Method, apparatus, and system for facilitating bending of an instrument in a surgical or medical robotic environment
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.
1 . 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.
2 . The bending section of claim 1 , wherein the cross section of the body is C-shaped.
3 . The bending section of claim 2 , wherein the first strut and the second strut are capable of bending toward a center of the cross section.
4 . The bending section of claim 1 , wherein the channel has a non-cylindrical cross-section.
5 . The bending section of claim 1 , wherein the bending section articulates an instrument comprising an end effector.
6 . The bending section of claim 5 , wherein the end effector is passable through the channel such that it is interchangeable.
7 . The bending section of claim 5 , wherein the end effector comprises forceps, scissors, a laser, a cautery tool, or a needle.
8 . The bending section of claim 5 , wherein the end effector comprises a pair of tines.
9 . The bending section of claim 5 , wherein the channel comprises a top pathway, a bottom pathway and a narrowed region therebetween connecting the top and bottom pathways.
10 . The bending section of claim 5 , wherein the channel further receives an ancillary component of the end effector.
11 . The bending section of claim 10 , wherein the ancillary component comprises fibers or electrical wires.
12 . 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.
13 . The apparatus of claim 12 , wherein the wire is configured to, when tension is applied to the tendon, close a distance between the plurality of gaps.
14 . The apparatus of claim 12 , wherein the rod is formed from a superplastic material.
15 . The apparatus of claim 12 , wherein the channel is configured to receive at least one ancillary component including one or more of a pull wire, an actuation wire, an optical fiber, an electrical wire, a pneumatic component, a hydraulic component, and an open lumen.
16 . 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.
17 . The medical apparatus of claim 16 , wherein the rod is formed from a superplastic material.
18 . The medical apparatus of claim 16 , wherein the channel is configured to receive at least one ancillary component including one or more of a pull wire, an actuation wire, an optical fiber, an electrical wire, a pneumatic component, a hydraulic component, and an open lumen.
19 . The medical apparatus of claim 16 , wherein the channel has a top portion and a bottom portion, and the top portion separates the first strut from the second strut, and wherein the bottom portion is wider than the top portion.