Robotic surgical instrument, method of assembling the same, and robotic surgical system

A robotic surgical system, comprising:

• a robot arm;
• and
• a robotic surgical instrument that is detachably attached to the robot arm, wherein
• the robotic surgical instrument includes
• an end effector,
• a first support body that supports the end effector rotatably about a first shaft,
• a second support body that supports the first support body rotatably about a second shaft,
• an elongated element to rotate the first support body with respect to the second support body,
• an elongated shaft to which the second support body is connected, and
• a housing that is configured to be attached to the robot arm,
• the elongated element includes a wire, two protection tubes fixed to the wire, and an attachment fixed to a middle of the wire between the two protection tubes,
• the first support body includes:
• a pulley section that is rotatably supported by the second shaft and formed with a pulley groove to which the elongated element is configured to be partially wound;
• a recess that is recessed from the pulley groove in the first support body and to which the attachment is configured to be fitted;
• and a through-hole extending through the first support body at a position shifted from the recess and having a size through which the attachment and the two protection tubes are passable,
• the through-hole is connected to the recess via a communication passage that connects a middle portion of the through-hole in a direction of a length of the through-hole and the recess in the first support body such that when the attachment of the elongated element is inserted in the through-hole, the attachment is movable from the through-hole through the communication passage to the recess so as to be engaged with the recess, and
• the communication passage comprises a second through-hole extending through the first support body in a direction orthogonal to the length of the through-hole.

A method of assembling a robotic surgical instrument, comprising:

• preparing an assembly, which includes an end effector, a first support body that supports the end effector rotatably about a first shaft, and a second support body that supports the first support body rotatably about a second shaft, wherein the first support body includes:
• a pulley section that is rotatably supported by the second shaft and formed with a pulley groove;
• a recess that is recessed from the pulley groove in the first support body;
• and a through-hole extending through the first support body at a position shifted from the recess and connected to the recess via a communication passage that connects a middle portion of the through-hole in a direction of a length of the through-hole and the recess, wherein the communication passage comprises a second through-hole extending through the first support body in a direction orthogonal to the length of the through-hole;
• preparing an elongated element in which an attachment and two protection tubes are fixed to a wire, wherein the attachment is fixed at a middle of the wire between the two protection tubes;
• inserting the elongated element in which the attachment and the two protection tubes are fixed to the wire into the through-hole of the first support body of the assembly having a size through which the attachment and the two protection tubes are passable, so as to pass one of the two protection tubes though the through-hole and have the attachment of the elongated element inserted in the through-hole;
• and
• drawing the elongated element to move the attachment of the elongated element from the through-hole to the recess through the communication passage, so as to engage the attachment with the recess.