Ultrasonic surgical instruments with control mechanisms

A surgical instrument for use with a robotic surgical system, the surgical instrument comprising:

• an end effector to treat tissue;
• a shaft extending proximally from the end effector along a longitudinal axis;
• a housing, wherein the shaft is coupled to a distal end of the housing;
• a first rotatable body positioned within the housing, wherein the first rotatable body comprises a first peg offset from a center of rotation of the first rotatable body;
• a second rotatable body positioned within the housing, wherein the second rotatable body comprises a second peg offset from a center of rotation of the second rotatable body;
• an elastic band coupled to the first peg and the second peg;
• and
• a cable coupled to the elastic band and extending distally through the shaft, wherein rotation of the first and second rotatable bodies that moves the first and second pegs proximally also pulls the elastic band and cable proximally.

A surgical instrument for use with a robotic surgical system, the surgical instrument comprising:

• an end effector to treat tissue;
• a shaft extending proximally from the end effector along a longitudinal axis;
• a housing, wherein the shaft is coupled to a distal end of the housing;
• a first rotatable body positioned within the housing, wherein the first rotatable body comprises a first peg offset from a center of rotation of the first rotatable body;
• a second rotatable body positioned within the housing, wherein the second rotatable body comprises a second peg offset from a center of rotation of the second rotatable body, and where a rotational axis of the first rotatable body is positioned distally from a rotational axis of the second rotatable body;
• and
• a cable fixedly secured to an interior portion of the housing, routed by the first and second pegs, and extending distally through the shaft such that rotation of the first and second rotatable bodies causes the cable to translate along the longitudinal axis.

A surgical instrument comprising:

• an end effector comprising an ultrasonic blade;
• a shaft extending proximally from the end effector along a longitudinal axis, the shaft defining a flexible articulation joint;
• a waveguide extending proximally from the ultrasonic blade through the shaft, wherein the waveguide defines a bendable portion at about the flexible articulation joint;
• a first plate positioned distally from the flexible articulation joint at a node of at least one of the waveguide and the ultrasonic blade;
• a first helical cable coupled to the first plate at a first point offset from the longitudinal axis and extending proximally;
• a second helical cable coupled to the first plate at a second point offset from the longitudinal axis and extending proximally;
• a gear, positioned proximally from the flexible articulation joint, wherein a first side of the gear interlocks with the first helical cable and a second side of the gear interlocks with the second helical cable such that rotation of the gear causes differential translation of the first and second helical cables.

A surgical instrument for use with a robotic surgical system, the surgical instrument comprising:

• an end effector to treat tissue, the end effector comprising an ultrasonic blade;
• a shaft extending proximally from the end effector along a longitudinal axis;
• an ultrasonic transducer coupled to a proximal end of the shaft;
• a waveguide acoustically coupled to the ultrasonic transducer and the ultrasonic blade and extending through the shaft;
• and
• a housing, wherein the shaft extends through the housing, and wherein the shaft, ultrasonic transducer, waveguide, and end effector are translatable distally and proximally along the longitudinal axis.

A surgical instrument comprising:

• an end effector to treat tissue;
• a shaft extending proximally from the end effector along a longitudinal axis, wherein the shaft comprises:
• a proximal tube defining a first channel positioned near an interior wall of the proximal tube;
• a distal tube, wherein the end effector is coupled to a distal portion of the distal tube;
• and
• a flexible articulation portion positioned between the proximal tube and the distal tube;
• a first articulation cable coupled to at least one of the end effector and the distal tube and extending proximally through the first channel of the proximal tube such that proximal translation of the first articulation cable pulls the distal tube and the end effector away from the longitudinal axis towards the first articulation cable.

A surgical instrument for use with a robotic surgical system, the surgical instrument comprising:

• an end effector to treat tissue, the end effector comprising at least one energy element for providing energy to the tissue;
• a shaft extending proximally from the end effector along a longitudinal axis;
• a housing, wherein the shaft is coupled to a distal portion of the housing;
• and
• a battery assembly for powering the at least one energy element, wherein the battery assembly comprises:
• a rechargeable battery positioned within the housing, wherein the rechargeable battery is electrically coupled to the at least one energy element;
• and
• an inductive coil coupled to the rechargeable battery, wherein the inductive coil is positioned to be placed in proximity with a second inductive coil providing electrical energy for recharging the battery.

A surgical instrument for use with a robotic surgical system, the surgical instrument comprising:

• an end effector to treat tissue, the end effector comprising at least one energy element for providing energy to the tissue;
• a shaft extending proximally from the end effector along a longitudinal axis;
• a housing, wherein the shaft is coupled to a distal portion of the housing;
• and
• a power cord electrically coupled to the at least one energy element and extending from the housing, wherein the power cord comprises therein a generator for providing a drive signal to the at least one energy element.

A surgical instrument for use with a robotic surgical system, the surgical instrument comprising:

• an end effector to treat tissue, the end effector comprising at least one energy element for providing energy to the tissue;
• a shaft extending proximally from the end effector along a longitudinal axis;
• a housing, wherein the shaft is coupled to a distal portion of the housing, and wherein the housing defines an exterior socket;
• and
• a removable battery assembly for powering the at least one energy element, wherein the removable battery assembly is receivable into the exterior socket of the housing to be in electrical communication with the at least one energy element.

A surgical instrument comprising:

• an end effector to treat tissue;
• a shaft extending proximally from the end effector along a longitudinal axis, wherein the shaft comprises:
• a proximal tube;
• a distal tube, wherein the end effector is coupled to a distal portion of the distal tube;
• and
• a flexible articulation portion positioned between the proximal tube and the distal tube, wherein the flexible articulation portion comprises a plurality of interfacing joint members, and wherein each of the joint members define first and second channels;
• a first articulation cable coupled to at least one of the end effector and the distal tube, wherein the first articulation cable extends through the first channels of the plurality of joint members;
• a second articulation cable coupled to at least one of the end effector and the distal tube, wherein the second articulation cable extends through the second channels of the plurality of joint members, wherein the first and second articulation cables are transitionable between an unlocked position where the first and second cables are free to translate distally and proximally and the plurality of joint members are slidable relative to one another to pivot the distal tube and end effector away from the longitudinal axis, and a locked position where translation of the first and second cables is locked, causing the position of the end effector and distal tube relative to the longitudinal axis to also be locked.