Pivot joint for surgical cutting device and system and method thereof

Abstract

The present disclosure relates to a surgical robotic system having surgical scissors. In some embodiments, the surgical scissors include independently actuable cutting members, each configured to pivot about a pin axis to perform a cutting action. In some embodiments, the surgical scissors include an integrated spring. In some embodiments, the surgical scissors include cutting members configured to pivot about one or more axes while being constrained from pivoting about another axis. In some embodiments, the surgical scissors include multiple curves, and one or more curves can maintain an opening angle of the scissors.

Description

[Technical Field]

[0001] (CROSS-REFERENCE TO RELATED APPLICATIONS) This application claims the benefit of U.S. Provisional Application No. 63 / 380,201, filed October 19, 2022, the entire contents of which are incorporated herein by reference.

[0002] This application relates generally to surgical robotic systems, for example, end effectors having spring-based scissor blades for surgical instruments. [Background technology]

[0003] Surgical scissors are generally used to cut human tissue during surgical procedures by bringing the cutting edges of the blades of the surgical scissors together. The cutting edges may be brought together by pivoting the blades about a pivot axis. However, the shear angle of typical surgical scissors often varies, resulting in uneven or ineffective cuts.

[0004] Furthermore, surgical scissors used in conventional laparoscopy often have tabs on the proximal side of the cutting blade that extend proximally, away from the pivot point of the scissors. These tabs are curved toward each other, and when held together, the tabs act as springs, thereby providing a reaction force for the blade. While manual full-size scissors often have gently curved blades that can be used to provide a reaction force, this is not possible with surgical scissors because they do not have sufficient length for the gentle curve used by manual scissors. Furthermore, designing robotic surgical scissors in the same way as laparoscopic scissors may not be desirable because such tabs would make the instrument tip longer and more cumbersome.

[0005] Thus, some blades in surgical scissors assemblies may not cut effectively, and other blades in surgical scissors assemblies may cut unevenly due to varying shear angles.Therefore, improved surgical scissors that can be used in robotic surgery are desired. Summary of the Invention

[0006] The present disclosure relates generally 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.

[0007] In some embodiments, the device may include a first cutting member and a second cutting member, each having a cutting edge and a mounting end defining an oval-shaped opening. A pin may extend through the oval-shaped opening in 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 independently rotate about a first axis defined by the pin and about a second axis perpendicular to the first axis, while being constrained from rotating about a third axis perpendicular to the first and second axes, such that a shear angle between the first cutting edge of the first cutting member and the second cutting edge of 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. When one or more of the first cutting member and the second cutting member rotate about the first axis, the cutting edge of the first cutting member can contact the cutting edge of the second cutting member at a contact point that translates along the respective cutting edges. In some embodiments, the first cutting member and the second cutting member can be configured to translate along the first axis.

[0008] Each oval opening may have a first transverse dimension smaller than the second transverse dimension. The second axis may be parallel to the first transverse dimension. The first transverse dimension may be substantially equal to the outer diameter of the pin. Each of the attachment 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 attachment ends of the first cutting member and the second cutting member. In some embodiments, the first transverse dimension of the oval opening may be substantially equal to the diameter of the circular opening. The first transverse 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 disposed on the inner sides of the opposing first cutting member and second cutting member, and the circular openings may be disposed on the outer sides of the first cutting member and second cutting member.

[0009] 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 urge the first cutting member and the second cutting member toward each other. Each of the first spring and the second spring may include a disc spring. Each of the first spring and the second spring may be configured to allow each of the first cutting member and the second cutting member to translate along the first axis.

[0010] In some embodiments, the device may include a first cutting member including a first mounting end defining a first cutting edge and a first oval opening, a second cutting member including a second mounting end defining a second cutting edge and a second oval opening aligned with the first oval opening, and a cylindrical pin defining an x-axis. The cylindrical pin may extend through the first oval opening and the second oval opening. Each of the first oval opening and the second oval opening may include a first lateral dimension substantially equal to the diameter of the cylindrical pin and a second lateral dimension greater than the diameter of the cylindrical pin. Each of the first cutting member and the second cutting member may be configured to (1) independently rotate about an x-axis and about a z-axis, which may be parallel to the first lateral dimension of the first oval opening and the second oval opening, and (2) independently translate along the x-axis while being constrained from rotating about a y-axis, which may be perpendicular to the x-axis and z-axis. The ratio of the first lateral dimension of the first oval opening to the second lateral dimension of the second oval opening can 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.

[0011] Each of the first and second cutting members may have a curved section. Each of the first and second cutting members may be configured to rotate about one or more of the x-axis and z-axis and simultaneously translate along the x-axis. When one or both of the first and second cutting members rotate about the x-axis, the first cutting edge may contact the second cutting edge at a contact point that translates along the first and second cutting edges. In some embodiments, this may be facilitated by rotation of one or both of the first and second cutting members about the z-axis.

[0012] 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 urge the first cutting member and the second cutting member toward each other. Each of the first spring and the second spring may include a disc spring.

[0013] In some embodiments, the device may include a first cutting member and a second cutting member, each of which may include a cutting edge, a coupled proximal end, a free distal end, and a pin extending through the coupled proximal end of each of the first cutting member and the second cutting member, whereby each of the first cutting member and the second cutting member may be configured to rotate independently about the axis of the pin. The cutting edge of each of the first cutting member and the second cutting member may have a proximal portion including a curvature having a first radius of curvature and a distal portion including a curvature having a second radius of curvature smaller than the first radius of curvature. Thus, an opening angle between the cutting edge of the first cutting member and the cutting edge of the second cutting member may remain constant as the free distal end of the first cutting member and the free distal end of the second cutting member may be rotated toward each other to form an incision in a cutting plane. The opening angle can be, for example, about 30 degrees to about 40 degrees over the entire cutting range.

[0014] The distal portion of each of the first and second cutting members may comprise about 25% to about 40% of the length of the first or second cutting member, respectively. The distal portion of each of the first and second cutting members may comprise the free distal end of the first or second cutting member, respectively. The curvature of each of the proximal and distal portions may curve in a direction away from the cutting plane. The curvature of each of the proximal and distal portions may be a first curvature, and each of the proximal and distal portions may comprise a second curvature in a direction parallel to the cutting plane.

[0015] 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 urge the first cutting member and the second cutting member toward each other. Each of the first spring and the second spring may include a disc spring.

[0016] The coupled proximal ends of each of the first and second cutting members may define an oval-shaped opening. The pin may extend through the oval-shaped opening. The oval-shaped opening may have a first transverse dimension that may be smaller than a second transverse dimension. The first transverse 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 and second cutting members may be configured to independently rotate 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 and second axes, such that a shear angle between the cutting edges of each of the first and second cutting members may remain constant. The shear angle may be between about 160 degrees and about 180 degrees.

[0017] According to embodiments, the devices described herein can provide a constant cutting angle. The device can include a first cutting member and a second cutting member that form a cutting angle while performing a cut. The cutting angle can be defined at the point of contact between the cutting edges of the cutting members. The curvature of one of the cutting members, e.g., the first cutting member, can be a predetermined curvature, while the curvature of the other cutting member, e.g., the second cutting member, can be defined according to the predetermined curvature of the first cutting member so as to maintain a constant cutting angle between the cutting edges of the first cutting member and the second cutting member. In embodiments, 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 multiple portions, each having a radius of curvature selected to maintain a constant cutting angle between the cutting edges of the first cutting member and the second cutting member. The cutting edge of the second cutting member comprises at least two portions, designated a proximal portion and a distal portion, each having a predetermined radius of curvature. The number of portions can be selected to maintain a constant (or substantially constant) cutting angle when the first and second cutting members are rotated toward one another. In some embodiments, the number of portions can be from 1 to 10 portions, including all values ​​and subranges therebetween. Thus, the cutting angle between the cutting edges of the first and second cutting members can remain constant when the free distal ends of the first and second cutting members are rotated toward one another to form an incision within the cutting plane. The cutting angle can be from about 1 degree to about 5 degrees, including all values ​​and subranges therebetween.

[0018] In some embodiments, the end effector may include a first scissor blade having a first mounting body configured to be actuated to pivot the first scissor blade about an axis of the end effector, and a 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 integrally formed with the first blade. Additionally, the end effector may include a second scissor blade having a second mounting body configured to be actuated to pivot the second scissor blade about an axis of the end effector, and a second blade having 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 may also include a second spring integrally formed with the second blade. Furthermore, the first mounting body and the second mounting body are independently actuatable and configured 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 open / close degree of freedom.

[0019] At least one of the first and second springs may include a U-shaped spring, and the first and second blades may have a predetermined curvature. The first and second springs may not extend proximally beyond the axis of the end effector. Additionally, the first and second springs are configured to provide a relatively consistent reaction force between the first and second blades in the open and closed degrees of freedom. The first mounting body may be integrally formed with the first blade, and the second mounting body may be integrally formed with the second blade. Actuation of the first and second mounting bodies in the same direction may cause actuation of the first and second scissor blades in the pitch degree of freedom.

[0020] 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 independently actuable via the first and second force transmission elements, respectively. For example, the first and second force transmission elements 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. Furthermore, the first mounting body may include a first crimp configured to secure the first force transmission element to the first groove, and the second mounting body may include a second crimp configured to secure the second force transmission element to the second groove. The end effector may further include a frame having proximal and distal regions configured to pivotally receive the first and second mounting bodies. The frame can include a pin configured to enable rotation of the first and second mounting bodies about an axis of the end effector. Additionally, a proximal region of the frame can be configured to be actuated to cause actuation of the first and second scissor blades in a yaw degree of freedom.

[0021] In some embodiments, the proximal portion of the end effector may include one or more knobs sized and shaped to be received by one or more corresponding openings disposed on 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 knobs within the one or more corresponding openings, thereby securing the end effector to the instrument shaft. The one or more knobs may have a geometry such that proximal movement of the one or more knobs relative to the flexible flaps transitions the flexible flaps between a radially expanded state that allows the one or more knobs to move toward the one or more corresponding grooves and a folded state in which the flexible flaps secure the one or more knobs within the one or more corresponding grooves.

[0022] Thus, an end effector for use with a surgical instrument may include a pair of independently actuatable scissor blades, each scissor blade including a mounting body configured to be actuated to pivot a respective scissor blade of the pair of independently actuatable scissor blades about an axis of the mounting body, and a 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 configured to provide a relatively consistent reaction force between the pair of independently actuatable scissor blades upon actuation of the pair of independently actuatable scissor blades. Thus, actuation of the pair of independently actuatable scissor blades in opposite directions causes actuation of the pair of independently actuatable scissor blades in both an open and an closed degree of freedom.

[0023] According to another aspect of the present disclosure, 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 an open or closed degree 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.

[0024] According to another aspect of the present disclosure, a surgical instrument having an end effector and a surgical robotic system having the surgical instrument are provided. For example, an instrument shaft of the surgical instrument may include 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 the 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, and a proximal portion of the end effector may include one or more knobs sized and shaped to be received by the one or more openings in the instrument shaft. Additionally, the one or more knobs may have a geometry such that proximal movement of the one or more knobs relative to the one or more flexible flaps transitions the one or more flexible flaps between a radially expanded state that allows the one or more knobs to move toward the one or more openings and a folded state in which the one or more flexible flaps secure the one or more knobs within the one or more openings, thereby securing the end effector to the instrument shaft.

[0025] Additionally, the instrument shaft may include one or more openings disposed on the 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 the proximal end of the instrument shaft toward the one or more openings in 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, the instrument hub may include one or more hub knobs sized and shaped to be received by the one or more openings in the proximal region of the instrument shaft. Furthermore, the one or more hub knobs of the instrument hub may have a geometry such that distal movement of the one or more hub knobs relative to the one or more flexible flaps transitions the one or more flexible flaps between a radially expanded state that allows the one or more hub knobs to move toward the one or more openings and a folded state in which the one or more flexible flaps secure the one or more hub knobs within the one or more openings, thereby securing the instrument hub to the instrument shaft. [Brief explanation of the drawings]

[0026] [Figure 1] 1 illustrates a schematic diagram of a surgical robotic system, according to an embodiment.

[0027] [Figure 2] 1A and 1B illustrate schematic diagrams of a manipulator of a surgical robotic system, according to an embodiment.

[0028] [Figure 3] 3A and 3B illustrate schematic diagrams of instruments of the surgical robotic system of FIG. 2, according to an embodiment.

[0029] [Figure 4] 4A and 4B illustrate schematic diagrams of an end effector of the instrument of FIG. 3, according to an embodiment.

[0030] [Figure 5] 1 illustrates a surgical robotic system, according to an embodiment.

[0031] [Figure 6] 1 illustrates a detailed view of an instrument coupling portion of a surgical robotic system, according to an embodiment.

[0032] [Figure 7] 1 illustrates a surgical instrument of a surgical robotic system, according to an embodiment.

[0033] [Figure 8A] 8 shows a perspective view of an end effector of the surgical instrument of FIG. 7, according to an embodiment. [Figure 8B] FIG. 8 illustrates a top view of the end effector of the surgical instrument of FIG. 7, according to an embodiment. [Figure 8C] 8 illustrates a first cutting portion of the end effector of the surgical instrument of FIG. 7, according to an embodiment.

[0034] [Figure 9A]8C illustrates a cross-sectional view of the end effector of FIGS. 8A and 8B, according to an embodiment. [Figure 9B] 8C illustrates a cross-sectional view of the end effector of FIGS. 8A and 8B, according to an embodiment.

[0035] [Figure 10A] 10 illustrates actuation of an end effector about a pivot axis, according to an embodiment. [Figure 10B] 10 illustrates actuation of an end effector about a pivot axis, according to an embodiment. [Figure 10C] 10 illustrates actuation of an end effector about a pivot axis, according to an embodiment.

[0036] [Figure 11A] 10 shows a coupling mechanism for coupling an end effector to a surgical instrument shaft, according to an embodiment. [Figure 11B] 11B illustrates the coupling mechanism of FIG. 11A, according to an embodiment. [Figure 11C] 11C shows the proximal end of the surgical instrument shaft of FIGS. 11A and 11B.

[0037] [Figure 12] 10A-10C illustrate variations of surgical instruments of a surgical robotic system, according to embodiments.

[0038] [Figure 13] 13 shows the surgical instrument of FIG. 12 without the shaft, according to an embodiment.

[0039] [Figure 14A] 1 illustrates axes of motion of an end effector, according to an embodiment. [Figure 14B] 10 illustrates a pivot axis of an end effector, according to an embodiment. [Figure 14C] 13 illustrates another pivot axis for the end effector, according to an embodiment.

[0040] [Figure 15A] 1 illustrates an end effector in a closed configuration, according to an embodiment. [Figure 15B] 1 illustrates an end effector in an open configuration, according to an embodiment.

[0041] [Figure 16] 1 illustrates an end effector shaft, according to an embodiment.

[0042] [Figure 17A] 1 illustrates an opening in an end effector, according to an embodiment. [Figure 17B] 17B illustrates dimensions of an opening in the end effector of FIG. 17A, according to an embodiment. [Figure 17C] 17B illustrates dimensions of an opening in the end effector of FIG. 17A, according to an embodiment.

[0043] [Figure 18] 12 illustrates a pin within an opening in an end effector, according to an embodiment.

[0044] [Figure 19A] 10 illustrates an opening angle of an end effector, according to an embodiment. [Figure 19B] 10 illustrates an opening angle of an end effector, according to an embodiment.

[0045] [Figure 20A] 10 illustrates an alternative opening angle of the end effector, according to an embodiment. [Figure 20B] 10 illustrates an alternative opening angle of the end effector, according to an embodiment. DETAILED DESCRIPTION OF THE INVENTION

[0046] The present disclosure relates to cutting devices for use with robotic surgical systems. The systems, devices, and methods described herein enable surgical robotic systems to perform effective and substantially uniform cuts during surgical procedures. For example, the cutting device may be surgical scissors having scissor blades configured to cut tissue. The surgical scissors may include one or more springs configured to urge the scissor blades together. The one or more springs may provide the scissor blades with degrees of freedom to translate along one or more axes and / or rotate about one or more axes. The scissor blades may define one or more openings configured to receive pins. The one or more openings in the scissor blades may have a shape that allows the scissor blades to independently rotate about one or more axes defined by the pins while constraining the scissor blades from rotating about another axis defined by the pins. The constrained rotation facilitated by the one or more apertures, in combination with the effect of the one or more springs, can advantageously provide a constant or substantially constant shear angle as the scissor blades rotate about one or more axes. A constant shear angle can provide effective, substantially uniform cutting during use of the surgical scissors.

[0047] According to embodiments, the surgical scissors described herein can also provide a constant or substantially constant opening angle. The opening angle can be defined at the contact point between the cutting edges of the scissors blades. The contact point can move along the length of the scissors blades as they transition from an open configuration to a closed configuration (e.g., during the cutting process). Associated with the opening angle can be a slice-push ratio. The slice-push ratio can refer to the amount of material that is cut between the scissors blades relative to the amount of material that is pushed between the scissors blades. The slice-push ratio can increase as the opening angle decreases, but this can result in less uniform and / or effective cuts. In contrast, the surgical scissors described herein can facilitate a constant slice-push ratio because they maintain a constant opening angle. The constant slice-push ratio can be easily optimized to achieve a desired amount of cut material relative to pushed material, resulting in optimal cutting performance (e.g., an effective and substantially uniform cut). The constant slice-push ratio can be predetermined by the design of the scissors blades. According to embodiments, the scissor blades can include one or more curved portions, which can facilitate a constant or substantially constant opening angle and a corresponding constant or substantially constant slice-to-push ratio.

[0048] According to embodiments, the surgical scissors described herein can also provide a constant or substantially constant cutting angle. The angle formed between a first cutting member and a second cutting member while performing a cut can be referred to as the cutting angle, which is further described below with reference to FIG. 14A . The cutting angle can be defined at the point of contact between 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 in response to the predetermined curvature of the first cutting member to maintain a constant or substantially constant cutting angle between the cutting edges of the first and second cutting members. In embodiments, 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 multiple portions, each having a radius of curvature selected to maintain a constant cutting angle between the cutting edges of the first and second cutting members. For example, the cutting edge of the second cutting member may have 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 to maintain a constant or substantially constant cutting angle when the first and second cutting members are rotated toward one another. In some embodiments, the number of portions may be 1 to 10 portions, including all values ​​and subranges therebetween, such as 5 portions. Thus, the cutting angle between the cutting edges of the first and second cutting members may remain constant when the free distal ends of the first and second cutting members are rotated toward one another to form an incision within a cutting plane. Each portion may have a determined radius of curvature. The cutting angle may be from about 1 degree to about 5 degrees, including all values ​​and subranges therebetween, such as from about 1.5 degrees to about 2.5 degrees, or about 1.9 degrees. Maintaining the cutting angle within this range may be desirable to avoid too high or too low an effort to move the cutting members (or the resistance between the cutting members), which may depend on the cutting angle.If the cutting angle is too large (e.g., greater than about 2.5 degrees), significant effort may be induced (or high effort may be required) resulting in blocking or jamming of the cutting members. Alternatively, if the cutting angle is too small (e.g., less than about 1.5 degrees), the effort may not be significant (or sufficient) enough to maintain the material (e.g., tissue) between the cutting blades, resulting in the material being distorted rather than cut. A consistent cutting angle can provide an effective, substantially uniform cut during use of the surgical scissors.

[0049] According to embodiments, the surgical scissors described herein can provide a constant or substantially constant cutting angle, a constant or substantially constant shear angle, and a constant or substantially constant opening angle, as described below with reference to FIGS. 14A-14C.

[0050] According to some embodiments, surgical scissors are provided for use in robotic and / or laparoscopic surgery, having scissor blades with integrated springs at the bases of the scissor blades. For example, the integrated springs may have a wave or U-shape, which can provide a more consistent reaction force between a pair of scissor blades when the spring-loaded surgical scissors are actuated, resulting in a more effective and reliable surgical scissors. Accordingly, the spring-loaded surgical scissors described herein do not require a separate, additional Belleville spring, and therefore have fewer components than other robotic surgical scissors. Unlike other surgical scissors that integrate springs as part of the scissor blades, the spring-loaded surgical scissors described herein allow for articulation of the scissors due to the absence of components extending proximally away from the pivot point of the spring-loaded surgical scissors.

[0051] FIG. 1 schematically illustrates a surgical robotic system 1000, according to an embodiment. The system 1000 can include a master console 1010 and one or more slave consoles 1020. The system 1000 can also include an instrument 1030. The master console 1010 can be operably coupled to the slave consoles 1020. For example, the master console 110 can be coupled to the slave consoles 1020 via a wired and / or wireless connection. The master console 1010 can include one or more master manipulators 1012 and one or more master controllers 1014. The master manipulator 1012 can include multiple master links interconnected by multiple joints. Movements can be applied to the master manipulator 1012 by a sterile handle, which can be actuated by a sterile user (e.g., a surgeon). Movements of the master manipulator 1012 and one or more actuators of the handle can be sensed, for example, using multiple sensors and transmitted to the master controller 1014. In operation, the master controller 1014 can send instructions to one or more slave consoles 1020 to move one or more drive units and / or actuators in the slave consoles 1020 based on movements applied at the master console 1010.

[0052] Each slave console 1020 can include a slave manipulator 1022 and / or an instrument 1030 coupled to the slave manipulator 1022. The slave manipulator 1022 can include multiple links interconnected by multiple joints, and the instrument 1030 can include one or more components that can be actuated with multiple degrees of freedom (DOF). The slave console 1020 can include one or more drive units and / or actuators that control the movement of the multiple links and joints of the slave manipulator 1022 and the movement of the components of the instrument 1030. According to aspects of the present disclosure, the slave manipulator 1012 and instrument 1030 of the slave console 1020 can be configured to move in response to movements applied to the handle of the master console 1010, such that the slave manipulator 1022 and instrument 1030 replicate the movements applied to the handle of the master console 1010. In particular, the master console 1010 can generate instructions or commands based on movements applied to the handles and send those instructions or commands to the slave console 1020 to move the slave manipulator 1012 and / or the instrument 1030. The slave console 120 can include a slave controller 1024, which can 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.

[0053] Although the slave console 1020 is described as having a slave manipulator 1022 and an instrument 1030, it can be understood that a single slave console 1020 can include two or more slave manipulators 1022 and / or two or more instruments 1030. For example, the slave console 1020 can include two slave manipulators 1022, each supporting one or more instruments 1030.

[0054] 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 capable of storing instructions that may be executed by one or more processors. The memory may be, for example, a random access memory (RAM), a memory buffer, a hard 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 perform 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 interfaces may include wired and / or wireless interfaces for receiving information and / or transmitting information to other devices. The input / output devices may include one or more displays, audio devices, touchscreens, keyboards, or other input or output devices for presenting information to a user and / or receiving information from a user.

[0055] 2 schematically illustrates a slave manipulator 1022 of the slave 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 multiple links 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. A hub can 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 can include or be coupled to a sterile adapter or shield. The sterile adapter can be configured to be received within the hub and can define a lumen for receiving the sterile instrument 1030. Suitable examples of instrument hubs and sterile shields are described with reference to International Patent Application Publication No. WO 2018 / 207136 (published November 15, 2018), which is incorporated herein by reference. When coupled to the instrument interface 1025, the instrument 1030 can be moved, for example, in one or more degrees of freedom, by one or more actuators 1021. In some embodiments, the instrument interface 1025 can be configured to receive two or more instruments 1030.

[0056] FIG. 3 schematically illustrates 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. As shown in FIG. 2, the proximal head 1032 may be configured to couple to the instrument interface 1025. The proximal head 1032 may include one or more engaging elements or engaging portions 1031. The engaging elements 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, such as an elongated cylinder. The shaft 1034 may define a lumen (or multiple lumens) for accommodating the transmission members 1036.

[0057] In embodiments, the engaging element 1031 may include one or more extensions, protrusions, latches, tabs, hooks, ports, electrical contacts, or other suitable structures that may be configured to engage with corresponding structures on the instrument interface 1025. In one embodiment, the engaging element 1031 may include radially extending tabs that are configured to be received within a receptacle disposed within the hub of the slave manipulator 1022. The receptacle may be driven by the actuator 1021 to move and thereby transmit force to the engaging element 1031. Examples of suitable engaging elements (or engaging portions) and receptacles are described in International Patent Application Publication No. WO 2018 / 207136, which is incorporated above by reference. 3, it will be appreciated that any suitable form of coupling can be used to enable the actuator 1021 of the slave manipulator to couple to one or more actuation elements 1042 of the end effector 1040, thereby actuating the actuation elements 1042 in one or more degrees of freedom. 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, grippers, fasteners, etc.), a magnetic coupling (e.g., electromagnets, permanent magnets, etc.), and / or an electrical coupling.

[0058] The end effector 1040 can be, for example, a surgical tool such as a set of jaws, a clamp, a grasper, a blade, scissors, a hook, a needle, a stapler, an electrocautery device, an endoscope, or the like. The end effector 1040 can include one or more actuating elements 1042, e.g., 1, 2, 3, 4, 5, 6, 7, 8, or more actuating elements. The actuating elements 1042 can be configured to be actuated (e.g., driven to move or otherwise move) by the actuator 1021 via the engagement element 1031 and the transmission element 1036. For example, the actuating elements 1042 can include jaws, clamps, or cutting elements, which can be actuated in one or more degrees of freedom, e.g., open / close, pitch, yaw, translation, etc.

[0059] In one embodiment, the end effector 1040 may be a surgical scissors including a pair of cutting members or scissor blades. Accordingly, one or more actuating elements 1042 may move (e.g., rotate, pivot, translate) with one or more degrees of freedom. In embodiments with multiple actuating elements (e.g., two actuating elements), movement of the actuating elements relative to one another may facilitate opening and / or closing of the end effector 1040. For example, a first actuating element may be moved (e.g., rotated) in a direction toward a second actuating element so that the cutting portions of the actuating elements contact each other. According to some embodiments, each of the actuating elements may be moved toward or away from each other. In still further embodiments, each of the actuating elements may be moved together in the same direction such that the actuating elements maintain an opening angle defined therebetween. The direction and magnitude of movement of the end effector 1040 may be controlled via force applied to the engaging element 1031 by one or more actuators 1021. The movement of the end effector 1040 can provide the user with adjustability and flexibility while performing the cutting process. Further details of the instrument 1030 implemented as surgical scissors are provided below with reference to FIG.

[0060] As mentioned above, in some embodiments, a sterile adapter may be used to facilitate coupling between the instrument interface 1025 and the instrument 1030. The sterile adapter may be configured to maintain the sterility of the instrument 1030 while allowing for the transmission of forces and / or other signals from the slave manipulator 1022 to the instrument 1030, for example, to actuate one or more elements of the end effector 1040. The sterile adapter may include one or more mechanical and / or electrical connectors configured to transmit forces, energy, etc. generated in the slave manipulator 1022 to the instrument 1030. For example, the sterile adapter may include one or more moving components (e.g., sliders, cams, etc.) that allow mechanical forces generated by the actuator 1021 of the slave manipulator 1022 to be transmitted to the engagement element 1031 of the instrument 1030.

[0061] In operation, the instrument 1030 can be coupled to the instrument interface 1025, and a user, via a user interface (e.g., the master console 1010), can configure the actuators of the slave manipulator 1022 to generate forces and / or other signals that can be transmitted to the instrument 1030 via the instrument interface 1025. In some embodiments, the forces and / or other signals can be configured to cause the actuation element 1042 to move in one or more degrees of freedom, apply energy, and / or perform other operations.

[0062] In some embodiments, the end effector 1040 can have a pivot joint that allows movement of one or more actuating elements 1042 with multiple degrees of freedom. Figure 4 schematically illustrates an end effector implemented as surgical scissors 1040, according to an embodiment. The end effector 1040 can include a proximal support or body 1049, a pin 1048, and actuating elements 1042a, 1042b. The actuating elements 1042a, 1042b can be cutting members, where a first cutting member includes a first mounting body 1043a and a first cutting portion 1044a, and a 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 can be monolithically formed or formed as a single piece, while in other embodiments, the first mounting body 1043a and the first cutting portion 1044a can be two separate structures that are coupled to one another. Similarly, the second mounting body 1043b and the second cutting portion 1044b can be formed as a single piece and / or can be formed as two separate components that are coupled to one another. As described below, the actuation elements or cutting members 1042a, 1042b can be configured to move with multiple degrees of freedom.

[0063] The proximal body 1049 can be configured to support the pin 1048. In one embodiment, the pin 1048 can be a cylindrical pin. A first end and a second end of the pin 1048 can be disposed within openings defined by the first and second portions of the body 1049, respectively. According to an embodiment, the first end of the pin 1048 can be coupled to a first side of the body 1049, and the second end of the pin 1048 can be coupled to a second side of the body 1049. The body 1049 can be a fastening device, such as a clevis fastener, configured to hold the pin 1048 in place. In some embodiments, the body 1049 can form part of a wrist or other joint of the end effector 1040. For example, the body 1049 can be a distal link of the wrist of the end effector 1040 and can be coupled to a proximal link of the wrist. The distal and proximal links 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.).

[0064] The cutting members 1042a, 1042b can be pivotally mounted to a 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 can include an opening or passageway through which the pin 1048 can extend. When mounted to the pin 1048, the cutting members 1042a, 1042b can be configured to rotate about the axis of the pin 1048. Rotation of the cutting members 1042a, 1042b about the pin 1048 can open and / or close and / or pivot the cutting members 1042a, 1042b together about the axis of the pin 1048. The cutting members 1042a, 1042b include cutting portions 1044a, 1044b having cutting edges 1045a, 1045b that can be closed to apply a shearing or cutting force to material (e.g., tissue) positioned between the cutting edges 1045a, 1045b.

[0065] In embodiments, the cutting members 1042a, 1042b can be independently actuated to rotate about the pin 1048. For example, the cutting members 1042a, 1042b can each rotate about the pin 1048 in either a clockwise or counterclockwise direction. The cutting members 1042a, 1042b can be rotated in the same direction or in different directions. Pivoting one or more of the cutting members 1042a, 1042b toward each other can move the cutting edges 1045a, 1045b toward each other or close the two cutting edges 1045a, 1045b. Stated differently, pivoting one or more of the cutting members 1042a, 1042b can move the distal end of at least one of the cutting edges 1045a, 1045b toward the other, advancing the contact point between the cutting edges 1045a, 1045b in a distal direction. For example, by rotating cutting member 1042a clockwise and rotating cutting member 1042b counterclockwise, cutting edge 1045a can be moved toward cutting edge 1045b, closing off cutting edges 1045a, 1045b. In another example, by maintaining cutting member 1042b in a fixed position, cutting edge 1045a can be moved toward cutting edge 1045b, closing off cutting edges 1045a, 1045b (or vice versa). As described above with reference to Figures 2 and 3, the rotation of cutting members 1042a, 1042b can be controlled by the force generated by actuator 1021 and applied to engagement element 1031 of instrument 1030.

[0066] According to embodiments, one or more spring elements or mechanisms may be configured to apply a counter force (e.g., a spring force) to the cutting members 1042a, 1042b. In some embodiments, the springs 1041a, 1042b may be disposed between the sides of the body 1049 and the mounting bodies 1043a, 1043b of the cutting members 1042a, 1042b, respectively. The springs 1041a, 1041b may be configured to apply a counter force to the cutting members 1042a, 1042b, respectively. Advantageously, the counter force may provide a consistent counter force between the cutting members 1042a, 1042b during rotation thereof. The consistent counter force may be configured to urge the cutting members 1042a, 1042b toward each other, allowing for more effective and reliable cuts to be made by the cutting edges of the cutting members 1042a, 1042b. That is, by forcing the cutting members 1042a, 1042b toward each other, optimal alignment of the cutting members 1042a, 1042b can be maintained during rotation of one or more of the cutting members 1042a, 1042b.

[0067] According to some embodiments, the springs 1041 a, 1041 b can be positioned between a side of the body 1049 and the respective mounting bodies 1043 a, 1043 b. Each spring 1041 a, 1041 b can include an opening for receiving the pin 1048. As shown, the spring 1041 a can be positioned between a first side of the body 1049 and the mounting body 1043 a, and the spring 1041 b can be positioned between a second side of the body 1049 and the mounting body 1043 b. The springs 1041 a, 1041 b can be configured to apply a counter force to the mounting bodies 1043 a, 1043 b, respectively (and thus the cutting members 1042 a, 1042 b, respectively) when the cutting members 1042 a, 1042 b are actuated to perform a cut. The counter force may be configured to urge the mounting bodies 1043a, 1043b toward each other and constrain them together. According to an embodiment, each of the springs 1041a, 1041b may include a disc spring.

[0068] Additionally or alternatively, one or more integrally formed springs 1047a, 1047b may provide a counterforce to the cutting members 1042a, 1042b, respectively. For example, instead of or in addition to having springs 1041a, 1041b that are separate components and configured to apply an external counterforce to the cutting members 1042a, 1042b, one or both of the cutting members 1042a, 1042b may have an integrally formed spring 1047a, 1047b. The integrally formed springs 1047a, 1047b may be disposed between the mounting bodies 1043a, 1043b and the cutting portions 1044a, 1044b of the cutting members 1042a, 1042b, respectively. In some embodiments, the integrally formed springs 1047a, 1047b may include one or more bends configured to apply a counterforce to the cutting portions 1044a, 1044b, respectively. For example, the integrally formed springs 1047a, 1047b may have a wavy shape or one or more curves, such as, for example, a U-shape, an S-shape, a sinusoidal shape, a V-shape, etc. The wavy shape of the integrally formed springs 1047a, 1047b may allow for a degree of lateral bending or flexibility of the cutting portions 1044a, 1044b without increasing the overall length of the cutting members 1042a, 1042b. As will be understood by those skilled in the art, although the integrally formed springs 1047a, 1047b are described as having a wavy shape, the integrally formed springs 1047a, 1047b may have other geometric profiles or material properties to provide a counterforce to the cutting members 1042a, 1042b.

[0069] In embodiments, the cutting portions 1044a, 1044b can be configured to move with multiple degrees of freedom. As described above, each cutting member 1042a, 1042b can be configured to pivot about the axis of the pin 1048 (also referred to as the pivot axis). The springs 1041a, 1041b also allow the cutting members 1042a, 1042b to translate along the pivot axis, for example, to compress the cutting edges 1045a, 1045b of the cutting members 1042a, 1042b toward each other. In some embodiments, the mounting bodies 1043a, 1043b of the cutting members 1042a, 1042b can also define openings that allow the cutting members 1042a, 1042b to move with one or more additional degrees of freedom. For example, the mounting bodies 1042a, 1042b can define openings that are larger in at least one dimension than the diameter of the pin 1048, thereby allowing each mounting body 1042a, 1042b to pivot or rotate about an axis that is orthogonal or perpendicular to the actuation direction or cutting rotation of the cutting members 1042a, 1042b. These additional degrees of freedom can allow for one unique contact point during actuation of the cutting members 1042a, 1042b. Further details of the movement of the end effector actuation elements or cutting members are provided below with reference to Figures 14A-16.

[0070] FIG. 5 illustrates a surgical robotic system according to an embodiment. As shown, the surgical robotic system 10 includes a master console 12, which can be coupled to one or more slave consoles 14a, 14b. The master console 12 and the slave consoles 14a, 14b can 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, respectively. Suitable examples of master consoles and slave consoles are also described in International Patent Application Publication No. WO 2019 / 155383, published August 15, 2019, and International Patent Application Publication No. WO 2020 / 141487, published July 9, 2020, the disclosures of both of which are incorporated herein by reference.

[0071] As shown in FIG. 5, an instrument 30 may be used with the teleoperated robotic surgical system 10. Each slave console 14a, 14b may include a slave manipulator capable of receiving the instrument 30, similar to that described with reference to FIGS. 2 and 3. The master console 12 may be operatively coupled to the slave consoles 14a, 14b via a wired connection (e.g., an electrical 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 apply movements to the end effectors of the instrument 30 via one or more actuators (e.g., motors) of the slave consoles 14a, 14b. Preferably, the slave manipulators of the slave consoles 14a, 14b (or their links and joints) are configured to move such that the end effectors accurately replicate movements applied to the handles of the master console 12 during operation of the surgical robotic system 10. Therefore, translational degrees of freedom (e.g., left / right, up / down, in / out), joint movement degrees of freedom (e.g., pitch, yaw, open / close, and rotations such as pronation and supination), etc. are electromechanically reproduced via sensors, actuators, and controllers (e.g., slave controller 1024) of the slave consoles 14 a, 14 b.

[0072] The master console 12 may be positioned in an operating room where a user (e.g., a surgeon) may be located, adjacent to the slave consoles 14a, 14b where a patient undergoing surgery may be located, thereby allowing the user to quickly move between the master console 12 and the slave consoles 14a, 14b to, for example, manually perform laparoscopy during surgery, as needed. In some embodiments, the master console 12 may be covered with a sterile drape and may include a removable sterile handle that the surgeon can 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 can be operated by the surgeon's left hand and the right master manipulator 13b can be operated by the surgeon's right hand. The left master manipulator 13a and the right master manipulator 13b can be operated simultaneously and / or independently of one another, for example, by the right and left hands of a surgeon.

[0073] 5, the slave consoles 14a, 14b can include a left slave manipulator operably coupled to the left master manipulator 13a and a right slave manipulator operably coupled to the right master manipulator 13b. The slave manipulators can be located on separate consoles, with one slave console located on a first side of the patient undergoing surgery and another slave console located on either the first side or another side of the patient undergoing surgery.

[0074] FIG. 6 provides a close-up view of an instrument 30 positioned within the hub of the slave manipulator of the slave console 14a, according to an embodiment. As shown in FIG. 6, 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, 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 being inserted into the hub 15 and coupled to the slave manipulator, the instrument 30 may be configured to be actuated in one or more degrees of freedom, as described above.

[0075] Referring now to FIG. 7 , an exemplary surgical instrument is provided. Surgical instrument 100 may be structurally and / or functionally similar to other instruments described herein, including, for example, instruments 1030, 1030. 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 proximal region 102 and distal region 104. End effector 200 may be implemented as surgical scissors, as shown in more detail in FIGS. 8A-10C . In some embodiments, end effector 200 may be detachable from shaft 108. In some embodiments, shaft 108 may be detachable from head 110 and / or end effector 200.

[0076] 7, the instrument 100 may include one or more pairs of engagement portions 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 engagement portions 106 may be operably coupled to the end effector 200 via multiple force transmission elements (e.g., cables) extending from the engagement portions 106 through the instrument shaft 108 to the end effector 200. As described in further detail below, a first pair of engagement portions 106 may be actuated to actuate the end effector 200 in the yaw degree of freedom. A second pair of engaging portions of the engaging portions 106 may be operably 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 engaging portions of the engaging portions 106 may be operably coupled to a second scissor blade of the end effector 200 and configured to actuate movement of the second scissor blade. Actuating the first scissor blade and the second scissor blade in the same direction may actuate the end effector 200 with a pitch degree of freedom, and actuating the first scissor blade and the second scissor blade in opposite directions actuates the end effector 200 with an open / close degree of freedom. One or more pairs of engagement portions 106 may be removably engaged with corresponding structures on the hub of the slave console, for example, via a releasable hook mechanism, so that movement in the handle of the master console (e.g., as operated by the surgeon) can be replicated in the end effector 200 of the surgical instrument 100.

[0077] 8A-8C, a more detailed view of surgical instrument 200 is provided. As shown, in some embodiments, surgical instrument 200 may be spring-loaded surgical scissors for use in robotic and / or laparoscopic surgery. Spring-loaded surgical scissors 200 may include an upper scissors portion (or first scissors portion) 201a pivotally coupled to a lower scissors portion (or second scissors portion) 201b, for example, about axis ω. While upper and lower will be used throughout the following paragraphs to refer to scissors portions 201a, 201b, it will be understood that upper and lower are not intended to impart any particular arrangement to scissors portions 201a, 201b other than to indicate that there are two separate scissors portions 201a, 201b configured to interact with one another.

[0078] In some embodiments, upper scissor portion 201a and lower scissor portion 201b may be formed by metal injection molding (MIM), metal three-dimensional (3D) printing, and / or milling. Upper scissor portion 201a may include an attachment body 202a and a cutting portion 206a (e.g., a curved blade) extending distally from attachment body 202a. At the proximal end or base of cutting portion 206a, e.g., the end of cutting portion 206a closer to attachment portion 202a, spring 204a may be integrally formed with cutting portion 206a and / or attachment body 202a. In some embodiments, cutting portion 206a and spring 204a are integrally formed with attachment body 202a. Thus, attachment body 202a narrows, resulting in spring 204a extending directly into the blade of cutting portion 206a. In some embodiments, the cutting portion 206a itself may have a spring force. Additionally, the cutting portion 206a may have a sharp inner cutting edge and a blunt outer edge.

[0079] As shown in FIGS. 8A-8C, the spring 204a may have a wave-like shape, e.g., a U-shape. For example, the spring 204a may extend upward and distally from the attachment portion 202a toward the apex, and then downward and distally from the apex toward the cutting portion 206a. The cutting portion 206a may then extend distally, e.g., downward, from the spring 204a with a slight, predetermined curvature. Thus, the spring 204a provides a region with a longer chord length, thereby providing flexibility to the cutting portion 206a without increasing (or significantly increasing) the overall length of the blade. The spring 204a also allows bending stresses to be distributed along the length of the cutting portion 206a instead of concentrating at the root or base of the cutting portion 206a. As will be appreciated by those skilled in the art, spring 204a may have other shaped profiles to provide a consistent reaction force of upper scissor portion 201a downward, e.g., against lower scissor portion 201b. For example, spring 204a may have a sinusoidal shape, a V-shape, etc.

[0080] Additionally, as shown in FIG. 9A , 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. The groove 208a may be sized and shaped to receive one or more force transmission elements, such as cable 110a. The cable 110a coupled to the mounting body 202a may be coupled to an engagement portion (e.g., engagement portion 106) at the proximal end of the instrument, such that actuation of the engagement portion actuates the cable 110a, which causes rotation of the mounting body 202a and, therefore, the upper scissor portion 201a. For example, the cable 110a may be a single cable having one end coupled to a first engagement portion of a pair of engagement portions, forming a loop around the groove 208a of the mounting body 202a, and the other end of the cable 110a coupled to a second engagement portion of the pair of engagement portions. Thus, the pair of engagement portions can be actuated in the same and opposite directions to cause rotation of the mounting body 202a via the cable 110a. Alternatively, the cable 110a may include two separate cables, each coupled at one end to a respective engagement portion of the pair of engagement portions and at the other end to the mounting body 202a. Furthermore, as shown in Figures 8C and 9B, the mounting body 202a can include a crimp 210a configured to secure the cable 110a in the groove 208a such that the cable 110a is secured to the mounting body 202a.

[0081] The lower scissors portion 201b may be configured similarly to the upper scissors portion 201a. For example, as shown in FIGS. 8A and 8B, the lower scissors portion 201b may include an attachment body 202b and a cutting portion 206b, e.g., a curved blade, extending distally from the attachment body 202b. At the proximal or base end of the cutting portion 206b, e.g., the end of the cutting portion 206b closer to the attachment body 202b, a spring 204b may be integrally formed with the cutting portion 206b and / or the attachment body 202b. In some embodiments, the cutting portion 206b and the spring 204b are integrally formed with the attachment body 202b. Thus, the attachment body 202b narrows, resulting in the spring 204b extending directly into the blade of the cutting portion 206b. In some embodiments, the cutting portion 206b itself may have a spring force. Additionally, cutting portion 206b may have a sharp inner cutting edge and a blunt outer cutting edge. As a result, the sharp inner cutting edge of cutting portion 206b interacts with the sharp inner cutting edge of cutting portion 206a when upper scissors portion 201b rotates relative to lower scissors portion 201a. Alternatively, only one of the inner edges of cutting portion 206a or cutting portion 206b may have a sharp cutting edge, while the other inner edge may be blunt. As shown in FIGS. 8A and 8B, spring 204b, like spring 204a, may have a wavy shape, e.g., a U-shape. While springs 204a and 204b are shown in FIGS. 8A-8B as having similar shapes, it may be understood that in some embodiments, spring 204a may have a first shape and spring 204b may have a second shape that is different from the first shape.

[0082] In some embodiments, cutting portions 206a, 206b can extend distally from springs 204a, 204b, respectively, in a non-curved manner. As will be understood by one skilled in the art, cutting portions 206a, 206b can be longer or shorter than shown in FIGS. 8A and 8B. Additionally, in some embodiments, the spring-based mechanisms described herein can be used with passive surgical instruments (e.g., instruments without electrosurgery) or with electrosurgical instruments. Furthermore, cutting portions 206a, 206b can have greater friction in certain regions or sections along them, for example, by selecting materials for cutting portions 206a, 206b to increase friction therebetween or by treating at least a portion of the surface of cutting portions 206a, 206b, for example, by applying a lubricant, coating, or other finish.

[0083] Additionally, as shown in FIG. 9A , the mounting body 202b may have a circular profile and may have a groove 208b extending at least partially circumferentially along the outer edge of the mounting body 202b. The groove 208b may be sized and shaped to receive one or more force transmission elements, such as cable 110b. Cable 110b may function similarly to cable 110a and may be configured to cause rotation of the mounting body 202b and, therefore, the lower scissors portion 201b. For example, cable 110b coupled to the mounting body 202b may be coupled to an engagement portion (e.g., engagement portion 106), such that actuation of the engagement portion actuates cable 110b, which in turn causes rotation of the mounting body 202b and, therefore, the lower scissors portion 201b. In some embodiments, cable 110b may be a single cable, while in other embodiments, cable 110b may be two cables. As shown in FIG. 9B, the mounting body 202b can include a crimp 210b configured to secure the cable 110b in the groove 208b such that the cable 110b is secured to the mounting body 202b.

[0084] As shown in FIG. 8A , 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 body 1049, as described above with reference to FIG. 4 . As shown in FIGS. 9A and 9B , mounting body 202 a and mounting body 202 b may be disposed within and pivotally coupled to distal portion 212 of the frame via pin 211, such that distal portion 212 urges mounting body 202 a and mounting body 202 b toward each other. Mounting body 202 a may define an opening for receiving pin 211 that is concentric with a similar opening in mounting body 202 b, such that both mounting bodies 202 a, 202 b are configured to pivot relative to the frame about axis ω of spring-loaded surgical scissors 200, which extends along the longitudinal axis of pin 211. When the mounting bodies 202a, 202b are pivotally coupled to one another within the frame, the springs 204a, 204b cause the cutting portions 206a, 206b, respectively, to exert a consistent reaction force against one another.

[0085] 10A-10C illustrate an exemplary configuration of the surgical scissors 200 described herein. For example, as described above, the mounting bodies 202a, 202b can be actuated to rotate in opposite directions about axis ω via force transmission elements 110a, 110b (e.g., cables), respectively, to actuate the spring-loaded surgical scissors 200 in an open / closed degree of freedom, as shown in FIG. 10A. As shown in FIG. 10C, the mounting bodies 202a, 202b can also be actuated to rotate in the same direction to actuate the spring-loaded surgical scissors 200 in a pitch degree of freedom. As will be understood by those skilled in the art, only one of the mounting bodies 202a or 202b needs to be rotated relative to the other to actuate the spring-loaded surgical scissors 200 in an open / closed degree of freedom. The proximal portion 214 of the frame can be pivotally coupled to the instrument shaft 108 of the surgical instrument 100. The proximal portion 214 may 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 thus the upper and lower scissors portions 201 a, 201 b, to rotate about a pivot point 213 of the proximal portion 214 (e.g., about an axis Φ as shown in FIG. 10B ). The axis Φ of the pivot point 213 of the proximal portion 214 may 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 actuate the spring-powered surgical scissors 200 in the yaw degree of freedom, as shown in FIG. 10B .

[0086] 11A and 11B, an exemplary coupling mechanism for coupling an end effector to an instrument shaft is provided. While FIG. 11A illustrates a surgical scissors end effector without an integrated spring as described above, as will be understood by those skilled in the art, spring-loaded surgical scissors 200 (and any other instrument described herein) can also incorporate the coupling mechanism described herein. End effector 500 may be constructed similarly to other end effectors described herein, including, for example, end effectors 1040, 200. For example, as shown in FIG. 11A, end effector 500 can include upper scissors portion (or first scissors portion) 501a and lower scissors portion (or second scissors portion) 501b, which can be actuated similarly to upper scissors portion 201a and lower scissors portion 201b, respectively, as described above. For example, the upper and lower scissor portions 501 a and 501 b, via their respective attachment portions, can be actuated to rotate in opposite directions relative to the distal frame portion 514 to provide an open / closed degree of freedom, and actuated to rotate in the same direction relative to the distal frame portion 514 to provide a pitch degree of freedom. Additionally, the end effector 500 can be actuated such that the proximal frame portion 514 is rotated relative to the distal connecting portion 518 to provide a yaw degree of freedom.

[0087] 11A , the end effector 500 may include a connecting portion having a proximal connecting portion 516 and a distal connecting portion 518. The proximal connecting portion 516 may be sized and shaped to be received within a lumen of the distal portion 112 of the instrument shaft 108. As shown in FIG. 11A , the proximal connecting portion 516 may include one or more knobs 520 disposed about the circumference of the proximal connecting portion 516. For example, the knobs 520 may be uniformly spatially distributed about the circumference of the proximal connecting portion 516. The knobs 520 may have a geometry configured to facilitate advancement of the proximal connecting portion 516 within the distal portion 112 of the instrument shaft 108. For example, the proximal side of the knobs 520 may be tapered / angled. Additionally, the distal side of the knobs 520 may have a geometry configured to facilitate securement of the knobs 520 to the distal portion 112, as described in further detail below.

[0088] 11A , 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 knobs 520. Furthermore, there may be at least as many flexible flaps 120 as knobs 520. The flexible flaps 120 may be defined by a transverse cut 116 extending along the longitudinal axis of the instrument shaft 108 and a circumferential cut 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 toward the circumferential cut 118. Thus, the flexible flaps can expand radially outward in response to a radially outward force applied thereto.

[0089] Additionally, the distal portion 112 may further include one or more openings 114 disposed proximally of the one or more flexible flaps 120. For example, each opening 114 may be disposed proximally of each flexible flap 120. The openings 114 may be formed during manufacturing along with the formation of the transverse cuts 116 and circumferential cuts 118. The openings 114 may be sized and shaped to receive the knobs 520 therein. Thus, when the proximal connecting portion 216 is advanced through the lumen of the distal portion 112, the knobs 520 engage the flexible flaps 120 such that the tapered proximal sides of the knobs 520 apply a radially outward force to the flexible flaps 120, thereby expanding the flexible flaps 120 radially outward as the knobs 520 move proximally relative to the flexible flaps 120.

[0090] The proximal connecting portion 216 can be advanced proximally relative to the distal portion 112 until the knob 520 is disposed within the opening 114, and the flexible flaps 120 refold to their natural state, as shown in FIG. 11B . As described above, the distal side of the knob 520 can have a geometry that facilitates securement of the knob 520 within the opening 114. For example, the distal side of the knob 520 can be flat, thereby preventing distal movement of the proximal connecting portion 216 from expanding the flexible flaps 120 radially outward. Thus, once the knob 520 is disposed within the opening 114, the end effector 500 is locked to the instrument shaft 108 via the flat distal side of the knob 520 and the flexible flaps 120.

[0091] 11C, the proximal end of the instrument shaft may also include a similar coupling mechanism for coupling to an instrument hub, as described above. For example, proximal portion 112 of instrument shaft 108 may include one or more flexible flaps 130 defined by transverse cut 126 and circumferential cut 128, such that flexible flaps 130 extend from the proximal end of proximal portion 122 toward circumferential cut 128. Flexible flaps 130 may therefore expand radially outward in response to a radially outward force applied thereto, for example, via a corresponding knob on the instrument hub, which may be constructed similarly to knob 520. Additionally, proximal portion 122 may further include one or more openings disposed distally of flexible flaps 130. Openings 124 may be sized and shaped to receive corresponding knobs of the instrument hub therein, whereby flexible flaps 130 secure the knobs within openings 124.

[0092] Thus, as a portion of the instrument hub is advanced through the lumen of proximal portion 122, the knob of the instrument hub engages flexible flaps 130, and the tapered distal side of the knob applies a radially outward force to flexible flaps 130, causing flexible flaps 130 to expand radially outward as the knob moves distally relative to them. The instrument hub can be advanced distally relative to distal-proximal portion 122 until the knob is disposed within opening 124, at which point flexible flaps 130 refold to their natural state, thereby securing the knob within opening 124 and locking the instrument hub to instrument shaft 108. For example, the proximal side of the knob of the instrument hub can be flat to facilitate securement of the knob within opening 124.

[0093] As will be understood by those skilled in the art, the coupling mechanisms described herein may also be used to couple other types of end effectors and instrument hubs to instrument shafts, such as those described in International Patent Application Publication Nos. 2019 / 155383 and 2020 / 141487 (both of which are incorporated by reference above).

[0094] 12 , another variation of an exemplary surgical instrument 630 is provided. The surgical instrument 630 may be functionally and / or structurally similar to other surgical instruments described herein, including, for example, 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.

[0095] The surgical instrument 630 includes an electrical connector 636, which may be configured to connect to an electrical port or other electrical connector, for example, to establish an electrical coupling 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 enable electrically powered operation of the surgical instrument 630. Alternatively, in some embodiments, the surgical instrument 630 may be a mechanically operated surgical instrument that does not include the electrical connector 636.

[0096] Surgical instrument 630 also includes a plurality of engagement portions 634 that can be coupled to one or more actuators (e.g., motors) of a slave manipulator (e.g., slave manipulator 1022) to enable actuation of one or more actuation elements of surgical scissors 640. The coupling between the plurality of engagement portions 634 and the actuators of the slave manipulator can be structurally and / or functionally similar to the couplings of instruments 1030 and / or 100 described above with reference to FIGS. 2 and 7. For example, engagement portions 634 can be coupled to one or more actuators of the slave manipulator via receptacles, and engagement portions 634 can also be coupled to force transmission elements (e.g., cables) to surgical scissors 640. Actuation of engagement portions 634 in response to forces generated by the actuators of the slave manipulator causes engagement portions 634 to move (e.g., translate linearly), 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, the engagement portion 634 (and instrument 630) is configured to be releasably coupled to the slave manipulator, such that the instrument 630 can be coupled to and separated from the slave manipulator. Although not shown in or described with reference to FIG. 12 or subsequent figures, it may be understood that a sterile adapter can be used with the surgical instrument 630, thereby providing a sterile coupling between the instrument 630 and the slave manipulator. When the surgical instrument 630 is coupled to the slave manipulator, movement in the handle of the master console (e.g., as manipulated by the surgeon) can be replicated or can cause movement of one or more components of the surgical scissors 640.

[0097] FIG. 13 illustrates the surgical instrument 630 of FIG. 12 , except that external components of the instrument 630 (e.g., shaft 632, instrument head, etc.) are not shown to aid in visualization of multiple force transmission elements 631 (e.g., cables) disposed within the shaft 632. The force transmission elements 631 may be structurally and / or functionally similar to the transmission member 1036 described above with reference to FIG. 3 . As shown in FIG. 13 , the electrical connector 636 may be coupled to an electrical transmission element 635 (e.g., a wire or lead). Each of the force transmission elements 631 may have a proximal end coupled to a respective one of the engagement portions 634 (as shown in FIG. 12 ) and a distal end coupled to an actuation component of the surgical scissors 640. The surgical scissors may include a pair of cutting members 642, 644 held together by a first frame or body 646. The body 646 includes a distal portion configured to hold in place a pin 641 (shown in subsequent figures), which in turn pivotally supports the cutting members 642, 644. Thus, the distal portion of the body 646 functions similarly to a clevis. The body 646 further includes a proximal portion configured to pivotally couple to a second frame or body 648, for example, via a similar clevis and pin mechanism. As shown in FIG. 13 , during operation, the cutting members 642, 644 can be configured to pivot about axis A1 of the pin 641, and the body 646 can be configured to pivot about axis A2.

[0098] The force transmission element 631 can include a first pair of force transmission elements coupled to the body 646 and can actuate the body 646 to rotate about axis A2, e.g., with a yaw degree of freedom, in response to a force applied to an engagement portion 634 coupled to the pair of force transmission elements. The force transmission element 631 can also include a second pair of force transmission elements and a third pair of force transmission elements that can be coupled to the first cutting member 642 and the second cutting member 644, respectively, and can actuate the first cutting member 642 and the second cutting member 644 to rotate about axis A2 in response to a force applied to the engagement portion 634 coupled to the second pair of force transmission elements and the third pair of force transmission elements. In an embodiment, the first cutting member 642 and the second cutting member 644 can rotate independently about the pin 641. That is, the cutting member 642 can pivot in a first direction or a second direction about the pin 641, and the second cutting member 644 can pivot in the first direction or the second direction about the pin 641. In response to forces transmitted through the second and third pairs of force transmission elements, the first and second cutting members 642, 644 are actuated in the same direction to actuate the end effector 640 with a pitch degree of freedom, and the first and second cutting members 642, 644 are actuated in opposite directions (or one of the first and second cutting members 642, 644 is actuated and the other is not actuated) to actuate the end effector 640 with an open / close degree of freedom.

[0099] 14A-14C illustrate the operation and associated parameters of surgical scissors 640. As shown, surgical scissors 640 includes a first cutting member 642, a second cutting member 644, a pin 641, and a body or frame 646 supporting the pin. The first cutting member 642 and the second cutting member 644 may be coupled together by the pin 641 and the body 646. The pin 641 may define an axis (e.g., axis A2) similar to axis ω described with reference to FIGS. 8A-8C. The first cutting member 642 and the second cutting member 644 may perform a cutting rotation, whereby at least one of the first cutting member 642 and the second cutting member 644 rotates toward the other about the axis of the pin 641, e.g., to perform a cut. The angle formed between the first cutting member 642 and the second cutting member 644 while performing a cut may be referred to as a cutting angle. The cutting angle may be defined at the point of contact between the cutting edges of the cutting members 642, 644. As shown in Figure 14A, the cutting angle may be determined in the xy plane of the end effector (defined based on the axes shown in Figure 16).

[0100] In some embodiments, the surgical scissors 640 described herein (and other surgical scissors described herein) can provide a constant or substantially constant cutting angle. The curvature of one of the cutting members, e.g., the first cutting member 642, can be predetermined, while the curvature of the other cutting member, e.g., the second cutting member 644, can be defined in response to the predetermined curvature of the first cutting member 642 to maintain a constant or substantially constant cutting angle between the cutting edges of the first and second cutting members. For example, the cutting edge of the second cutting member can include at least two portions, e.g., a proximal portion and a distal portion, each of which can have a determined radius of curvature. The number of portions can be selected to maintain a constant or substantially constant cutting angle when the first and second cutting members 642, 644 are rotated toward each other. In some embodiments, the number of portions can be from 1 to 10, including all values ​​and subranges therebetween, for example, 5. Thus, the cutting angle between the cutting edges of each of the first and second cutting members 642, 644 can remain constant when the free distal ends of the first and second cutting members are rotated toward each other to form an incision in a cutting plane. The cutting angle can be from about 1 degree to about 5 degrees, including all values ​​and subranges therebetween, for example, from about 1.5 degrees to about 2.5 degrees.

[0101] The first cutting member 642 and the second cutting member 644 can perform an opening pivot, whereby at least one of the first cutting member 642 and the second cutting member pivots away from the other about the axis of the pin 641, e.g., opens. The angle formed between the first cutting member 642 and the second cutting member 644 during opening can be an opening angle. The opening angle can be defined at the point of contact between the cutting edges of the cutting members 642, 644. As shown in FIG. 14B, the opening angle can be determined in the yz plane of the end effector (defined based on the axes shown in FIG. 16). The opening angle can correspond to a slice-to-push ratio, as further described with reference to FIGS. 19A-19B and 20A-20B.

[0102] In some embodiments, the first cutting member 642 and the second cutting member 644 can also be configured to translate along the axis of the pin. The translation of the cutting members 642, 644 can be controlled or limited by one or more springs (e.g., Belleville springs) disposed between each cutting member 642, 644 and the body 646. As shown in FIGS. 15A-15B , the springs 643, 645 can be configured to urge the cutting members 642, 644 toward each other, thereby constraining their translation about the axis of the pin while allowing a limited amount of axial translation. In particular, the surgical scissors 640 includes a first spring 643 disposed between the first cutting member 642 and a first side of the body 646 and a second spring 645 disposed between the second cutting member 644 and a second side of the body 646. The first spring 643 and the second spring 645 can apply a resilient force to the respective cutting members 642, 644. For example, the resilient force applied by the springs 643, 645 can urge the cutting members 642, 644 toward each other. The spring force applied by the springs 643, 645 causes the cutting members 642, 644 to apply a consistent reaction force against each other when performing a cutting rotation. FIG. 15A shows the cutting members 642, 644 in a closed configuration, and FIG. 15B shows the 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 one unique contact point where the cutting edges of the respective cutting members 642, 644 contact each other.

[0103] The first cutting member 642 and the second cutting member 644 can also form a shear angle, as shown in FIG. 14C . When one or both of the cutting members 642, 644 rotate about their axes (e.g., pivot or tilt about the longitudinal axes of the cutting members 642, 644), the shear angle as shown in the x-z plane of the end effector (defined based on the axes shown in FIG. 16 ) can be affected. Changing the shear angle during a cutting procedure can be undesirable because changes in the shear angle can affect the quality or consistency of the cut. In conventional surgical scissors that are not attached to a robotically driven surgical instrument (e.g., instrument 630 or any of the other instruments described herein), the shear angle is maintained by nature of the blade geometry. Notably, such conventional scissors can have blades that are constrained in translation and rotation about an axis by relying on deformation of the blades to press the two blades against each other. The blades are connected at a pivot point and can have a much longer proximal segment, thereby allowing deformation of the blades. In robotically operated surgical scissors, such as the surgical scissors 640 shown in Figures 14A-14C, the proximal length of the cutting members 642, 644 is limited. Therefore, other mechanisms must be used to constrain the rotation of the cutting members 642, 644 about their axes.

[0104] FIG. 16 illustrates, in a three-dimensional view, the movement of the cutting members 642, 644 of the surgical scissors 630. Multiple axes (x-axis, y-axis, and z-axis) are defined relative to the axis of the pin 641. An x-axis (e.g., a first axis) can extend along the length of the pin 641, thereby defining a pivot axis about which the cutting members 642, 644 are configured to pivot (e.g., in a cutting pivot or an opening pivot). Pivoting about the x-axis corresponds to a pitch degree of freedom. In embodiments, the cutting members 642, 644 can be configured to pitch (i.e., pitch downward to about 110 degrees from the y-axis and pitch upward to about 110 degrees from the y-axis) from about minus 110 to about plus 110 degrees (including all values ​​and subranges therebetween, e.g., from about minus 90 to about plus 90 degrees). Each cutting member 642, 644 may be configured to translate along the x-axis. In embodiments, cutting members 642, 644 may be configured to translate between about 0.1 mm and about 0.5 mm (including all values ​​and subranges therebetween, for example, including about 0.1 mm and 0.2 mm).

[0105] The z-axis (e.g., the second axis) is perpendicular to the x-axis. In some embodiments, each cutting member 642, 644 can be configured to pivot about the z-axis, away from the y-axis, as the cutting members 642, 644 move from an open configuration (e.g., as shown in FIG. 15B) to a closed configuration (e.g., as shown in FIG. 15A). In such embodiments, each cutting member 642, 644 can be configured to pivot about the z-axis by an angle of about 5 to about 15 degrees (including all values ​​and subranges therebetween, e.g., about 7 to about 9 degrees, or about 8.2 degrees). In some embodiments, one of the cutting members 642, 644 is configured to pivot about the z-axis as the cutting members 642, 644 move from an open configuration (e.g., as shown in FIG. 15B) to a closed configuration (e.g., as shown in FIG. 15A). For example, the first cutting member 642 can be configured to rotate about the z-axis as 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 member 642, 644 configured to rotate about the z-axis can be configured to rotate twice as much (e.g., about 10 to about 30 degrees, including all values ​​and subranges therebetween) as compared to embodiments in which both cutting members 642, 644 can rotate about the z-axis. According to some embodiments, the cutting members 642, 644 can be configured to rotate about the x-axis and / or z-axis and translate along the x-axis simultaneously or as the cutting members 642, 644 move from an open configuration (e.g., as shown in FIG. 15B) to a closed configuration (e.g., as shown in FIG. 15A).

[0106] The y-axis (e.g., a third axis) may be perpendicular to the x-axis and z-axis. The y-axis may correspond to the longitudinal length or axis of the cutting members 642, 644. As discussed above, allowing rotation about (or pivoting around) the y-axis may be undesirable because such rotation may affect the shear angle of the cutting members 642, 644. The shear angle between or the inward-facing surface 642a of the cutting member 642 and the inward-facing surface 644a of the cutting member 644 at the contact point between the cutting members 642, 644 may affect the quality or consistency of the surgical scissors 630 when performing cuts. Therefore, maintaining a constant shear angle facilitates consistent cuts and advantageously results in uniform cuts during use in a medical procedure. In embodiments, the shear angle may be from about 160 degrees to about 170 degrees, from about 155 degrees to about 180 degrees, from about 130 degrees to about 180 degrees, including all subranges and values ​​therebetween.

[0107] Advantageously, the surgical scissors 630 can be configured to prevent or constrain rotation about the y-axis. In some embodiments, this can be accomplished using specially shaped openings in the mounting bodies of the cutting members 642, 644. For example, the mounting bodies of each of the cutting members 642, 644 can include openings configured to permit rotation about one or more of the x-axis and z-axis, while constraining rotation about the y-axis. Further details of such openings are described in more detail with reference to FIGS. 17A-18.

[0108] 17A and 17C illustrate a single cutting member 644 of surgical scissors 630, showing a bore 647. The bore 647 may define a pivot joint about which a cutting member described herein may pivot. For example, the bore 647 may function as a sliding gimbal (e.g., a cardan) configured to restrict rotation about one or more axes (e.g., the x-axis and z-axis) and translation along another axis (e.g., the x-axis) while allowing rotation about another axis (e.g., the y-axis). In some embodiments, the bore 647 may be formed from two openings, e.g., a first opening having a circular shape and a second opening having an elliptical shape. In particular, as shown schematically in FIG. 17B, the first end of the bore 647 may comprise a circular opening and the second end of the bore 647 may comprise an elliptical opening. 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 refer to dimensions within 10% of each other. In embodiments, slightly larger than the diameter of the pin means less than about 10% larger than the diameter of the pin. The oval opening can have a first lateral dimension equal to or substantially equal to the diameter D1 and a second lateral dimension larger than the first dimension (i.e., D2 larger than D1). In embodiments, the ratio of the first lateral dimension of the first oval opening to the second lateral dimension of the second oval opening (D1:D2) 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. In some embodiments, the ratio of the first lateral dimension of the first oval opening to the second lateral dimension of the second oval opening (D1:D2) is from about 1:1.1 to about 1:1.3, including all values ​​and subranges therebetween.

[0109] As shown in Figures 17A and 18, the circular opening and the oval opening can be connected such that there is a transition from the circular opening to the oval opening. In some embodiments, the transition can be a gradual transition. A gradual transition may be desirable to prevent abrupt engagement between the pin surface and the hole 647. Although only a single cutting member 644 is shown in Figures 17A and 17C, it can be understood that similar holes can be formed in the mounting bodies of the other cutting members 642.

[0110] When the cutting members 642, 644 are assembled onto 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., toward the springs 643, 645, respectively). The oval openings of the holes 647 of the cutting members 642, 644 can be oriented such that a first (or smaller) dimension extends along or is aligned with the z-axis. A second (or larger) dimension can be a dimension in the direction of the longitudinal axis of each cutting member 642, 644. When assembled in this manner, the holes 647 in the cutting members 642, 644 allow rotation about the x-axis and z-axis and translation about the x-axis, while preventing, constraining, or blocking rotation about the y-axis. Each cutting member 642, 644 may be constrained from rotating about the y-axis because the first (or smaller) dimension of the oval opening is equal (or substantially equal) to the diameter of the pin 641. Advantageously, constraining rotation about the y-axis may maintain a constant shear angle, as discussed above. The second (larger) dimension of the cutting members 642, 644 may be selected to allow at least about 5 to about 15 degrees of rotation about the z-axis, which may accommodate sliding (e.g., translation) of the contact points between the cutting members without creating significant stress and / or causing breakage.

[0111] FIG. 18 shows pin 641 shown within bore 647 of cutting member 644. Similarly, pin 641 can be disposed within bore 647 of cutting member 642. As described above, the outer diameter of 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 refer to dimensions within 10% of each other. For example, the outer diameter of pin 641 can be slightly smaller (e.g., within about 10% of) the first lateral dimension of the oval and / or the diameter of the circular opening, thereby allowing cutting members 642, 644 to rotate about the pin without significant friction and / or abrasion between the components. The relative dimensions of pin 641 and opening 647 can accommodate the tolerances of the manufacturing process used to produce the end effectors described herein. In embodiments, the diameter of pin 641 can be between about 1 mm and about 3 mm (including all values ​​and subranges), or about 1.5 mm.

[0112] In some embodiments, surgical scissors as described herein may also include a curvature along the cutting edges of the cutting members to allow the opening angle of the cutting members to remain constant or substantially constant during a cutting rotation. In conventional robotically operated surgical scissors, the opening angle of the scissors may decrease as the cutting members are closed. For example, FIG. 19A shows an end effector implemented as surgical scissors 740 in a first configuration in which the cutting members 742, 744 of the surgical scissors 740 are near the beginning of the cutting rotation, and FIG. 19B shows the end effector 740 in a second configuration in which the cutting members of the end effector 740 are near the end of the cutting rotation. Each cutting member 742, 744 includes a cutting edge 742a, 744a, respectively. As discussed above with reference to FIG. 14B, the opening angle may be defined between the cutting edge 742a and the cutting edge 744a at the point of contact therebetween.

[0113] As shown in FIGS. 19A and 19B, the opening angle α1 when the cutting members 742, 744 are further apart (FIG. 19A) is greater than the opening angle α2 when the cutting members 742, 744 are closer together (FIG. 19B). A change in the opening angle from α1 to α2 may correspond to a change in the slice-push ratio of the end effector 740. The slice-push ratio may refer to the amount of material that is cut between the scissor blades relative to the amount of material that is pushed between the scissor blades. Generally, a larger opening angle corresponds to a smaller or more optimal slice-push ratio, which may provide a more uniform and / or effective cut. Therefore, an increase in the slice-push ratio, such as an increase in the slice-push ratio corresponding to a decrease in the opening angle from α1 to α2, may result in less uniform and / or less effective cuts. A changing slice-push ratio, such as an increasing slice-push ratio, may also result in unpredictable cuts. In some cases, the material being cut may be pushed and then compressed (eg, bunched together) by the cutting edges 742a, 744a, causing the resulting cut to be jagged.

[0114] In contrast, surgical scissors as disclosed herein can be configured to maintain a larger opening angle during a cutting operation. For example, FIGS. 20A and 20B show an end effector implemented as surgical scissors 840 in a first configuration and a second configuration, respectively, which can both correspond to having the same or substantially the same opening angle α1. In embodiments, opening angle α1 can 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 subranges therebetween. Surgical scissors 840 can 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 can include a first cutting member 842 and a second cutting member 844. In some embodiments, the same opening angle α1 can be achieved by having each cutting member 842, 844 of the surgical scissors 840 have a region with a different curvature. For example, the first cutting member 842 can include a proximal portion 842a and a distal portion 842b, and the second cutting member can include a proximal portion 844a and a distal portion 844b. The proximal portion 842a of the cutting member 842 and the proximal portion 844a of the cutting member 844 can each include a curved portion having a first radius of curvature. The distal portion 842b of the cutting member 842 and the distal portion 844b of the cutting member 844 can each include a curved portion having a second radius of curvature, where the second radius of curvature may be smaller than the first radius of curvature.

[0115] The distal portion 842b of the cutting member 842 and the distal portion 844b of the cutting member 844 may comprise about 24% to about 40%, about 20% to about 45%, or about 10% to about 50% of the total length of the cutting member 842 and the cutting member 844, respectively, including all values ​​and subranges therebetween. Considering the change in curvature from the proximal portion to the distal portion of the first cutting member 842 and the second cutting member 844, the opening angle may remain constant or substantially constant as the free distal ends of the cutting members 842 and 844 are rotated toward each other. The free distal ends move toward each other during rotation of the cutting members 842 and 844, thereby forming an incision in the cutting plane. As shown in FIGS. 20A and 20B, the curvature of each of the proximal and distal portions of the cutting members 842 and 844 curves away from the cutting plane. In some embodiments, the cutting members 842, 844 may also include one or more additional curvatures in other directions, for example along the cutting plane.

[0116] While various inventive embodiments have been described and illustrated herein, those skilled 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 deemed to be within the scope of the inventive embodiments described herein. More generally, those skilled in the art will readily appreciate that all parameters, dimensions, materials, and configurations described herein are meant to be exemplary, and that the actual parameters, dimensions, materials, and / or configurations will depend on the specific application or applications for which the teachings of the present 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, the foregoing embodiments are presented by way of example only, and it should be understood that, within the scope of the appended claims and their equivalents, inventive embodiments may be practiced otherwise than as specifically described and claimed. The inventive embodiments of the present disclosure are directed to each individual feature, system, article, material, and / or method described herein. In addition, any combination of two or more such features, systems, articles, materials, and / or methods is included within the inventive scope of the present disclosure, provided that such features, systems, articles, materials, and / or methods are not mutually inconsistent.

[0117] Also, various inventive concepts may be embodied as one or more methods, examples of which are provided. The acts performed as part of a method may be ordered in any suitable manner. Thus, although shown as sequential acts in the illustrative embodiments, embodiments can be constructed in which the acts are performed in a different order than illustrated, which may include performing some acts simultaneously.

[0118] As used herein, the terms "about," "approximately," and / or "substantially," when used in connection with a stated value, geometry, relationship, or other characteristic, are intended to convey that the value or characteristic so defined is nominally the stated value or described characteristic. In some examples, the terms "about," "approximately," and / or "substantially" can generally mean and / or generally contemplate the stated value or characteristic within a desired tolerance, e.g., plus or minus 10% of the stated value or characteristic. For example, a value of about 0.01 can include 0.009 and 0.011, a value of about 0.5 can include 0.45 and 0.55, a value of about 10 can include 9-11, and a value of about 1000 can include 900-1100. Similarly, a value or characteristic can be described as substantially constant if it does not vary by more than about 10%. It is understood that while the stated values, structures, and / or relationships may be desirable, some variations may occur, for example, as a result of manufacturing tolerances or other practical considerations (e.g., pressure or force exerted through portions of a device, etc.). Accordingly, the terms "about," "approximately," and / or "substantially" may be used herein to account for such tolerances and / or considerations.

[0119] The indefinite articles "a" and "an," as used herein in the specification and claims, unless clearly indicated to the contrary, should be understood to mean "at least one."

Claims

1. 1. An apparatus 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 an attachment end defining an oval opening; a pin extending through the oval opening in each of the attachment end of the first cutting member and the attachment end of the second cutting member; Equipped with each of the first cutting member and the second cutting member is configured to independently rotate about a first axis defined by the pin and about a second axis perpendicular to the first axis, while being constrained from rotating about a third axis perpendicular to the first and second axes; Device.

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

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

4. The apparatus of claim 1 , wherein the shear angle is from about 160 degrees to about 180 degrees.

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

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

7. 10. The device of claim 1, 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 configured to urge the first cutting member and the second cutting member toward each other.

8. The apparatus of claim 7 , wherein the first spring and the second spring each comprise a disc spring.

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

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

11. the attachment end of the first cutting member and the attachment end of the second cutting member each further define a circular opening connected to the oval opening; 2. The device of claim 1, wherein the pin is configured to extend through the circular opening and the oval opening in each of the attachment end of the first cutting member and the attachment end of the second cutting member.

12. Each oval opening has a first lateral dimension that is less than a second lateral dimension; The device of claim 11 , wherein the first lateral dimension of the oval opening is substantially equal to a diameter of the circular opening.

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

14. 12. The device of claim 11, wherein the oval openings are disposed on the inside of the first and second cutting members facing each other, and the circular openings are disposed on the outside of the first and second cutting members.

15. 1. An apparatus comprising: a first cutting member having a first cutting edge and a first attachment end defining a first oval opening; a second cutting member having a second cutting edge and a second attachment end defining a second oval opening 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; Equipped with each of the first elliptical opening and the second elliptical opening includes a first transverse dimension substantially equal to a diameter of the cylindrical pin and a second transverse dimension greater than the diameter of the cylindrical pin; wherein each of the first cutting member and the second cutting member is configured to (1) independently rotate about an 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) independently translate along the x-axis while being constrained from rotating about a y-axis perpendicular to the x-axis and z-axis.

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

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

18. 16. The device of claim 15, wherein a ratio of the first lateral dimension of the first oval opening to the second lateral dimension of the second oval opening is from about 1:1.1 to about 1:1.

3.

19. 16. The apparatus of 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 simultaneously translate along the x-axis.

20. 16. The device of claim 15, 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 configured to urge the first cutting member and the second cutting member toward each other.

21. 21. The apparatus of claim 20, wherein the first spring and the second spring each comprise a disc spring.

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

23. 1. An apparatus comprising: a first cutting member and a second cutting member, each of the first cutting member and the second cutting member comprising a cutting edge, a joined proximal end, and a free distal end; a pin extending through the joined proximal end of each 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 an axis of the pin; and Equipped with the cutting edge of each of the first cutting member and the second cutting member comprises a proximal portion including a curved portion having a first radius of curvature and a distal portion including a curved portion having a second radius of curvature that is smaller than the first radius of curvature, whereby an opening angle between the cutting edges of each of the first cutting member and the second cutting member remains substantially constant 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 surface.

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

25. 24. The device of claim 23, wherein the distal portion of each of the first cutting member and the second cutting member comprises the free distal end of the first cutting member or the free distal end of the second cutting member, respectively.

26. 24. The device of claim 23, wherein the curvature of each of the proximal and distal portions curves away from the cutting plane.

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

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

29. 24. The device of claim 23, 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 configured to urge the first cutting member and the second cutting member toward each other.

30. 30. The apparatus of claim 29, wherein the first spring and the second spring each comprise a disc spring.

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

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

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

34. 34. The apparatus of claim 33, wherein the shear angle is from about 160 degrees to about 180 degrees.

35. 1. An apparatus comprising: a first cutting member and a second cutting member, each of the first cutting member and the second cutting member comprising a cutting edge, a joined proximal end, and a free distal end; a pin extending through the joined proximal end of each 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 an axis of the pin; and Equipped with the cutting edge of one of the first cutting member and the second cutting member comprises a proximal portion including a curved portion having a first radius of curvature and a distal portion including a curved portion having a second radius of curvature different from the first radius of curvature, whereby a cutting angle between the cutting edge of the first cutting member and the cutting edge of the second cutting member remains substantially constant as 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 surface.

36. 36. The device of 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 which has a radius of curvature that is different from a radius of curvature of the distal portion, the proximal portion, or at least one other of the one or more additional portions.

37. 36. The apparatus of claim 35, wherein the cutting edge of the other of the first cutting member and the second cutting member includes a curvature that is substantially constant.

38. 36. The apparatus of claim 35, wherein the cutting angle is between about 1 degree and about 5 degrees.

39. 1. An end effector for use with a surgical instrument, comprising: a first scissor blade comprising: a first mounting body configured to be actuated to pivot the first scissor blade about an axis of the end effector; and a 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; a second scissor blade comprising: a second mounting body configured to be actuated to pivot the second scissor blade about the axis of the end effector; and a 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; Equipped with The end effector, wherein the first mounting body and the second mounting body are independently actuatable, and wherein 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 open or closed degree of freedom.

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

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

42. 40. The end effector of 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 degrees of freedom.

43. 40. The end effector of claim 39, wherein the first blade and the second blade comprise a predetermined curvature.

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

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

46. 40. The end effector of 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 pitch degree of freedom.

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

48. 40. The end effector of claim 39, wherein the first mounting body and the second mounting body are configured to be independently actuatable via first and second force transmission elements, respectively.

49. 49. The end effector of claim 48, wherein the first force transmission element and the second force transmission element comprise cables.

50. 49. The end effector of claim 48, wherein the first mounting body comprises a first groove sized and shaped to receive the first force transmission element, and the second mounting body comprises a second groove sized and shaped to receive the second force transmission element.

51. 51. The end effector of claim 50, wherein the first mounting body comprises a first crimp configured to secure the first force transmission element in the first groove, and the second mounting body comprises a second crimp configured to secure the second force transmission element in the second groove.

52. a frame including proximal and distal regions configured to pivotally receive the first and second mounting bodies; 40. The end effector of claim 39, wherein the frame comprises a pin configured to allow rotation of the first mounting body and the second mounting body about the axis of the end effector.

53. 53. The end effector of 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. 40. The end effector of claim 39, wherein a proximal portion of the end effector comprises one or more knobs sized and shaped to be received by one or more corresponding openings disposed on a distal region of an instrument shaft of the surgical instrument, the distal region of the instrument shaft comprising a flexible flap configured to secure the one or more knobs within the one or more corresponding openings, thereby securing the end effector to the instrument shaft.

55. 55. The end effector of claim 54, wherein the one or more knobs include a geometry such that proximal movement of the one or more knobs relative to the flexible flap transitions the flexible flap between a radially expanded state that allows the one or more knobs to move toward the one or more corresponding grooves and a folded state in which the flexible flap secures the one or more knobs within the one or more corresponding grooves.

56. 40. A surgical instrument comprising the end effector of claim 39.

57. 57. A surgical robotic system comprising the surgical instrument of claim 56.

58. 1. An end effector for use with a surgical instrument, comprising: a pair of independently actuable scissor blades, each scissor blade comprising: a mounting body configured to be actuated to pivot each scissor blade of the pair of independently actuable scissor blades about an axis of the mounting body; a blade comprising a root portion coupled to the mounting body and a cutting portion extending distally from the root portion, the root portion comprising a spring integrally formed with the blade; Equipped with The end effector, wherein the spring is configured to provide a relatively consistent reaction force between the pair of independently actuatable scissor blades upon actuation of the pair of independently actuatable scissor blades.

59. 59. The end effector of claim 58, wherein actuation of the pair of independently actuatable scissor blades in opposite directions causes actuation of the pair of independently actuatable scissor blades in an open and closed degree of freedom.

60. 1. A method for actuating an end effector of a surgical instrument, comprising: pivoting 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; pivoting 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; Including, wherein opposing rotation of the first mounting body and the second mounting body causes actuation of the first scissor blade and the second scissor blade in an open and closed degree 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. 1. A surgical instrument comprising: an instrument shaft comprising 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; 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 knobs sized and shaped to be received by the one or more openings in the instrument shaft; Equipped with the one or more knobs include a geometry such that proximal movement of the one or more knobs relative to the one or more flexible flaps transitions the one or more flexible flaps between a radially expanded state that allows the one or more knobs to move toward the one or more openings and a collapsed state in which the one or more flexible flaps secure the one or more knobs within the one or more openings, thereby securing the end effector to the instrument shaft.

62. the instrument shaft comprising 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 in the proximal region of the instrument shaft, the system comprising: an instrument hub configured to be removably coupled to a proximal region of the instrument shaft, the instrument hub including one or more hub knobs sized and shaped to be received by the one or more openings in the proximal region of the instrument shaft; 62. The surgical instrument of claim 61, wherein the one or more hub knobs of the instrument hub include a geometry such that distal movement of the one or more hub knobs relative to the one or more flexible flaps causes the one or more flexible flaps to transition between a radially expanded state that allows the one or more hub knobs to move toward the one or more openings and a collapsed state in which the one or more flexible flaps secure the one or more hub knobs within the one or more openings, thereby securing the instrument hub to the instrument shaft.

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