RETROGRADE INSTRUMENT
A minimally invasive surgical instrument includes a U-turn mechanism that transmits actuating forces around a U-turn. The U-turn mechanism is coupled between segments of the instrument and has a bend radius that is smaller than flexible arms having a similar cross section diameter. The actuating forces transmitted by the U-turn mechanism are used to move distal components of the instrument, such as an end effector and a wrist mechanism.
1 . A minimally invasive surgical instrument comprising:
a proximal body segment;
a transmission mechanism coupled to a proximal end of the proximal body segment;
a distal body segment;
a U-turn mechanism coupled between the proximal and distal body segments; and
a component coupled to a distal end of the distal body segment;
wherein the U-turn mechanism is dedicated to transmitting actuating forces from the transmission mechanism to the component.
2 . The instrument of claim 1:
wherein the U-turn mechanism comprises a plurality of guide tubes.
3 . The instrument of claim 2:
wherein the guide tubes are substantially equal length.
4 . The instrument of claim 1:
wherein the U-turn mechanism comprises a single part having a plurality of channels.
5 . The instrument of claim 1:
wherein the U-turn mechanism comprises a joint that couples the U-turn mechanism to the distal body segment.
6 . The instrument of claim 1:
wherein the distal body segment is substantially rigid and straight.
7 . The instrument of claim 1:
wherein the distal body segment is flexible.
8 . The instrument of claim 1:
wherein a distance between a point where an actuating force enters the U-turn mechanism and a point where the actuating force exits the U-turn mechanism is unchangeable.
9 . The instrument of claim 1:
wherein the component comprises a wrist assembly.
10 . The instrument of claim 1:
wherein the component comprises an end effector.
11 . A method comprising:
transmitting actuating forces from a transmission mechanism through a U-turn mechanism that is dedicated to transmitting the actuating force through a retrograde angle to a distal component of a minimally invasive surgical instrument.
12 . The method of claim 11:
wherein transmitting actuating forces through the U-turn mechanism comprises moving filars in a plurality of guide tubes.
13 . The method of claim 12:
wherein the guide tubes are substantially of equal length.
14 . The method of claim 11:
wherein transmitting actuating forces through the U-turn mechanism comprises moving filars within a single part.
15 . The method of claim 11 , further comprising:
transmitting the actuating forces through a joint that couples the U-turn mechanism to a distal body segment of the surgical instrument.
16 . The method of claim 1 l:
wherein the distal body segment is substantially rigid and straight.
17 . The method of claim 11:
wherein the distal body segment is flexible.
18 . The method of claim 11:
wherein a distance between a point where an actuating force enters the U-turn mechanism and a point where the actuating force exits the U-turn mechanism is unchangeable.
19 . The method of claim 11:
wherein the component comprises a wrist assembly.
20 . The method of claim 11:
wherein the component comprises an end effector.
21 . A surgical instrument comprising:
a transmission mechanism;
a distal component; and
a U-turn mechanism coupled between the transmission mechanism and the distal component;
wherein the U-turn mechanism is dedicated to transmitting an actuating force from the transmission mechanism through a retrograde angle to the distal component.
22 . The instrument of claim 21:
wherein the distal component is selected from the group consisting of a wrist mechanism and an end effector.
23 . The instrument of claim 21:
wherein the retrograde angle is about 180 degrees.
24 . The method of claim 11:
wherein the retrograde angle is about 180 degrees.