Robotically controlled surgical instrument

A surgical tool, comprising:

• a tool mounting portion comprising a tool mounting housing, a tool mounting plate, and a coupler to couple a shaft assembly comprising an articulation section to the tool mounting portion;
• an articulation mechanism configured to receive a proximal end of the shaft assembly to articulate the articulation section of the shaft assembly, wherein the articulation mechanism comprises a cam mechanism operative to articulate the articulation section of the shaft assembly;
• and
• an interface to mechanically and electrically couple the tool mounting portion to a manipulator.

A surgical tool, comprising:

• a tool mounting portion;
• a shaft assembly comprising an articulation section, wherein the shaft assembly is operatively coupled to the tool mounting portion;
• an articulation mechanism, comprising:
• a multiple cam assembly comprising a first cam and a second cam, wherein the multiple cam assembly is rotatably coupled to at least one rotatable body portion;
• a first follower lever arrangement comprising:
• a first lever comprising an aperture through which a proximal end of the shaft assembly extends, wherein a first end of the first lever is rotatably coupled to a first pivot spool and a second end of the first lever operably interfaces with the first cam;
• a first bushing rotatably mounted on the proximal end of the shaft assembly, wherein an outer cylindrical surface of the first bushing operably interfaces with the first lever aperture;
• and
• a first articulation wire operably attached to the first lever;
• a second follower lever arrangement comprising:
• a second lever comprising an aperture through which the proximal end of the shaft assembly extends, wherein a first end of the second lever is rotatably coupled to a second pivot spool and a second end of the second lever operably interfaces with the second cam;
• a second bushing rotatably mounted on the proximal end of the shaft assembly, wherein an outer cylindrical surface of the second bushing operably interfaces with the second lever aperture;
• and
• a second articulation wire operably attached to the second lever;
• wherein as the at least one rotatable body portion coupled to the multiple cam assembly rotates:
• the first cam is operative to pivot the first lever about the first pivot spool such that the attached first articulation band articulates the articulation section of the shaft assembly in a first direction;
• and
• the second cam is operative to pivot the second lever about the second pivot spool such that the attached second articulation band articulates the articulation section of the shaft assembly in a second direction.