US 12,186,037 B2
Robotic surgical assemblies and electromechanical instruments thereof
Brock Kopp, Boulder, CO (US)
Assigned to Covidien LP, Mansfield, MA (US)
Filed by Covidien LP, Mansfield, MA (US)
Filed on Jan. 11, 2021, as Appl. No. 17/145,937.
Application 17/145,937 is a continuation of application No. 15/763,353, granted, now 10,898,280, previously published as PCT/US2016/053300, filed on Sep. 23, 2016.
Claims priority of provisional application 62/232,600, filed on Sep. 25, 2015.
Prior Publication US 2021/0128257 A1, May 6, 2021
Int. Cl. A61B 34/30 (2016.01); A61B 17/00 (2006.01); A61B 17/29 (2006.01); A61B 17/295 (2006.01); A61B 18/14 (2006.01)
CPC A61B 34/30 (2016.02) [A61B 17/295 (2013.01); A61B 18/1447 (2013.01); A61B 2017/00411 (2013.01); A61B 2017/00477 (2013.01); A61B 2017/2932 (2013.01); A61B 18/1445 (2013.01); A61B 2018/1455 (2013.01); A61B 2034/302 (2016.02)] 14 Claims
OG exemplary drawing
 
1. An actuation mechanism for actuating an electromechanical end effector, the actuation mechanism comprising:
a housing;
a first drive member rotatably supported in the housing, the first drive member having a proximal end configured for receiving a rotary input through the housing;
a second drive member rotatably supported in the housing, the second drive member having a proximal end configured for receiving a rotary input through the housing; and
a shaft assembly extending distally from the housing and including:
a shaft axially movable relative to the housing and configured to be coupled to an electromechanical end effector;
a first hub operably coupled to the first drive member and coupled to the shaft such that the shaft is configured to move axially in response to movement of the first drive member, wherein the first hub includes:
a first portion having the shaft secured thereto; and
a second portion connected to the first portion and being operably coupled to the first drive member, wherein the first portion of the first hub is laterally offset from the second portion of the first hub;
a longitudinal knife bar axially movable relative to the shaft and configured to be coupled to a knife blade of the electromechanical end effector; and
a second hub operably coupled to the second drive member and coupled to the longitudinal knife bar such that the longitudinal knife bar is configured to move axially in response to movement of the second drive member, wherein the second hub includes:
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 operably coupled to the second drive member, wherein the first portion of the second hub is laterally offset from the second portion of the second hub, wherein the second portion of the second hub is distal of the first portion of the second hub,
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.