees (i.e., pitch downward from the y-axis to approximately 110 degrees and pitch upward from the y-axis to approximately 110 degrees), including all values and sub-ranges therebetween, including, for example, between approximately -90 degrees and approximately 90 degrees. Each cutting member 642, 644 may be configured to translate along the x-axis. In an embodiment, the cutting members 642, 644 may be configured to translate between approximately 0.1 mm and approximately 0.5 mm, including all values and sub-ranges therebetween, including, for example, between approximately 0.1 mm and 0.2 mm.

[0106] The z-axis (e.g., the second axis) is perpendicular to the x-axis. In some embodiments, each cutting member 642, 644 may be configured to rotate away from the y-axis about the z-axis when the cutting members 642, 644 move from an open configuration (e.g., as shown in Figure 15B ) to a closed configuration (e.g., as shown in Figure 15A ). In such embodiments, each cutting member 642, 644 may be configured to rotate about the z-axis at an angle between approximately 5 degrees and approximately 15 degrees, including all values and sub-ranges therebetween, including, for example, between approximately 7 degrees and approximately 9 degrees or approximately 8.2 degrees. In some embodiments, a single one of the cutting members 642, 644 is configured to rotate about the z-axis when the cutting members 642, 644 move from an open configuration (e.g., as shown in Figure 15B ) to a closed configuration (e.g., as shown in Figure 15A ). For example, the first cutting member 642 may be configured to rotate about the z-axis when the cutting members 642, 644 move from an open configuration to a closed configuration, while the other cutting member 644 does not rotate about the z-axis. In such embodiments, the cutting members 642, 644 configured to rotate about the z-axis may be configured to rotate twice as much as in embodiments where both of the cutting members 642, 644 can rotate about the z-axis (e.g., between approximately 10 degrees and approximately 30 degrees, including all values and sub-ranges therebetween). According to some embodiments, the cutting members 642, 644 may be configured to rotate about the x-axis and / or the z-axis and simultaneously translate along the x-axis when the cutting members 642, 644 move from an open configuration (e.g., as shown in Figure 15B ) to a closed configuration (e.g., as shown in Figure 15A ).

[0107] The y-axis (e.g., the third axis) can be perpendicular to the x-axis and the z-axis. The y-axis can correspond to the longitudinal length or axis of the cutting members 642, 644. As described above, rotation about the y-axis (or axial rotation) is not desired because such rotation can affect the shear angle of the cutting members 642, 644. The shear angle, or the angle between the inward-facing surfaces 642a, 644a of the cutting members 642, 644 at the contact point between the cutting members 642, 644, can affect the quality or consistency of the surgical scissors 630 when performing a cut. Thus, maintaining a constant shear angle facilitates consistent cutting, which advantageously results in uniform cutting performance during use in a medical procedure. In an embodiment, the shear angle can be between about 160 degrees and about 170 degrees, between about 155 degrees and about 180 degrees, between about 130 degrees and about 180 degrees, including all sub-ranges and values therebetween.

[0108] Advantageously, the surgical scissors 630 can be configured to prevent or restrict rotation about the y-axis. In some embodiments, this can be achieved using specifically shaped openings in the mounting bodies of the cutting members 642, 644. For example, each mounting body of the cutting members 642, 644 can include an opening configured to allow rotation about one or more of the x-axis and the z-axis while restricting rotation about the y-axis. Further details of such openings are referenced Figures 17A to 18 described in more detail.

[0109] Figure 17A and Figure 17C Depicted is a single cutting member 644 of the surgical scissors 630, showing the hole 647. The hole 647 can define a pivot joint about which the cutting member described herein can pivot. For example, the hole 647 can be used as a sliding balance ring (e.g., a Cardan ring) configured to allow rotation about one or more axes (e.g., the x-axis and the z-axis) and translation along one axis (e.g., the x-axis) while restricting rotation about another axis (e.g., the y-axis). In some embodiments, the hole 647 can be formed by two openings, for example, a first opening having a circular shape and a second opening having an oval shape. Specifically, the first end of the hole 647 can include a circular opening and the second end of the hole 647 can include an oval opening, as Figure 17BSchematically depicted. The circular opening may have a diameter D1 that is substantially the same as or slightly larger than the diameter of the pin. Substantially the same or equal may mean that the dimensions differ within 10% of each other. In an embodiment, slightly larger than the diameter of the pin is no more than about 10% larger than the diameter of the pin. The oval opening may have a first lateral dimension that is equal to or substantially equal to diameter D1 and a second lateral dimension that is larger than the first dimension (i.e., D2 that is larger than D1). In an embodiment, the ratio (D1:D2) of the first lateral dimension to the second lateral dimension of the first and second oval openings is configured to allow rotation about the z-axis to accommodate the sliding of the contact point between the first cutting member and the second cutting member. In some embodiments, the ratio (D1:D2) of the first lateral dimension to the second lateral dimension of the first and second oval openings is between about 1:1.1 and about 1:1.3, including all values and sub-ranges therebetween.

[0110] As Figure 17A and Figure 18 shown, the circular opening and the oval opening may be connected such that there is a transition from the circular opening to the oval opening. In some embodiments, the transition may be a gradual transition. A gradual transition may be desirable to prevent a sharp engagement between the pin surface and the hole 647. Although only a single cutting member 644 is depicted in Figure 17A and Figure 17C it will be understood that similar holes may be formed in the mounting body of another cutting member 642.

[0111] When the cutting members 642, 644 are assembled on the pin 641, the oval openings of the holes 647 of the cutting members 642, 644 can face inward. In other words, the oval openings of the holes 647 of the cutting members 642, 644 can be positioned to face each other, while the circular openings of the holes 647 of the cutting members 642, 644 can face outward (e.g., towards the springs 643, 645 respectively). The oval openings of the holes 647 of the cutting members 642, 644 can be oriented such that the first (or smaller) dimension extends along or is aligned with the z-axis. The second (or larger) dimension can be in the direction of the longitudinal axis of each cutting member 642, 644. When assembled in this way, the holes 647 of the cutting members 642, 644 enable rotation about the x and z axes and translation about the x-axis, while preventing or restricting or inhibiting rotation about the y-axis. Since the first (or smaller) dimension of the oval opening is equal to (or substantially equal to) the diameter of the pin 641, each cutting member 642, 644 can be constrained from rotating about the y-axis. Advantageously, the constrained rotation about the y-axis can maintain a constant shear angle as previously described. The second (larger) dimension of the cutting members 642, 644 can be selected to allow rotation about the z-axis of at least between about 5 degrees and about 15 degrees, which can accommodate the sliding (e.g., translation) of the contact points between the cutting members without generating significant stress and / or causing failure.

[0112] Figure 18 The pin 641 within the hole 647 of the cutting member 644 is depicted. The pin 641 can be similarly disposed within the hole of the cutting member 642. As described above, the outer diameter of the pin 641 can be substantially equal to the first lateral dimension of the oval opening or the diameter of the circular opening. Substantially equal can mean that the dimensions differ within 10% of each other. For example, the outer diameter of the pin 641 can be slightly less than the first lateral dimension of the oval opening and / or the diameter of the circular opening (e.g., within about 10% difference), such that the cutting members 642, 644 can rotate about the pin without significant friction and / or abrasion between the components. The relative dimensions of the pin 641 and the opening 647 can correspond to the tolerances of the manufacturing process for fabricating the end effector described herein. In an embodiment, the diameter of the pin 641 can be between about 1 mm and about 3 mm, including all values and sub-ranges, or about 1.5 mm.

[0113] In some embodiments, the surgical scissors as described herein can also include a curvature along the cutting edge of the cutting member such that the opening angle of the cutting member can remain constant or substantially constant during the cutting rotation. In conventional robotically operated surgical scissors, the opening angle of the scissors can decrease as the cutting members close. For example, Figure 19A An end effector implemented as surgical scissors 740 in a first configuration is shown, where the cutting members 742, 744 of the surgical scissors 740 are near the start of the cutting rotation, andFigure 19B Shows the end effector 740 in the second configuration, where the cutting members of the end effector 740 approach the end of the cutting rotation. Each cutting member 742, 744 includes a cutting edge 742a, 744a respectively. As previously referenced Figure 14B As described, the opening angle can be defined between them at the contact point between the cutting edges 742a, 744a.

[0114] As Figure 19A and Figure 19B shown, when the cutting members 742, 744 are further apart ( Figure 19A ), the opening angle α1 is greater than the opening angle α2 when the cutting members 742, 744 are closer together ( Figure 19B ). The change in the opening angle from α1 to α2 can correspond to a change in the slice push ratio of the end effector 740. The slice push ratio can refer to the ratio of the amount of material cut between the scissor blades to the amount of material pushed between the scissor blades. Generally speaking, a larger opening angle corresponds to a smaller or more optimal slice push ratio, which can provide a more uniform and / or more efficient cut. Thus, an increased slice push ratio, such as an increased slice push ratio corresponding to a decrease in the opening angle from α1 to α2, can result in a less uniform and / or less efficient cut. A varying slice push ratio (such as an increased slice push ratio) can further result in unpredictable cutting. In some cases, the material being cut may be pushed by the cutting edges 742a, 744a and then compressed (e.g., squeezed together), such that the resulting incision may be serrated.

[0115] In contrast, the surgical scissors disclosed herein can be configured to maintain a larger opening angle during the cutting operation. For example, Figure 20A and Figure 20BEnd effectors implemented as surgical scissors 840 are shown in a first configuration and a second configuration, both of which may correspond to an opening angle α1 that is the same or approximately the same. In an embodiment, the opening angle α1 may be between about 30 degrees and about 40 degrees, between about 20 degrees and about 40 degrees, or between about 10 degrees and about 50 degrees, including all values and sub-ranges therebetween. Surgical scissors 840 may be structurally and / or functionally similar to other end effectors and surgical scissors described herein, including, for example, end effector 1040 and / or surgical scissors 640. For example, surgical scissors 840 may include a first cutting member 842 and a second cutting member 844. In some embodiments, the same opening angle α1 may be achieved by having regions of different curvature for each cutting member 842, 844 of surgical scissors 840. For example, the first cutting member 842 may include a proximal portion 842a and a distal portion 842b, and the second cutting member may include a proximal portion 844a and a distal portion 844b. The proximal portions 842a, 844a of each of the cutting members 842, 844 may include a curvature having a first radius of curvature. The distal portions 842b, 844b of each of the cutting members 842, 844 may include a curvature having a second radius of curvature, where the second radius of curvature may be less than the first radius of curvature.

[0116] The distal portions 842b, 844b of each respective cutting member 842, 844 may comprise from about 24% to about 40%, from about 20% to about 45%, or from about 10% to about 50% of the total length of the respective cutting member 842, 844, including all values and sub-ranges therebetween. Given the curvature change from the proximal portion to the distal portion of the first and second cutting members 842, 844, the opening angle may remain constant or substantially constant as the free distal ends of the respective cutting members 842, 844 rotate towards each other. The movement of the free distal ends towards each other during rotation of the cutting members 842, 844 may form an incision in the cutting plane. As Figure 20A and Figure 20B shown, the curvature of each of the proximal and distal portions of each respective cutting member 842, 844 curves in a direction away from the cutting plane. In some embodiments, the cutting members 842, 844 may also include one or more additional curvatures in other directions (e.g., in a direction along the cutting plane).

[0117] Although various inventive embodiments have been described and illustrated herein, those of ordinary skill in the art will readily envision various other means and / or structures for performing the functions and / or obtaining the results and / or one or more of the advantages described herein, and each of such variations and / or modifications is considered to be within the scope of the inventive embodiments described herein. More generally, those skilled in the art will readily understand that all parameters, dimensions, materials, and configurations described herein are exemplary, and the actual parameters, dimensions, materials, and / or configurations will depend upon the specific application or applications for which the teachings of the invention are used. Those skilled in the art will recognize, or be able to ascertain using no more than routine experimentation, many equivalents to the specific inventive embodiments described herein. Accordingly, it is to be understood that the foregoing embodiments are presented by way of example only and are within the scope of the appended claims and their equivalents; embodiments of the invention may be practiced otherwise than as specifically described and claimed. The inventive embodiments of the present disclosure are directed to each and every separate feature, system, article, material, and / or method described herein. Moreover, any combination of two or more such features, systems, articles, materials, and / or methods, where such features, systems, articles, materials, and / or methods are not mutually inconsistent, is included within the scope of the invention of the present disclosure.

[0118] Moreover, various inventive concepts may be embodied as one or more methods for which examples have been provided herein. The acts performed as part of the method may be ordered in any suitable way. Accordingly, embodiments may be constructed in which acts are performed in an order different than illustrated, which may include performing some acts simultaneously, even though shown as sequential acts in illustrative embodiments.

[0119] As used herein, the terms “about,” “approximately,” and / or “substantially” when used in conjunction with a stated value, geometric structure, relationship, or other characteristic are intended to convey that the so-defined value or characteristic is nominally the stated value or characteristic. In some instances, the terms “about,” “approximately,” and / or “substantially” may generally mean and / or may generally be considered to be within the desired tolerance of the stated value or characteristic, e.g., plus or minus 10% of the stated value or characteristic. For example, a value of about 0.01 may include 0.009 and 0.011, a value of about 0.5 may include 0.45 and 0.55, a value of about 10 may include 9 to 11, and a value of about 1000 may include 900 to 1100. Similarly, a value or characteristic may be described as being substantially constant when the variation of the value or characteristic does not exceed about 10%. Although the stated values, structures, and / or relationships may be desired, it should be understood that some variation may occur due to, for example, manufacturing tolerances or other practical considerations (such as, for example, the pressure or force applied by a portion of a device). Accordingly, the terms “about,” “approximately,” and / or “substantially” may be used herein to account for such tolerances and / or considerations.

[0120] As used in the specification and claims, the indefinite articles "a" and "an" shall be understood to mean "at least one" unless the contrary is clearly indicated.

Claims

1. A device, the device comprising: a first cutting member and a second cutting member, each of the first cutting member and the second cutting member including a cutting edge and a mounting end defining an oval opening; and a pin extending through the oval openings of each of the mounting ends of the first cutting member and the second cutting member, wherein each of the first cutting member and the second cutting member is configured to rotate independently about a first axis defined by the pin and a second axis perpendicular to the first axis, while being constrained from rotating about a third axis perpendicular to the first axis and the second axis.

2. The device according to claim 1, wherein each of the first cutting member and the second cutting member has a curved section.

3. The device according to claim 1, wherein the cutting edge of the first cutting member contacts the cutting edge of the second cutting member at a contact point, and when one or more of the first cutting member and the second cutting member rotate about the first axis, the contact point translates along the corresponding cutting edge.

4. The device according to claim 1, wherein the shear angle is between about 160 degrees and about 180 degrees.

5. The device according to claim 1, wherein each oval opening has a first lateral dimension smaller than a second lateral dimension, and the second axis is parallel to the first lateral dimension.

6. The device according to claim 5, wherein the first lateral dimension is substantially equal to the outer diameter of the pin.

7. The device according to claim 1, the device further comprising a first spring coupled to the first cutting member and a second spring coupled to the second cutting member, the first spring and the second spring being configured to press the first cutting member and the second cutting member against each other.

8. The device according to claim 7, wherein each of the first spring and the second spring includes a Belleville spring.

9. The device according to claim 7, wherein each of the first spring and the second spring is configured to allow the corresponding first cutting member and second cutting member to translate along the first axis.

10. The device according to claim 1, wherein the first cutting member and the second cutting member are configured to translate along the first axis.

11. The device according to claim 1, wherein each of the mounting ends of the first cutting member and the second cutting member further defines a circular opening connected to the oval opening, the pin being configured to extend through the circular opening and the oval opening of each of the mounting ends of the first cutting member and the second cutting member.

12. The device according to claim 11, wherein each oval opening has a first lateral dimension smaller than a second lateral dimension, the first lateral dimension of the oval opening being substantially equal to the diameter of the circular opening.

13. The device according to claim 12, wherein the first lateral dimension of the oval opening and the diameter of the circular opening are substantially equal to the outer diameter of the pin.

14. The device according to claim 11, wherein the oval opening is provided on the inner sides of the first cutting member and the second cutting member facing each other, and the circular opening is provided on the outer sides of the first cutting member and the second cutting member.

15. A device, the device comprising: a first cutting member including a first cutting edge and a first mounting end defining a first oval opening; a second cutting member including a second cutting edge and a second mounting end defining a second oval opening that is aligned with the first oval opening; and a cylindrical pin defining an x-axis, the cylindrical pin extending through the first oval opening and the second oval opening, wherein each of the first oval opening and the second oval opening includes a first lateral dimension that is substantially equal to the diameter of the cylindrical pin and a second lateral dimension that is greater than the diameter of the cylindrical pin, wherein each of the first cutting member and the second cutting member is configured to (1) rotate independently about the x-axis and about a z-axis parallel to the first lateral dimension of the first oval opening and the second oval opening, and (2) translate independently along the x-axis while being constrained from rotating about a y-axis perpendicular to the x-axis and the z-axis.

16. The device according to claim 15, wherein each of the first cutting member and the second cutting member has a curved section.

17. The device according to claim 15, wherein the ratio of the first lateral dimension to the second lateral dimension of the first oval opening and the second oval opening is configured to allow rotation about the z-axis to accommodate sliding of the contact point between the first cutting member and the second cutting member.

18. The device according to claim 15, wherein the ratio of the first lateral dimension to the second lateral dimension of the first oval opening and the second oval opening is between about 1:1.1 and about 1:1.

3.

19. The device according to claim 15, wherein each of the first cutting member and the second cutting member is configured to rotate about one or more of the x-axis and the z-axis and translate along the x-axis simultaneously.

20. The device according to claim 15, the device further comprising a first spring coupled to the first cutting member and a second spring coupled to the second cutting member, the first spring and the second spring being configured to press the first cutting member and the second cutting member against each other.

21. The device according to claim 20, wherein each of the first spring and the second spring includes a Belleville spring.

22. The device according to claim 15, wherein the first cutting member contacts the second cutting member at a contact point, and when one or more of the first cutting member and the second cutting member rotate about the x-axis, the contact point translates along the first cutting edge and the second cutting edge.

23. A device, the device comprising: a first cutting member and a second cutting member, wherein each of the first cutting member and the second cutting member includes a cutting edge, a coupled proximal end, and a free distal end; and a pin that extends through the coupled proximal ends of each of the first cutting member and the second cutting member such that each of the first cutting member and the second cutting member is configured to rotate independently about the axis of the pin, wherein the cutting edge of each of the first cutting member and the second cutting member includes a proximal portion and a distal portion, the proximal portion including a curvature having a first radius of curvature, and the distal portion including a curvature having a second radius of curvature less than the first radius of curvature, such that when the free distal ends of the first cutting member and the second cutting member rotate towards each other to form a cut in a cutting plane, the opening angle between the cutting edges of each of the first cutting member and the second cutting member remains substantially constant.

24. The device according to claim 23, wherein the distal portion of each of the first cutting member and the second cutting member comprises from about 25% to about 40% of the length of the respective first cutting member or second cutting member.

25. The device according to claim 23, wherein the distal portion of each of the first cutting member and the second cutting member includes the free distal end of the respective first cutting member or second cutting member.

26. The device according to claim 23, wherein the curvature of each of the proximal portion and the distal portion curves in a direction away from the cutting plane.

27. The device according to claim 26, wherein the curvature of each of the proximal portion and the distal portion is a first curvature, and each of the proximal portion and the distal portion includes a second curvature in a direction parallel to the cutting plane.

28. The device according to claim 23, wherein the opening angle is between about 30 degrees and about 40 degrees.

29. The device according to claim 23, the device further comprising a first spring coupled to the first cutting member and a second spring coupled to the second cutting member, the first spring and the second spring being configured to press the first cutting member and the second cutting member against each other.

30. The device according to claim 29, wherein each of the first spring and the second spring comprises a Belleville spring.

31. The device according to claim 23, wherein the joined proximal ends of each of the first cutting member and the second cutting member define an oval opening through which the pin extends.

32. The device according to claim 31, wherein the oval opening has a first lateral dimension that is less than a second lateral dimension, the first lateral dimension being substantially equal to the outer diameter of the pin.

33. The device according to claim 31, wherein the axis of the pin is a first axis, and each of the first cutting member and the second cutting member is configured to rotate independently about the first axis and a second axis perpendicular to the first axis while being constrained from rotating about a third axis perpendicular to the first axis and the second axis such that the shear angle between the cutting edges of each of the first cutting member and the second cutting member remains constant.

34. The device according to claim 33, wherein the shear angle is between approximately 160 degrees and approximately 180 degrees.

35. A device, the device comprising: a first cutting member and a second cutting member, wherein each of the first cutting member and the second cutting member includes a cutting edge, a joined proximal end, and a free distal end; and a pin extending through the joined proximal ends of each of the first cutting member and the second cutting member such that each of the first cutting member and the second cutting member is configured to rotate independently about the axis of the pin, wherein the cutting edge of one of the first cutting member and the second cutting member includes a proximal portion and a distal portion, the proximal portion including a curvature having a first radius of curvature and the distal portion including a curvature having a second radius of curvature different from the first radius of curvature such that when the free distal ends of the first cutting member and the second cutting member rotate toward each other to form an incision in a cutting plane, the cutting angle between the cutting edges of the first cutting member and the second cutting member remains substantially constant.

36. The device according to claim 35, wherein the cutting edge of one of the first cutting member and the second cutting member further includes one or more additional portions, each of the one or more additional portions having a radius of curvature different from at least one other radius of curvature of the distal portion, the proximal portion, or the one or more additional portions.

37. The device according to claim 35, wherein the cutting edge of the other of the first cutting member and the second cutting member includes a substantially constant curvature.

38. The device according to claim 35, wherein the cutting angle is between approximately 1 degree and approximately 5 degrees.

39. An end effector for use with a surgical instrument, the end effector comprising: A first scissor blade, the first scissor blade including a first mounting body and a first blade, the first mounting body being configured to be actuated to cause the first scissor blade to rotate about an axis of the end effector, the first blade including a first root portion coupled to the first mounting body and a first cutting portion extending distally from the first root portion, the first root portion including a first spring integrally formed with the first blade; and A second scissor blade, the second scissor blade including a second mounting body and a second blade, the second mounting body being configured to be actuated to cause the second scissor blade to rotate about the axis of the end effector, the second blade including a second root portion coupled to the second mounting body and a second cutting portion extending distally from the second root portion, the second root portion including a second spring integrally formed with the second blade, wherein the first mounting body and the second mounting body are configured to be actuated independently such that actuation of the first mounting body and the second mounting body in opposite directions causes actuation of the first scissor blade and the second scissor blade in an opening and closing degree of freedom.

40. The end effector according to claim 39, wherein at least one of the first spring and the second spring includes a U-shaped spring.

41. The end effector according to claim 39, wherein the first spring and the second spring do not extend proximally beyond the axis of the end effector.

42. The end effector according to claim 39, wherein the first spring and the second spring are configured to provide a relatively consistent reaction force between the first blade and the second blade in the opening and closing degree of freedom.

43. The end effector according to claim 39, wherein the first blade and the second blade include a predetermined curvature.

44. The end effector according to claim 39, wherein the first mounting body is integrally formed with the first blade.

45. The end effector according to claim 39, wherein the second mounting body is integrally formed with the second blade.

46. The end effector according to claim 39, wherein actuation of the first mounting body and the second mounting body in the same direction causes actuation of the first scissor blade and the second scissor blade in a pitching degree of freedom.

47. The end effector according to claim 39, wherein the second mounting body is concentrically aligned with the first mounting body.

48. The end effector according to claim 39, wherein the first mounting body and the second mounting body are configured to be actuated independently via a first force transmission element and a second force transmission element, respectively.

49. The end effector according to claim 48, wherein the first force transmission element and the second force transmission element include cables.

50. The end effector according to claim 48, wherein the first mounting body includes a first groove sized and shaped to receive the first force transfer element, and wherein the second mounting body includes a second groove sized and shaped to receive the second force transfer element.

51. The end effector according to claim 50, wherein the first mounting body includes a first clamp configured to secure the first force transfer element to the first groove, and wherein the second mounting body includes a second clamp configured to secure the second force transfer element to the second groove.

52. The end effector according to claim 39, the end effector further including a frame having a proximal region and a distal region, the frame configured to rotatably receive the first mounting body and the second mounting body, the frame including a pin configured to permit rotation of the first mounting body and the second mounting body about the axis of the end effector.

53. The end effector according to claim 52, wherein the proximal region of the frame is configured to be actuated to cause actuation of the first scissor blade and the second scissor blade in a yaw degree of freedom.

54. The end effector according to claim 39, wherein the proximal portion of the end effector includes one or more bumps sized and shaped to be received by one or more corresponding openings disposed in a distal region of an instrument shaft of the surgical instrument, the distal region of the instrument shaft including flexible flaps configured to secure the one or more bumps within the one or more corresponding openings, thereby securing the end effector to the instrument shaft.

55. The end effector according to claim 54, wherein the one or more bumps include a geometry such that movement of the one or more bumps proximally relative to the flexible flaps causes the flexible flaps to transition between a radially expanded state and a collapsed state, in the radially expanded state, the one or more bumps being permitted to move toward the one or more corresponding grooves, and in the collapsed state, the flexible flaps securing the one or more bumps within the one or more corresponding grooves.

56. A surgical instrument, the surgical instrument including the end effector according to claim 39.

57. A surgical robot system, the surgical robot system including the surgical instrument according to claim 56.

58. An end effector for use with a surgical instrument, the end effector comprising: a pair of independently actuable scissor blades, each scissor blade including: a mounting body configured to be actuated to rotate a respective one of the pair of independently actuable scissor blades about an axis of the mounting body; and A blade, the blade including a root portion coupled to the mounting body and a cutting portion extending distally from the root portion, the root portion including a spring integrally formed with the blade, wherein the spring is configured to provide a relatively consistent reaction force between the pair of independently actuable scissor blades when the pair of independently actuable scissor blades are actuated.

59. The end effector according to claim 58, wherein actuation of the pair of independently actuable scissor blades in opposite directions causes actuation of the blade in the pair of independently actuable scissor blades in the opening and closing degrees of freedom.

60. A method for actuating an end effector of a surgical instrument, the method comprising: rotating a first mounting body of a first scissor blade of the end effector to actuate a first blade extending from the first mounting body via a first root portion, the first root portion including a first U-shaped spring integrally formed with the first blade; and rotating a second mounting body of a second scissor blade of the end effector to actuate a second blade extending from the second mounting body via a second root portion, the second root portion including a second U-shaped spring integrally formed with the second blade, wherein rotation of the first mounting body and the second mounting body in opposite directions causes actuation of the first scissor blade and the second scissor blade in the opening and closing degrees of freedom such that the first U-shaped spring and the second U-shaped spring provide a relatively consistent reaction force between the first blade and the second blade.

61. A surgical instrument, the surgical instrument comprising: an instrument shaft including one or more openings disposed in a distal region of the instrument shaft and one or more flexible flaps distal to the one or more openings, the one or more flexible flaps extending from a distal end of the instrument shaft toward the one or more openings; and an end effector configured to be removably coupled to the distal region of the instrument shaft, a proximal portion of the end effector including one or more bumps sized and shaped to be received by the one or more openings of the instrument shaft, wherein the one or more bumps include a geometric structure such that movement of the one or more bumps proximally relative to the one or more flexible flaps causes the one or more flexible flaps to transition between a radially expanded state and a collapsed state, in the radially expanded state, the one or more bumps are allowed to move toward the one or more openings, and in the collapsed state, the one or more flexible flaps fix the one or more bumps within the one or more openings, thereby fixing the end effector to the instrument shaft.

62. The surgical instrument according to claim 61, wherein the instrument shaft includes one or more openings disposed in a proximal region of the instrument shaft, and one or more flexible flaps proximal to the one or more openings, the one or more flexible flaps extending from a proximal end of the instrument shaft toward the one or more openings at the proximal region of the instrument shaft, the system further comprising: an instrument hub configured to removably couple to the proximal region of the instrument shaft, the instrument hub including one or more hub bumps sized and shaped to be received by the one or more openings at the proximal region of the instrument shaft, wherein the one or more hub bumps of the instrument hub include a geometry such that movement of the one or more hub bumps distally relative to the one or more flexible flaps causes the one or more flexible flaps to transition between a radially expanded state and a collapsed state, in the radially expanded state, the one or more hub bumps are permitted to move toward the one or more openings, and in the collapsed state, the one or more flexible flaps secure the one or more hub bumps within the one or more openings, thereby securing the instrument hub to the instrument shaft.

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