Seal configurations for surgical instruments such as for use in robotic surgical systems

A robotic surgical instrument includes a housing and a shaft extending distally from the housing and including proximal and distal segments and an articulating portion interconnecting the segments. An end effector assembly is coupled to the distal segment and a plurality of actuation components extends through at least a portion of the shaft to enable selective actuation of the end effector assembly. A seal configuration is operably associated with a proximal body portion of a proximal link of the articulating portion of the shaft to establish seals against an interior annular surface of the shaft, about each actuation component of the plurality of actuation components, and within a distal end portion of the proximal segment of the shaft to inhibit fluid communication proximally into the proximal segment of the shaft.