Method, apparatus, and system for facilitating bending of an instrument in a surgical or medical robotic environment
AssigneeAuris Health, Inc.
InventorEnrique Romo
Life of this patent
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Abstract
A method, apparatus, and system for facilitating bending of an instrument in a surgical or medical robotic environment are provided. In one aspect, a surgical system includes an instrument comprising an end effector, the instrument capable of articulation via a bending section. The bending section includes a body including a first strut and a second strut, and a channel formed through the body. The first strut and the second strut form a gap therebetween, wherein the gap is in communication with the channel formed through the body.
Claims19
A bending section to carry a tool for use in medical procedures, the bending section comprising:
- a body including a first strut and a second strut;
- and
- a channel formed through the body, the channel comprising:
- a top portion defining a slot extending along a length of the channel and thereby separating the first strut from the second strut, the first and second struts extending parallel to a neutral axis of the body along the length of the channel;
- a bottom portion extending along the length of the channel, wherein at least a section of the bottom portion of the channel has materials removed to form a plurality of gaps each shaped in a teardrop form tapering toward the bottom portion;
- and
- a wire arranged along the bottom portion and configured to, when pulled, close a distance between the plurality of gaps and bend the body toward the bottom portion,
- wherein the first strut and the second strut partially surround the channel.
An apparatus to facilitate bending of an instrument comprising:
- a wire;
- a rod including a bendable section, the bendable section comprising:
- a channel formed through a portion of the rod, wherein the rod has a non-uniform wall thickness such that the channel has a non-circular cross-section;
- a strut portion extending along a length of the channel including a first and a second strut separated from each other by a slot of the channel;
- and
- a teardrop section extending along the length of the channel and positioned opposite the strut portion, wherein the teardrop section has materials removed to form a plurality of leaves that are separated from one another by a gap shaped in a teardrop form tapering away from the strut portion,
- wherein the bendable section is configured to bend when tension is applied to the wire.
A medical apparatus, comprising:
- a rod including a bending section that includes:
- a channel formed through a portion of the rod, wherein the rod has a non-uniform wall thickness such that the channel has a non-circular cross-section;
- a strut portion extending along a length of the channel including a first strut and a second strut separated from each other by a slot of the channel;
- and
- a teardrop section extending along the length of the channel and positioned opposite the strut portion, wherein the teardrop section has materials removed to form a plurality of leaves that are separated from one another by a gap shaped in a teardrop form tapering away from the strut portion.
Dependencies are inferred from the claim text.