Tension regulation of remotely actuated instruments, and related devices, systems, and methods

A method of manufacturing a medical instrument, the method comprising:

• coupling first and second opposite end portions of a coil spring to first and second locations longitudinally spaced from one another on an actuation element of the medical instrument, the actuation element operably coupled to a force transmission mechanism at a proximal end portion of the medical instrument and a movable component at a distal end portion of the medical instrument, wherein at least a portion of the actuation element extends through an interior space of the coil spring;
• applying a preload tension to the actuation element;
• and
• in response to applying a preload tension to the actuation element, expanding or contracting the coil spring such that a compressive or tensile force in the coil spring is substantially equal to the preload tension of the actuation element, wherein the first and second locations are movable with the first and second opposite end portions, respectively, of the coil spring as the coil spring expands or contracts.