Robotic ultrasonic surgical device with articulating end effector

1. An apparatus for operating on tissue, the apparatus comprising:

(a) an end effector, wherein the end effector comprises an ultrasonic blade and a clamp arm, wherein the clamp arm is operable to pivot relative to the ultrasonic blade;

(b) a shaft assembly extending from a proximal portion to a distal end, wherein the end effector is disposed at the distal end of the shaft assembly, wherein the proximal portion of shaft assembly defines a longitudinal axis, wherein the shaft assembly comprises:

(i) an articulation section operable to deflect the end effector away from the longitudinal axis, and

(ii) an acoustic waveguide assembly operable to transmit ultrasonic vibrations to the ultrasonic blade, wherein the acoustic waveguide assembly comprises:

(A) a rigid waveguide portion, and

(B) a flexible waveguide portion comprising a narrowed portion at least partially housed within the articulation section; and

(c) an interface assembly, wherein the interface assembly is configured to drive the end effector, wherein the interface assembly comprises:

(i) a base associated with the proximal portion of the shaft assembly,

(ii) at least one pivot arm associated with the proximal portion of the shaft assembly, wherein the at least one pivot arm is operably coupled to the articulation section,

(iii) a plurality of drive shafts, wherein the drive shafts are movable relative to the base, wherein at least one of the drive shafts is operably coupled to the at least one pivot arm to thereby articulate the at least one pivot arm, wherein a first drive shaft of the plurality of drive shafts is rotatable to pivot the clamp arm toward the ultrasonic blade, wherein the shaft assembly comprises a translating member coupled between the first drive shaft and the clamp arm,

(iv) a cam secured to the first drive shaft, and

(v) a rack coupled with the translating member, wherein the cam is operable to drive the rack proximally in response to rotation of the first drive shaft, to thereby pivot the clamp arm toward the ultrasonic blade.

2. The apparatus of claim 1 , wherein the flexible waveguide portion extends through the articulation section, wherein the narrowed section is positioned proximal to the end effector and is configured to provide flexing of the flexible waveguide portion.

3. The apparatus of claim 1 , wherein the shaft assembly is rotatable relative to the interface assembly.

4. The apparatus of claim 3 , wherein a first drive shaft of the plurality of drive shafts is rotatable to rotate the shaft assembly relative to the interface assembly.

5. The apparatus of claim 4 , wherein the shaft assembly and the first drive shaft include meshing helical gears.

6. The apparatus of claim 1 , wherein the articulation section comprises a first articulation band, wherein the first articulation band is translatable relative to the shaft assembly to deflect the end effector away from the longitudinal axis.

7. The apparatus of claim 6 , wherein the articulation section further comprises a second articulation band, wherein the first articulation band is translatable relative to the shaft assembly to deflect the end effector away from the longitudinal axis in a first direction, wherein the second articulation band is translatable relative to the shaft assembly to deflect the end effector away from the longitudinal axis in a second direction.

8. The apparatus of claim 6 , wherein a first drive shaft of the plurality of drive shafts is rotatable to translate the first articulation band.

9. The apparatus of claim 8 , wherein the interface assembly further comprises a cam secured to the first drive shaft, wherein the pivot arm is coupled with the first articulation band, wherein the cam is operable to drive the pivot arm proximally in response to rotation of the first drive shaft, to thereby deflect the end effector away from the longitudinal axis.

10. The apparatus of claim 6 , wherein the articulation section comprises a pair of ribbed bodies, wherein the first articulation band is apposed between the pair of ribbed bodies.

11. The apparatus of claim 1 , wherein the base comprises a plurality of drive discs, wherein the drive discs are operable to rotate the drive shafts.

12. The apparatus of claim 11 , wherein the drive discs each comprise a respective pair of pins, wherein the pins are configured to couple with complementary drive features of a robotic control system.

13. An apparatus for operating on tissue, the apparatus comprising:

(a) an end effector, wherein the end effector comprises an ultrasonic blade and a clamp arm operable to pivot relative to the ultrasonic blade;

(b) a shaft assembly, wherein the end effector is disposed at a distal end of the shaft assembly, wherein the shaft assembly defines a longitudinal axis, wherein the shaft assembly comprises:

(i) an acoustic waveguide in acoustic communication with the ultrasonic blade, wherein the acoustic waveguide comprises a narrowed portion, and

(ii) an articulation section comprising a pair of translating members operable to deflect the end effector away from the longitudinal axis, wherein the pair of translating members extend distally past the narrowed portion of the acoustic waveguide, wherein the narrowed portion of the acoustic waveguide is configured to flex as the end effector is deflected away from the longitudinal axis; and

(c) an interface assembly, wherein the interface assembly is configured to drive the end effector, wherein the interface assembly comprises:

(i) a base, wherein the base is configured to couple with a dock of a robotic control system,

(ii) at least one pivot arm located proximal in relation to the articulation section,

(iii) a plurality of drive shafts, wherein at least one of the drive shaft is operably coupled to the at least one pivot arm to thereby articulate the at least one pivot arm, wherein articulation of the at least one pivot arm is operable to drive the articulation section, wherein a first drive shaft of the plurality of drive shafts is rotatable to pivot the clamp arm toward the ultrasonic blade, wherein the shaft assembly comprises a translating member coupled between the first drive shaft and the clamp arm,

(iv) a plurality of drive disks associated with the plurality of drive shafts, wherein the drive discs each comprise a respective pair of pins, wherein the pins are configured to couple with complementary drive features of a robotic control system,

(v) a cam secured to the first drive shaft, and

(vi) a rack coupled with the translating member, wherein the cam is operable to drive the rack proximally in response to rotation of the first drive shaft, to thereby pivot the clamp arm toward the ultrasonic blade.

14. The apparatus of claim 13 , wherein the pivot arm is rotatable about a pivot pin.

15. The apparatus of claim 13 , wherein the articulation section comprises a first articulation band, wherein the first articulation band is translatable relative to the shaft assembly to deflect the end effector away from the longitudinal axis.

16. An apparatus for operating on tissue, the apparatus comprising:

(a) an end effector, wherein the end effector comprises an ultrasonic blade and a clamp arm operable to pivot relative to the ultrasonic blade;

(b) a shaft assembly, wherein the end effector is disposed at a distal end of the shaft assembly, wherein the shaft assembly defines a longitudinal axis, wherein the shaft assembly comprises:

(i) an articulation section operable to deflect the end effector away from the longitudinal axis

(ii) an ultrasonic waveguide in acoustic communication with the ultrasonic blade, wherein the ultrasonic waveguide comprises a rigid portion extending proximally from the articulation section and a narrowed portion extending at least partially within the articulation section, wherein the narrowed portion is configured to provide for flexing of the ultrasonic waveguide when the end effector is deflected away from the longitudinal axis; and

(c) an interface assembly, wherein the interface assembly is configured to drive the end effector, wherein the interface assembly comprises:

(i) a base, wherein the base is configured to couple with a dock of a robotic control system,

(ii) a first cam,

(iii) at least one pivot arm pivotably coupled with the base, and

(iv) a plurality of drive shafts, wherein at least one of the drive shaft is operably coupled to the first cam to thereby articulate the first cam, wherein articulation of the first cam is operable to pivot the at least one pivot arm relative to the base thereby driving the articulation section, wherein a first drive shaft of the plurality of drive shafts is rotatable to pivot the clamp arm toward the ultrasonic blade, wherein the shaft assembly comprises a translating member coupled between the first drive shaft and the clamp arm,

(v) a second cam secured to the first drive shaft, and

(vi) a rack coupled with the translating member, wherein the second cam is operable to drive the rack proximally in response to rotation of the first drive shaft, to thereby pivot the clamp arm toward the ultrasonic blade.