Robotic surgical instrument

A robotic surgical instrument, comprising:

• a housing;
• a shaft assembly extending distally from the housing and including:
• a proximal segment coupled to the housing;
• a clevis defining a longitudinally-extending central channel therethrough configured for passage of a plurality of actuation components, the clevis including a slot defined in a proximal end thereof;
• an articulating link pivotably coupled to and interconnecting the proximal segment and the clevis, the articulating link including a pair of spaced-apart pivot flags;
• a distal segment rotationally fixed to the clevis and articulatable with the clevis relative to the proximal segment, the distal segment including a nub keyed to the slot defined in the clevis, the distal segment defining a pair of depressions configured to receive the corresponding pair of spaced-apart pivot flags of the articulating link in longitudinal alignment with the nub;
• and
• an end effector assembly coupled to the clevis and extending distally therefrom, wherein the end effector assembly is configured to articulate relative to the proximal segment via the articulating link, wherein the clevis has a first wall projecting into the central channel, the first wall defining a longitudinally-extending first passageway configured for slidable receipt of at least one of a knife rod or a knife blade.

A shaft assembly configured for attachment to a robotic arm, the shaft assembly comprising:

• a proximal segment;
• a clevis including:
• an elongated outer body defining a longitudinally-extending central channel therethrough configured for passage of a plurality of actuation components;
• a first wall projecting from the elongated outer body into the central channel, the first wall defining a longitudinally-extending first passageway configured for slidable receipt of at least one of a knife rod or a knife blade;
• and
• a second inner wall projecting from the elongated outer body into the central channel, the second inner wall defining a pair of longitudinally-extending second and third passageways configured for receipt of first and second electric wires;
• a distal segment rotationally fixed to the clevis and having a nub keyed to a slot defined in the elongated outer body of the clevis;
• and
• an articulating link pivotably coupled to and interconnecting the proximal segment and the distal segment, the articulating link including a pair of spaced-apart pivot flags,
• wherein the distal segment is articulatable with the clevis relative to the proximal segment, and wherein the distal segment defines a pair of depressions configured to receive the corresponding pair of spaced-apart pivot flags of the articulating link in longitudinal alignment with the nub.