Robotic surgical assemblies and electromechanical instruments thereof
An actuation mechanism for actuating an electromechanical end effector includes a housing, and a shaft assembly extending distally from the housing. The shaft assembly includes a shaft, a longitudinal knife bar, a first hub, and a second hub. The shaft is axially movable relative to the housing and configured to be coupled to the electromechanical end effector. Rotation of a first screw of the housing moves the first hub to effect longitudinal movement of the shaft. The longitudinal knife bar is axially movable relative to the shaft and configured to be coupled to a knife blade of the electromechanical end effector. Rotation of a second screw of the housing moves the second hub to effect axial movement of the longitudinal knife bar.
1. An actuation mechanism for actuating an electromechanical end effector, the actuation mechanism comprising:
a housing having a first screw and a second screw each rotatably disposed therein; and
a shaft assembly extending distally from within the housing, the shaft assembly including:
a shaft axially movable relative to the housing and configured to be coupled to an electromechanical end effector;
a first hub including:
a first portion having the shaft secured therein; and
a second portion connected to the first portion and having an inner surface having the first screw threadedly connected thereto such that rotation of the first screw moves the first hub to effect longitudinal movement of the shaft;
a longitudinal knife bar axially movable relative to the shaft and configured to be coupled to a knife blade of an electromechanical end effector; and
a second hub including:
a first portion having the shaft movably received therein, the first portion being connected to the longitudinal knife bar; and
a second portion connected to the first portion of the second hub and having an inner surface having the second screw threadedly connected thereto such that rotation of the second screw moves the second hub to effect axial movement of the longitudinal knife bar.
2. The actuation mechanism according to claim 1 , wherein the shaft defines a longitudinal axis that extends through the first portion of the first hub and the first portion of the second hub.
3. The actuation mechanism according to claim 2 , wherein the first portion of the first hub is laterally offset from the second portion of the first hub, and the first portion of the second hub is laterally offset from the second portion of the second hub.
4. The actuation mechanism according to claim 3 , wherein the second portion of the second hub is distal of the first portion of the second hub.
5. The actuation mechanism according to claim 1 , wherein the shaft includes a longitudinal slot formed therein, the first portion of the second hub having an inner surface that extends into the longitudinal slot to connect with the longitudinal knife bar such that the longitudinal knife bar moves axially with the second hub and relative to the shaft.
6. The actuation mechanism according to claim 1 , wherein the shaft assembly further includes a plate fixed within the housing, the plate defining a first recess therethrough having a distal end of the first screw received therein, and a second recess therethrough having a distal end of the second screw received therein.
7. The actuation mechanism according to claim 6 , wherein the plate further defines a third recess therethrough disposed between the first and second recesses, the third recess having the first portion of the second hub movably received therein.
8. The actuation mechanism according to claim 1 , wherein the second portion of the first hub and the second portion of the second hub are laterally offset from one another and from the shaft.
9. The actuation mechanism according to claim 1 , wherein the shaft assembly further includes:
a plate fixed within the housing; and
a spring disposed between the plate and the first portion of the first hub to exert a distally-oriented bias on the first hub.
10. The actuation mechanism according to claim 1 , wherein the housing further includes:
a first input drive coupler non-rotatably coupled to a proximal end of the first screw and configured to be drivingly coupled to an instrument drive unit; and
a second input drive coupler non-rotatably coupled to a proximal end of the second screw and configured to be drivingly coupled to the instrument drive unit.
11. An electromechanical surgical instrument for use with a robotic system, the electromechanical surgical instrument comprising:
an end effector including:
a pair of opposing jaw members configured to grasp tissue disposed therebetween; and
a knife blade movably disposable between the pair of opposing jaw members to sever the tissue disposed therebetween; and
an actuation mechanism including:
a housing having a first screw and a second screw each rotatably disposed therein; and
a shaft assembly extending distally from within the housing, the shaft assembly including:
a shaft axially movable relative to the housing and operably coupled to at least one of the pair of opposing jaw members of the end effector;
a first hub including:
a first portion having the shaft secured therein; and
a second portion connected to the first portion and having an inner surface having the first screw threadedly connected thereto such that rotation of the first screw moves the first hub to effect at least one of an opening or a closing of the pair of opposing jaw members;
a longitudinal knife bar axially movable relative to the shaft and coupled to the knife blade of the end effector; and
a second hub including:
a first portion having the shaft movably received therein, the first portion being connected to the longitudinal knife bar; and
a second portion connected to the first portion of the second hub and having an inner surface having the second screw threadedly connected thereto such that rotation of the second screw moves the second hub to effect axial movement of the knife blade.
12. The electromechanical surgical instrument according to claim 11 , wherein the shaft of the shaft assembly defines a longitudinal axis that extends through the first portion of the first hub and the first portion of the second hub.
13. The electromechanical surgical instrument according to claim 12 , wherein the first portion of the first hub is laterally offset from the second portion of the first hub, and the first portion of the second hub is laterally offset from the second portion of the second hub.
14. The electromechanical surgical instrument according to claim 13 , wherein the second portion of the second hub is distal of the first portion of the second hub.
15. The electromechanical surgical instrument according to claim 11 , wherein the shaft of the shaft assembly includes a longitudinal slot formed therein, the first portion of the second hub of the actuation mechanism having an inner surface that extends into the longitudinal slot to connect with the longitudinal knife bar such that the longitudinal knife bar moves axially with the second hub and relative to the shaft.
16. The electromechanical surgical instrument according to claim 11 , wherein the shaft assembly further includes a plate fixed within the housing of the actuation mechanism, the plate defining a first recess therethrough having a distal end of the first screw received therein, and a second recess therethrough having a distal end of the second screw received therein.
17. The electromechanical surgical instrument according to claim 16 , wherein the plate of the shaft assembly further defines a third recess therethrough disposed between the first and second recesses, the third recess having the first portion of the second hub movably received therein.
18. The electromechanical surgical instrument according to claim 11 , wherein the second portion of the first hub and the second portion of the second hub are laterally offset from one another and from the shaft.
19. The electromechanical surgical instrument according to claim 11 , wherein the shaft assembly further includes:
a plate fixed within the housing of the actuation mechanism; and
a spring disposed between the plate and the first portion of the first hub to exert a distally-oriented bias on the first hub.
20. The electromechanical surgical instrument according to claim 11 , wherein the housing of the actuation mechanism further includes:
a first input drive coupler non-rotatably coupled to a proximal end of the first screw and configured to be drivingly coupled to an instrument drive unit; and
a second input drive coupler non-rotatably coupled to a proximal end of the second screw and configured to be drivingly coupled to the instrument drive unit.