Flexible wrist for surgical tool
The present invention is directed to a tool having a wrist mechanism that provides pitch and yaw rotation in such a way that the tool has no singularity in roll, pitch, and yaw. In one embodiment, a minimally invasive surgical instrument includes an elongate shaft having a working end, a proximal end, and a shaft axis between the working end and the proximal end; and an end effector. A wrist member has a flexible tube including an axis extending through an interior surrounded by a wall. The wall of the flexible tube includes a plurality of lumens oriented generally parallel to the axis of the flexible tube. The wrist member has a proximal portion connected to the working end of the elongate shaft and a distal portion connected to the end effector. A plurality of actuation cables have distal portions connected to the end effector and extend from the distal portion through the lumens of the wall of the wrist member toward the elongate shaft to proximal portions which are actuatable to bend the wrist member in pitch rotation and yaw rotation.
1. A minimally invasive surgical instrument comprising:
an elongate shaft having a working end, a proximal end, and a shaft axis between the working end and the proximal end;
an end effector;
a wrist member having a flexible tube including an axis extending through an interior surrounded by a wall, the wall of the flexible tube including a plurality of lumens oriented generally parallel to the axis of the flexible tube, the wrist member having a proximal portion connected to the working end of the elongate shaft and a distal portion connected to the end effector; and
a plurality of actuation cables having distal portions connected to the end effector and extending from the distal portion through the lumens of the wall of the wrist member toward the elongate shaft to proximal portions which are actuatable to bend the wrist member in pitch rotation and yaw rotation;
wherein the flexible tube comprises an inner diameter and an outer diameter, the wall of the flexible tube including a plurality of slots adjacent the inner diameter to form the lumens at the slots.
2. The instrument of claim 1 wherein the wall of the flexible tube includes twelve lumens.
3. The instrument of claim 1 wherein the outer cover comprises a high modulus material.
4. The instrument of claim 1 wherein the flexible tube comprises a plurality of springs each disposed around one of the plurality of slots.
5. The instrument of claim 1 further comprising an inner spring disposed around the interior of the flexible tube.
6. The instrument of claim 1 wherein the wall of the flexible tube comprises a plurality of axial sliding members which are slidably connected with each other by an axial connection generally parallel to the axis of the flexible tube.
7. The instrument of claim 6 wherein the axial connection comprises a tongue and groove connection.
8. The instrument of claim 6 wherein each axial sliding member includes a lumen for receiving one of the actuation cables.
9. The instrument of claim 6 wherein each axial sliding member is integrally formed with one of the actuation cables as an integrated sliding element.
10. The instrument of claim 1 wherein the wrist includes a distal termination disk connected to a distal end of the flexible tube, the distal termination disk being substantially more rigid than the flexible tube.
11. A minimally invasive surgical instrument comprising:
an elongate shaft having a working end, a proximal end, and a shaft axis between the working end and the proximal end;
an end effector;
a wrist member having a flexible tube comprising an inner diameter and an outer diameter, a wall of the flexible tube adjacent the inner diameter including a plurality of lumens oriented generally parallel to the axis of the flexible tube, the wrist member having a proximal portion connected to the working end of the elongate shaft and a distal portion connected to the end effector; and
a plurality of actuation cables having distal portions connected to the end effector and extending from the distal portion through the lumens of the wall of the wrist member toward the elongate shaft to proximal portions which are actuatable to bend the wrist member in pitch rotation and yaw rotation;
wherein each actuation cable is looped around a distal portion of the wall of the flexible tube to extend through two adjacent lumens.
12. A minimally invasive surgical instrument comprising:
an elongate shaft having a working end, a proximal end, and a shaft axis between the working end and the proximal end;
an end effector;
a wrist member having a flexible tube comprising an inner diameter and an outer diameter, a wall of the flexible tube adjacent the inner diameter including a plurality of lumens oriented generally parallel to the axis of the flexible tube, the wrist member having a proximal portion connected to the working end of the elongate shaft and a distal portion connected to the end effector; and
a plurality of actuation cables having distal portions connected to the end effector and extending from the distal portion through the lumens of the wall of the wrist member toward the elongate shaft to proximal portions which are actuatable to bend the wrist member in pitch rotation and yaw rotation;
wherein the flexible tube includes a plurality of transverse cut-outs alternating orthogonally relative to each other.
13. The instrument of claim 12 further comprising an outer cover wrapped around an external surface of the flexible tube.
14. The instrument of claim 12 wherein the transverse cut-outs comprise alternating layers of cut-outs each having a pair of cut-outs which are disposed opposite to one another, the cut-outs of each layer being oriented in a direction which is spaced by about 90 degrees from the cut-outs of an adjacent layer.
15. The instrument of claim 14 wherein the transverse cut-outs leave ribs connected between disk portions above and below the ribs, and wherein slits extending generally along the axis of the flexible tube into the disk portions are provided on both sides of the ribs.
16. A minimally invasive surgical instrument comprising:
an elongate shaft having a working end, a proximal end, and a shaft axis between the working end and the proximal end;
an end effector;
a wrist member having a flexible tube comprising an inner diameter and an outer diameter, a wall of the flexible tube adjacent the inner diameter including a plurality of lumens oriented generally parallel to the axis of the flexible tube, the wrist member having a proximal portion connected to the working end of the elongate shaft and a distal portion connected to the end effector; and
a plurality of actuation cables having distal portions connected to the end effector and extending from the distal portion through the lumens of the wall of the wrist member toward the elongate shaft to proximal portions which are actuatable to bend the wrist member in pitch rotation and yaw rotation;
further comprising a braided cover on an exterior surface of the flexible tube, the braided cover having a first set of wires wound in a clockwise direction between a proximal end and a distal end of the flexible tube and a second set of wires wound in a counter-clockwise direction between the proximal end and the distal end of the flexible tube and interwoven with the first set of wires.
17. A minimally invasive surgical instrument comprising:
an elongate shaft having a working end, a proximal end, and a shaft axis between the working end and the proximal end;
an end effector;
a wrist member having a flexible tube comprising an inner diameter and an outer diameter, a wall of the flexible tube adjacent the inner diameter including a plurality of lumens oriented generally parallel to the axis of the flexible tube, the wrist member having a proximal portion connected to the working end of the elongate shaft and a distal portion connected to the end effector; and
a plurality of actuation cables having distal portions connected to the end effector and extending from the distal portion through the lumens of the wall of the wrist member toward the elongate shaft to proximal portions which are actuatable to bend the wrist member in pitch rotation and yaw rotation;
wherein the flexible tube comprises a plurality of axial springs coupled with each other and disposed around a circumference of the flexible tube, each axial spring having coils which overlap with coils of an adjacent axial spring to provide one of the lumens for receiving one of the actuation cables.
18. A minimally invasive surgical instrument comprising:
an elongate shaft having a working end, a proximal end, and a shaft axis between the working end and the proximal end;
an end effector;
a wrist member having a flexible tube comprising an inner diameter and an outer diameter, a wall of the flexible tube adjacent the inner diameter including a plurality of lumens oriented generally parallel to the axis of the flexible tube, the wrist member having a proximal portion connected to the working end of the elongate shaft and a distal portion connected to the end effector; and
a plurality of actuation cables having distal portions connected to the end effector and extending from the distal portion through the lumens of the wall of the wrist member toward the elongate shaft to proximal portions which are actuatable to bend the wrist member in pitch rotation and yaw rotation;
wherein the flexible tube comprises a wave spring having a plurality of wave spring segments which include high points and low points connected in series along the axis of the flexible tube, the high points of one wave spring segment being connected to the low points of an adjacent wave spring segment.