Compact actuation configuration and expandable instrument receiver for robotically controlled surgical instruments

A robotic system assembly comprising:

• a robotic manipulator including an actuator assembly, the actuator assembly including a first arm section and a second arm section, at least one of the first and second arm sections moveable relative to the other of the first and second arm sections to move the actuator assembly between an open position and a closed position, the actuator assembly further including
• a first drive element and a first motor operable to advance the first drive element relative to the actuator assembly;
• a second drive element and a second motor operable to advance the second drive element relative to the actuator assembly, wherein the first and second motors are independently operable to independently advance the first and second drive elements;
• a surgical instrument having a body removably mountable between the first and second arm sections of the actuator assembly when the actuator assembly is in the open position and engageable between the first and second arm sections when the actuator assembly is in the closed position, the body including a first control input and a second control input each control input moveable relative to the body to actuate movement of at least a portion of the surgical instrument, wherein the first and second control inputs are operatively associated with corresponding ones of the first and second drive elements when the body is disposed in the actuator assembly and the actuator assembly is in the closed position.

A robotic system assembly comprising:

• a surgical instrument having a body, the body including a first control input and a second control input, wherein the first and second control inputs are positioned on different sides of the body and are longitudinally moveable relative to the body in proximal and distal directions to actuate movement of apart of the surgical instrument;
• a robotic manipulator including an actuator assembly, the actuator assembly moveable between an open position and a closed position and including a first arm section and a second arm section, at least one of the first and second arm sections moveable relative to the other of the first and second arm sections to move the actuator assembly between the open position and the closed position, the actuator assembly further including;
• a first drive element and a first motor operable to advance the first drive element relative to the actuator assembly;
• a second drive element and a second motor operable to advance the second drive element relative to the actuator assembly;
• wherein:
• the body of the surgical instrument is removably mountable between the first and second arm sections of the actuator assembly when the actuator assembly is in the open position and engageable between the first and second arm sections when the actuator assembly is in the closed position;
• the first motor is operable when the body is engaged between the first and second arm sections to cause longitudinal movement of the first control input relative to the body;
• and
• the second motor is operable when the body is engaged between the first and second arm sections to cause longitudinal movement of the second control input relative to the body.