# US 10,307,568 B2 · Stiffening assembly > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 10,307,568 B2 - Document ID: US10307568B2 - Status: Granted - Kind: B2 - Application number: 14/491,509 - Filed: 2014-09-19 - Published: 2015-01-22 - Granted: 2019-06-04 - Earliest claimed: 2008-05-27 - Assignees: Intuitive Surgical Operations, Inc. - Applicants: Intuitive Surgical Operations, Inc. - Inventors: Theodore W. Rogers - Web page: https://patentgrep.com/patent/US10307568B2 ## CPC - A61B 1/00135: {Oversleeves mounted on the endoscope prior to insertion} - A61B 1/00078: {with stiffening means} - A61B 1/005: Flexible endoscopes - A61B 1/0051: {with controlled bending of insertion part} - A61B 17/3421: {Cannulas} - A61B 34/70: {Manipulators specially adapted for use in surgery} - A61M 25/0053: {having a variable stiffness along the longitudinal axis, e.g. by varying the pitch of the coil or braid} - A61B 1/00193: {adapted for stereoscopic vision} - A61B 1/018: for receiving instruments - A61B 17/02: for holding wounds open, e.g. retractors; Tractors - A61B 17/062: Needle manipulators - A61B 2017/003: {Steerable} - A61B 2017/00566: {fixation of form upon application of vacuum} - A61B 2017/22069: {Immobilising; Stabilising} - Y10T 29/49826: Assembling or joining - A61B: DIAGNOSIS; SURGERY; IDENTIFICATION (usefulness limited to only animals A61D) - A61M: DEVICES FOR INTRODUCING MEDIA INTO, OR ONTO, THE BODY (introducing media into or onto the bodies of animals A61D7/00; means for inserting tampons A61F13/26; devices for administering food or medicines orally A61J; containers for collecting, storing or administering blood or medical fluids A61J1/05); DEVICES FOR TRANSDUCING BODY MEDIA OR FOR TAKING MEDIA FROM THE BODY (surgery A61B; chemical aspects of surgical articles A61L); DEVICES FOR PRODUCING OR ENDING SLEEP OR STUPOR {(Electrotherapy, e.g. producing anaesthesia by the use of alternating or intermittent currents A61N1/36021)} - Y10T: TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION ## Abstract A stiffenable structure is made of longitudinal beams that are positioned around a longitudinal axis. In one state, the longitudinal beams are bendable so that the structure is bendable. As the structure bends, the longitudinal beams slide longitudinally with reference to one another. In a second state, the beams are clamped in a fixed position relative to one another so that the structure is stiffened. In some aspects the longitudinal beams are made of two or more longitudinal laminar elements. As each beam bends, the laminar elements slide longitudinally with reference to one another. Each beam, and accordingly the structure, is stiffened by preventing the laminar elements from sliding longitudinally relative to one another. ## Claims ### Claim 1 A stiffenable surgical instrument comprising: a flexible outer wall; a flexible guide tube extending through the flexible outer wall along a central longitudinal axis of the flexible outer wall; and a plurality of longitudinal beams extending between the flexible outer wall and the flexible guide tube, the plurality of longitudinal beams being separate from the flexible outer wall and an inner wall provided by the flexible guide tube, wherein the surgical instrument is adjustable between a flexible state in which the plurality of longitudinal beams is movable between the flexible outer wall and the flexible guide tube and a stiffened state in which an applied vacuum compresses the plurality of longitudinal beams toward the central longitudinal axis and into contact with the flexible guide tube such that transfer of shear forces between the plurality of longitudinal beams stiffens the surgical instrument, wherein the plurality of longitudinal beams are positioned around the central longitudinal axis to form a tubular arrangement such that the plurality of longitudinal beams are equidistant from the central longitudinal axis when the surgical instrument is in the stiffened state, wherein each of the longitudinal beams of the plurality of longitudinal beams has a trapezoid shape cross section, wherein a first longitudinal beam of the plurality of longitudinal beams has a first side surface, and a second longitudinal beam of the plurality of longitudinal beams has a second side surface, and wherein in the stiffened state, the first side surface of the first longitudinal beam abuts the second side surface of the second longitudinal beam to form the tubular arrangement. ### Claim 2 (depends on 1) The instrument of claim 1 wherein the flexible guide tube includes a central channel. ### Claim 3 (depends on 1) The instrument of claim 1 wherein the flexible guide tube includes an endoscope. ### Claim 4 (depends on 1) The instrument of claim 1 wherein the plurality of longitudinal beams are flexible. ### Claim 5 (depends on 1) The instrument of claim 1 further comprising a plurality of control wires for controlling movement of a distal portion of the flexible guide tube. ### Claim 6 (depends on 1) The instrument of claim 1 wherein the plurality of longitudinal beams includes at least three longitudinal beams extending between the flexible outer wall and the flexible guide tube, wherein the at least three longitudinal beams are equidistantly spaced about the central longitudinal axis. ### Claim 7 (depends on 1) The instrument of claim 1 wherein in the flexible state, a liquid is present between the flexible outer wall and the flexible guide tube. ### Claim 8 (depends on 1) The instrument of claim 1 wherein at least one longitudinal beam of the plurality of longitudinal beams comprises a plurality of laminar elements. ### Claim 9 A stiffening assembly comprising: a flexible outer tube extending along a longitudinal axis, the flexible outer tube being flexible inwardly toward the longitudinal axis when subjected to an applied vacuum; a flexible inner tube extending along the longitudinal axis; and a plurality of longitudinal beams extending between the flexible outer and inner tubes and separate from the flexible outer and inner tubes, wherein the stiffening assembly is adjustable between a flexible state in which the plurality of longitudinal beams is movable between the flexible outer and inner tubes and a stiffened state in which the applied vacuum clamps the plurality of longitudinal beams between the flexible outer and inner tubes such that transfer of shear forces between the plurality of longitudinal beams stiffens the stiffening assembly, wherein the plurality of longitudinal beams are positioned around the longitudinal axis to form a tubular arrangement such that the plurality of longitudinal beams are equidistant from the longitudinal axis when the stiffening assembly is in the stiffened state, wherein each of the longitudinal beams of the plurality of longitudinal beams has a trapezoid shape cross section, wherein a first longitudinal beam of the plurality of longitudinal beams has a first side surface, and a second longitudinal beam of the plurality of longitudinal beams has a second side surface, and wherein in the stiffened state, the first side surface of the first longitudinal beam abuts the second side surface of the second longitudinal beam to form the tubular arrangement. ### Claim 10 (depends on 9) The assembly of claim 9 further comprising a surgical instrument sized for passage through the flexible inner tube. ### Claim 11 (depends on 10) The assembly of claim 10 wherein the surgical instrument is an endoscope. ### Claim 12 (depends on 9) The assembly of claim 9 wherein the plurality of longitudinal beams are flexible. ### Claim 13 (depends on 9) The assembly of claim 9 wherein the plurality of longitudinal beams includes at least three longitudinal beams extending between the flexible outer and inner tubes, wherein the at least three longitudinal beams are equidistantly spaced about the longitudinal axis. ### Claim 14 (depends on 9) The assembly of claim 9 wherein in the flexible state, a liquid is present between the flexible outer and inner tubes. ### Claim 15 (depends on 9) The assembly of claim 9 wherein the flexible inner tube defines a channel sized to receive a flexible guide tube. ### Claim 16 (depends on 9) The assembly of claim 9, wherein the first side surface of the first longitudinal beam abuts the second side surface of the second longitudinal beam along an entire length of the first longitudinal beam when the assembly is in the stiffened state. ### Claim 17 (depends on 9) The assembly of claim 9, wherein the trapezoid shape cross section of each of the longitudinal beams is perpendicular to the longitudinal axis. ### Claim 18 A stiffenable surgical instrument comprising: a flexible outer wall; a flexible guide tube extending through the outer wall along a longitudinal axis, the flexible outer wall configured to flex toward the flexible guide tube; and a plurality of stacks of longitudinal beams extending between the flexible outer wall and the flexible guide tube, each stack in the plurality of stacks of longitudinal beams comprising an inner beam and an outer beam, the inner beam being closer to the longitudinal axis than the outer beam, wherein the surgical instrument is adjustable between a flexible state in which the plurality of stacks of longitudinal beams is movable between the flexible outer wall and the flexible guide tube and a stiffened state in which an applied vacuum compresses the flexible outer wall toward the flexible guide tube and compresses the plurality of stacks of longitudinal beams toward the longitudinal axis such that transfer of shear forces between each longitudinal beam in the plurality of stacks of longitudinal beams stiffens the surgical instrument, and wherein the plurality of stacks of longitudinal beams are positioned around the longitudinal axis to form a tubular arrangement such that the inner beam in each stack of the plurality of stacks of longitudinal beams is equidistant from the longitudinal axis when the surgical instrument is in the stiffened state. ### Claim 19 (depends on 18) The instrument of claim 18, wherein the inner beam of each stack in the plurality of stacks of longitudinal beams and the outer beam of each stack in the plurality of stacks of longitudinal beams are different in at least one of length or thickness. ### Claim 20 (depends on 18) The instrument of claim 18, wherein, in the stiffened state, the applied vacuum decreases one or more spaces between individual longitudinal beams of the stack of longitudinal beams.