Compliant surgical device
A compliant surgical device such as a flexible entry guide employs tendons to operate or steer the device and attaches asymmetric or constant force spring systems to control tension in the tendons. As a result, the surgical device can be compliant and respond to external forces during a surgical procedure without rapidly springing back or otherwise causing a reaction that damages tissue. The compliance also permits manual positioning or shaping of the device during or before insertion for a surgical procedure without damaging the tendons or connections of the tendons within the device or to a backend mechanism.
1. A surgical device comprising:
a shaft including a movable portion;
a first tendon attached to the movable portion of the shaft;
a first constant force spring system applying a first force through the first tendon to the movable portion of the shaft, the first constant force spring system keeping a first magnitude of the first force constant over a range of movement of the movable portion of the shaft; and
a first mechanism connected to alter the first constant force spring system so that the first magnitude of the first force changes and the movable portion of the shaft moves.
2. The device of claim 1 , wherein the shaft contains a lumen sized to guide a surgical instrument through the shaft.
3. The device of claim 2 , wherein a portion of the lumen passes through the movable portion.
4. The device of claim 1 , wherein the movable portion of the shaft includes a plurality of members, each of which is articulated for control of a shape of the shaft.
5. The device of claim 1 , further comprising:
a second tendon attached to the movable portion of the shaft;
a second constant force spring system applying a second force through the second tendon to the movable portion of the shaft, the second constant force spring system keeping a second magnitude of the second force constant over the range of movement of the movable portion of the shaft; and
a second mechanism connected to alter the second constant force spring system to change the second magnitude.
6. The device of claim 5 , further comprising:
a third tendon attached to the movable portion of the shaft;
a third constant force spring system applying a third force through the third tendon to the movable portion, the third constant force spring system keeping a third magnitude of the third force constant over the range of movement of the movable portion of the shaft; and
a third mechanism connected to alter the third constant force spring system to change the third magnitude.
7. The device of claim 1 , wherein the first constant force spring system comprises a spring element having a first end coupled to a cam, the cam being coupled to apply the first force to the first tendon and being shaped such that the first magnitude does not change when the first tendon and the movable portion of the shaft move through the range of motion.
8. The device of claim 7 , wherein the first mechanism comprises a ball screw attached to a second end of the spring element, and the first mechanism alters the first constant force spring system by moving the second end of the spring system relative to the cam.
9. The device of claim 7 , wherein the spring element comprises a linear spring having an end attached to a cable that wraps around a portion of the cam.
10. The device of claim 7 , wherein the spring element comprises a torsion spring attached to the cam.
11. The device of claim 1 , wherein the first constant force spring system comprises a roll of spring material having an outer end attached to the first tendon and an inner end attached to the first mechanism, wherein the first mechanism alters the first constant force spring system by rolling or unrolling the roll to thereby change the first magnitude of the first force applied to the tendon by the first constant force spring system.
12. The device of claim 1 , further comprising:
a sensor in the shaft; and
a control system that operates the first mechanism to move the shaft until the sensor indicates the shaft has reached a desired configuration.
13. The device of claim 1 , wherein the shaft is sufficiently flexible to allow manual shaping of the shaft, and the constant force spring system keeps the first magnitude of the first force constant while the shaft changes shape.