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US 10,080,576 B2Granted
Method, apparatus, and a system for facilitating bending of an instrument in a surgical or medical robotic environment
AssigneeAuris Health, Inc.
InventorsEnrique Romo, Travis Schuh
Life of this patent
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Abstract
An instrument that facilitates bending with large degrees of articulation while maintaining ease of manufacturing for medical and surgical applications is discussed.
Claims18
A medical device comprising:
- a. an elongated body for use in medical procedures, the elongated body having a neutral axis and comprising:
- i. a spine along the length of the elongated body;
- ii. a series of ribs along the length of the elongated body, wherein the series of ribs form a corresponding series of ribbed voids along the length of the elongated body, wherein the elongated body, the spine, and the ribs are formed as a single component;
- and
- iii. a lumen longitudinally oriented within the elongated body, wherein the lumen has a non-cylindrical cross-section defined by walls of uneven thickness formed from the elongated body and having a narrowed mid-section;
- b. an ancillary component positioned within the lumen along the length of the body;
- and
- c. a control wire that is configured to actuate an end effector that is operatively coupled to the control wire, wherein the control wire is positioned within the lumen offset from the neutral axis of the elongated body and separated from the ancillary component within the lumen by the narrowed mid-section.
5 more elements
A method for performing medical procedures comprising:
- a. directing an elongated tool towards an operative site, the tool comprising a proximal portion and distal portion;
- b. extending a longitudinally-aligned elongated body from the distal portion of the tool;
- and
- c. articulating the elongated body towards the operative site;
- d. wherein the elongated body has a neutral axis and comprises:
- i. a spine along the length of the elongated body;
- ii. a series of ribs along the length of the elongated body, wherein the series of ribs form a corresponding series of voids along the length of the elongated body, and wherein the elongated body, the spine, and the ribs are formed as a single component;
- and
- iii. a lumen longitudinally oriented within the elongated body,
- wherein the lumen has a non-cylindrical cross-section defined by walls of uneven thickness formed from the elongated body and having a narrowed mid-section,
- wherein an ancillary component is positioned within the lumen along the length of the body, and
- wherein a control wire configured to actuate an end effector that is operatively coupled to the control wire is positioned within the lumen, the control wire being offset from the neutral axis of the elongated body and separated from the ancillary component within the lumen by the narrowed mid-section.
9 more elements
Dependencies are inferred from the claim text.