# US 2019/0314101 A1 · Tension regulation of remotely actuated instruments, and related devices, systems, and methods > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 2019/0314101 A1 - Document ID: US20190314101A1 - Status: Published application - Kind: A1 - Application number: 16/334,986 - Filed: 2017-09-21 - Published: 2019-10-17 - Earliest claimed: 2016-09-22 - Assignees: Intuitive Surgical Operations, Inc. - Applicants: Intuitive Surgical Operations, Inc. - Inventors: Donald ALDEN - Web page: https://patentgrep.com/patent/US20190314101A1 ## CPC - A61B 34/71: {Manipulators operated by drive cable mechanisms} - A61B 2017/00212: {using remote controls} - A61B 2017/00371: {Multiple actuation, e.g. pushing of two buttons, or two working tips becoming operational} - A61B 2017/00477: {Coupling (A61B2017/0046 takes precedence)} - A61B 2034/715: {Cable tensioning mechanisms for removing slack} - A61B: DIAGNOSIS; SURGERY; IDENTIFICATION (usefulness limited to only animals A61D) ## Abstract A surgical instrument includes a shaft with a proximal end and a distal end, a movable component coupled at the distal end of the shaft, a force transmission mechanism coupled at the proximal end of the shaft, and an actuation element with a first end coupled to the force transmission mechanism and a second end coupled to the movable component. The actuation element being configured to transmit an actuation force from the force transmission mechanism to the movable component. A coil spring is coupled to the actuation element between the first and second ends. First and second ends of the coil spring are coupled to longitudinally separated locations on the actuation element. The coil spring is configured to passively expand and contract in response to tension changes in the actuation element. A distance between the longitudinally separated locations changes as the coil spring passively expands and contracts. ## Claims ### Claim 1 A surgical instrument, comprising: a shaft having a proximal end and a distal end; a movable component coupled to the distal end of the shaft; a force transmission mechanism coupled to the proximal end of the shaft; an actuation element having a first end coupled to the force transmission mechanism and having a second end coupled to the movable component, the actuation element being configured to transmit an actuation force from the force transmission mechanism to the movable component; and a coil spring coupled to the actuation element at a location between the first and second ends, wherein first and second portions of the coil spring are coupled to longitudinally separated locations on the actuation element, wherein, in response to a change in tension in the actuation element, the coil spring is configured to passively expand and contract and to alter a distance between the longitudinally separated locations on the actuation element. ### Claim 2 (depends on 1) The surgical instrument of claim 1, wherein the change in tension in the actuation element comprises a change in configuration of the actuation element from taut to slack. ### Claim 3 (depends on 1) The surgical instrument of claim 1, wherein the first and second end portions of the coil spring comprise bent portions configured to couple the first and second end portions of the coil spring to the actuation element. ### Claim 4 (depends on 3) The surgical instrument of claim 3, wherein the actuation element further comprises first and second stop members positioned respectively at the longitudinally spaced locations on the actuation element, wherein the bent portions of the first and second end portions of the coil spring abut the respective first and second stop members to couple the coil spring to the actuation element. ### Claim 5 (depends on 1) The surgical instrument of claim 1, wherein: in an expanded configuration of the coil spring, the actuation element is taut between the longitudinally separated locations on the actuation element, and in a contracted configuration of the coil spring, a portion of the actuation element is slack between the longitudinally separated locations on the actuation element. ### Claim 6 (depends on 5) The surgical instrument of claim 5, wherein, in the contracted configuration of the coil spring, the slack in the actuation element is compensated for by an at least partially collapsed portion of the actuation element between the longitudinally separated locations on the actuation element. ### Claim 7 (depends on 1) The surgical instrument of claim 1, wherein the coil spring is configured to maintain tension in the actuation element, the tension being sufficient to transmit the actuation force from the first end of the actuation element to the second end of the actuation element. ### Claim 8 (depends on 1) The surgical instrument of claim 1, wherein the actuation element comprises a first actuation element segment and a second actuation element segment. ### Claim 9 (depends on 8) The surgical instrument of claim 8, further comprising: a first stop member disposed proximate an end of the first actuation element segment; and a second stop member disposed proximate an end of the second actuation element segment, wherein the first and second end portions of the coil spring comprise bent portions abutting the respective first and second stop members to affix the first and second end portions of the coil spring to the actuation element. ### Claim 10 (depends on 9) The surgical instrument of claim 9, wherein an end portion of the first actuation element segment and an end portion of the second actuation element segment are configured to laterally overlap one another over the distance between the longitudinally separated locations on the actuation element. ### Claim 11 (depends on 10) The surgical instrument of claim 10, wherein the coil spring is configured to maintain tension in the actuation element by altering a distance over which the first actuation element segment and the second actuation element segment overlap. ### Claim 12 (depends on 11) The surgical instrument of claim 11, wherein the coil spring is configured to expand from a fully compressed position to an at least partially expanded position in response to tension changes caused by slack in the actuation element. ### Claim 13 (depends on 1) The surgical instrument of claim 1, further comprising first and second end caps coupled respectively with the first and second ends of the coil spring. ### Claim 14 (depends on 13) The surgical instrument of claim 13, wherein the actuation element further comprises first and second stop members positioned respectively at the longitudinally spaced locations on the actuation element, wherein the first and second end caps abut the respective first and second stop members to couple the coil spring to the actuation element. ### Claim at position 15 -22. (canceled) ### Claim 23 A surgical instrument comprising: a proximal drive element; a distal movable component; an actuation element coupled between the proximal drive element and the distal movable component; a first stop coupled to the actuation element at a first location; a second stop coupled to the actuation element at a second location spaced apart from the first location; and a spring having a first end engaged with the first stop, a second end engaged with the second stop, and windings that encircle the actuation element between the first and second locations. ### Claim 24 (depends on 23) The surgical instrument of claim 23: wherein the spring is a tension spring; and wherein the first end of the spring engaged with the first stop and the second end of the spring engaged with the second stop are engaged inside the windings of the spring. ### Claim 25 (depends on 23) The surgical instrument of claim 23: wherein the spring is a compression spring; and wherein the first end of the spring engaged with the first stop and the second end of the spring engaged with the second stop are engaged outside the windings of the spring. ### Claim 26 (depends on 25) The surgical instrument of claim 25: wherein the actuation element comprises a first element and a second element, the first and second elements being separate from each other; and wherein the first stop is coupled at an end of the first element, and the second stop is coupled at an end of the second element. ### Claim 27 A surgical instrument, comprising: a shaft comprising a proximal end and a distal end; a movable component coupled at the distal end of the shaft; a force transmission mechanism coupled at the proximal end of the shaft; and a tensile actuation element comprising: a first actuation element portion comprising a first end and a second end, the first end of the first actuation element portion being coupled to the movable component, a second actuation element portion comprising a first end and a second end, the second end of the second actuation element portion being coupled to the force transmission mechanism, and a coil spring comprising a first end portion and a second end portion, the first end portion of the coil spring being directly coupled to the second end of the first actuation element portion, and the second end portion of the coil spring being directly coupled to the first end of the second actuation element portion, wherein the coil spring is in a state such that the coil spring is configured to maintain a preload tension in the tensile actuation element between the force transmission mechanism to the movable component and is configured to maintain a distance between the first end portion and the second end portion of the coil spring on a condition that actuation tension less than the preload tension is transmitted from the force transmission mechanism to the movable component. ### Claim at position 21 -30. (canceled) ### Claim 30 (depends on 27) The surgical instrument of claim 27: wherein the coil spring comprises coils and an interior space defined by the coils; wherein the second end of the first actuation element portion extends past the first end portion of the coil spring and through the interior space of the coil spring to the second end portion of the coil spring; and wherein the first end of the second actuation element portion extends past the second end portion of the coil spring and through the interior space of the coil spring to the first end portion of the coil spring.