US 12,226,178 B2
Robotic surgical instrument
Dylan R. Kingsley, Broomfield, CO (US); Jason G. Weihe, Longmont, CO (US); William R. Whitney, Boulder, CO (US); Russell W. Holbrook, Naples, FL (US); Zachary S. Heiliger, Nederland, CO (US); Curtis M. Siebenaller, Frederick, CO (US); Crystal A. Adams, Westminster, CO (US); and Kurt J. Anglese, Lafayette, CO (US)
Assigned to Covidien LP, Mansfield, MA (US)
Filed by Covidien LP, Mansfield, MA (US)
Filed on Jan. 4, 2024, as Appl. No. 18/404,402.
Application 18/404,402 is a continuation of application No. 16/997,413, filed on Aug. 19, 2020, granted, now 11,896,333.
Prior Publication US 2024/0130814 A1, Apr. 25, 2024
Int. Cl. A61B 34/00 (2016.01); A61B 34/35 (2016.01); A61B 90/00 (2016.01); B25J 15/00 (2006.01); B25J 15/02 (2006.01)
CPC A61B 34/70 (2016.02) [A61B 34/35 (2016.02); A61B 90/03 (2016.02); B25J 15/0028 (2013.01); B25J 15/022 (2013.01); B25J 15/0226 (2013.01)] 18 Claims
OG exemplary drawing
 
1. A robotic surgical instrument, comprising:
a housing configured to couple to a robotic arm;
a shaft assembly extending distally from the housing, the shaft assembly including:
a proximal shaft segment coupled to the housing; and
a distal clevis including a body having first and second walls spaced apart from and opposing one another and a third wall extending transverse to and at least partially between the first and second walls, wherein the first, second, and third walls at least partially define a channel extending longitudinally through the body, and wherein the third wall defines a first guide surface facing the channel;
first and second jaw members, at least one of the first or second jaw members coupled to the body about a pivot extending between the first and second walls; and
a cam block longitudinally slidable through the channel and coupled to the at least one of the first or second jaw members such that longitudinal sliding of the cam block through the channel moves the at least one of the first or second jaw members about the pivot between a spaced apart position and an approximated position for grasping tissue between the first and second jaw members,
wherein the cam block includes a second guide surface, the first and second guide surfaces configured to interact to guide longitudinal sliding of the cam block through the channel.