A surgical instrument configured for use with a robotic surgical system includes a housing, a shaft extending distally from the housing and including an articulating portion, an end effector assembly extending distally from the shaft and including first and second jaw members, a knife configured for translation between the jaw members, and a gearbox assembly disposed within the housing and operably coupled to the articulating portion of the shaft, the end effector assembly, and the knife. The gearbox assembly includes four rotational input gears each adapted to receive a rotational input from a robotic arm. The gearbox assembly is configured to independently articulate the end effector assembly about a first axis, articulate the end effector assembly about a second axis, move the jaw member(s) relative to the other, and translate the knife between the jaw members based upon the rotational inputs received by the four rotational input gears.
