Devices, systems, and methods for anchoring actuation wires to a steerable instrument
AssigneeIntuitive Surgical Operations, Inc.
InventorRandall L. Schlesinger
Life of this patent
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Abstract
A pull wire attachment system for a minimally invasive medical instrument comprises an anchoring element fixedly attached to the medical instrument. The anchoring element has a first outer diameter. The system also includes a pull wire assembly comprising an elongate pull wire having a proximal end and a distal end and a securing element coupled to the distal end of the pull wire. The securing element includes a second outer diameter sized smaller than the first outer diameter of the anchoring element. The securing element is coupled to the anchoring element to prevent proximal translation of the distal end of the pull wire along a longitudinal axis of the medical instrument past the anchoring element.
Claims20
A medical instrument comprising:
- an anchoring element comprising a hollow cylindrical tube having an outer diameter;
- a steerable tube comprising a plurality of grooves extending along a length of the steerable tube, wherein each groove of the plurality of grooves has an open cross-sectional shape, and wherein the anchoring element is disposed distal to a distal end of the steerable tube with a fixed position relative to the distal end of the steerable tube;
- and
- a plurality of pull wires each having a proximal end, a distal portion including a distal end, and a securing element fixedly secured to the distal portion, the securing element including an outer diameter sized smaller than the outer diameter of the anchoring element, the securing element being coupled to the anchoring element to prevent proximal translation of the distal end of a respective pull wire along a longitudinal axis of the medical instrument past the anchoring element, wherein each pull wire of the plurality of pull wires is at least partially disposed within a respective groove of the plurality of grooves.
A medical instrument, comprising:
- an anchoring element comprising a hollow cylindrical tube having an outer diameter;
- a steerable tube comprising a lumen defining an inner surface and a wall surrounding the lumen, the wall including a wall thickness extending from the inner surface to an outer surface of the steerable tube, wherein the steerable tube includes a plurality of radially enclosed channels running within the wall, wherein the anchoring element is disposed distal to a distal end of the steerable tube with a fixed position relative to the distal end of the steerable tube;
- and
- a plurality of pull wires, wherein each pull wire of the plurality of pull wires is disposed within a respective channel of the plurality of channels and comprises a proximal end, a distal portion including a distal end, and a securing element fixedly secured to the distal portion, the securing element including an outer diameter sized smaller than the outer diameter of the anchoring element, the securing element being coupled to the anchoring element to prevent proximal translation of the distal end of a respective pull wire along a longitudinal axis of the medical instrument past the anchoring element.
A medical instrument, comprising:
- an anchoring element comprising a hollow cylindrical tube having an outer diameter;
- a steerable tube, wherein the anchoring element is disposed distal to a distal end of the steerable tube with a fixed position relative to the distal end of the steerable tube;
- and
- a plurality of pull wires each having a proximal end, a distal portion including a distal end, and a securing element secured to and disposed around the distal portion, the securing element including an outer diameter sized smaller than the outer diameter of the anchoring element, the securing element being coupled to the anchoring element to prevent proximal translation of the distal end of a respective pull wire along a longitudinal axis of the medical instrument past the anchoring element.
Dependencies are inferred from the claim text.