Tension regulator for actuation elements, and related remotely actuated instruments, systems, and methods
AssigneeIntuitive Surgical Operations, Inc.
InventorsWilliam A. Burbank, Gregory W. Dachs, II, Bruce M. Schena
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Abstract
A method of compensating for slack developing in an actuation element of a surgical instrument includes in response to slack developing in the actuation element, diverting the actuation element to follow a diverted path via a force exerted by an elastically deformable structure coupled to the actuation element. The diverted path differs from a path followed by the actuation element in a tensioned state, and the elastically deformable structure is moveable in translation together with the actuation element.
Claims20
A method of compensating for slack developing in an actuation element of a surgical instrument, the method comprising:
- in response to slack developing in the actuation element, diverting the actuation element to follow a diverted path via a force exerted by an elastically deformable structure coupled to the actuation element,
- wherein the diverted path differs from a path followed by the actuation element in a tensioned state, and
- wherein the elastically deformable structure is moveable in translation together with the actuation element.
A medical instrument comprising:
- a chassis comprising an exit aperture;
- an actuation input mechanism mounted to the chassis;
- an end effector;
- an actuation element coupled to the actuation input mechanism, extending through the exit aperture, and coupled to the end effector;
- and
- a tension regulator device coupled to the actuation element between the actuation input mechanism and the exit aperture,
- wherein the tension regulator device comprises a first portion and a second portion, wherein the first portion of the tension regulator device is coupled to a first location on the actuation element, and wherein the second portion of the tension regulator device is coupled to a second location on the actuation element.
Dependencies are inferred from the claim text.