Robotic surgical tool with ultrasound cauterizing and cutting instrument

A surgical instrument for use with a robotic surgical system, the robotic surgical system providing master-slave telesurgery in response to input from a surgeon, the surgical instrument comprising:

• an elongate shaft having a proximal end and a distal end, the elongate shaft including an ultrasound probe;
• an end effector disposed at the distal end, the end effector including:
• an ultrasound probe tip of the ultrasound probe;
• and
• a gripping member hingedly attached to the end effector for gripping tissue in cooperation with the ultrasound probe tip;
• at least one force transmitting member for transmitting one or more forces between the robotic surgical system and the gripping member to move the gripping member;
• and
• a base disposed at the proximal end for removably connecting the surgical instrument to the robotic surgical system;
• wherein the elongate shaft is configured to rotate in relation to the base about an axis drawn from the proximal end to the distal end;
• and
• wherein the at least one transmitting member comprises:
• at least two shafts rotatably mounted to the base, each of the shafts having two ends, at least one of the ends of one of the shafts disposed to engage a corresponding interface member on the robotic surgical system;
• at least two spools, each spool being mounted on one of the shafts;
• at least one cable for connecting two of the spools;
• and
• an actuator rod coupled to the cable and to the gripping member and extending through the elongate shaft, the actuator rod being configured to move the gripping member in response to movements of the interface member, the at least two shafts, the at least two spools and the at least one cable.

A surgical instrument for use with a robotic surgical system, the robotic surgical system providing master-slave telesurgery in response to input from a surgeon, the surgical instrument comprising:

• an elongate instrument probe assembly having a proximal end and a distal end, the distal end insertable through a minimally invasive surgical incision into the body of a patient;
• and
• an instrument base coupled to the instrument probe assembly adjacent the proximal end, the instrument base comprising an instrument interface assembly removably connectable to the robotic surgical system and engagable with at least one interface actuator of the robotic surgical system so as to receive at least one input actuation, the interface assembly being coupled to the instrument probe assembly so as to move at least a portion of the instrument probe assembly in at least one degree of freedom;
• wherein the instrument base comprises:
• at least two shafts rotatably mounted to the base, each of the shafts having two ends, at least one of the ends of one of the shafts disposed to engage a corresponding interface member on the robotic surgical system;
• at least two spools, each spool being mounted on one of the shafts;
• at least one cable for connecting two of the spools;
• and
• a rotating member coupled to the cable and to the elongate shaft, the rotating member being configured to rotate the elongate shaft in response to movements of the interface member, the at least two shafts, the at least two spools and the at least one cable.