Arrangement Of An Electrosurgical Instrument

Abstract: A robotic electrosurgical instrument comprising: a shaft; an end effector comprising opposing first and second end effector elements; a first joint drivable by a first driving element that is constrained around the first joint, the first joint permitting the end effector to rotate relative to the shaft about a first axis; a second joint permitting the first end effector element to rotate about a second axis that is transverse to both the first axis and the longitudinal axis of the shaft, wherein the first end effector element is driven about the second joint by a second driving element, the passage of the second driving element through the instrument defining a first path that extends around the second joint; the second driving element being secured to the second joint at a securing point, wherein the securing point is offset from the longitudinal axis of the end effector element; the end effector further comprising an insulating component that covers a proximal end of the first end effector element, the insulating component comprising a first groove that houses the second driving element as it extends around the second joint; and an electrical cable configured to provide electrical current to an electrical component of the first end effector element, the electrical cable extending by more than 45 degrees around the second joint such that it rotates about the second joint with the first end effector element.

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