Method, apparatus, and a system for facilitating bending of an instrument in a surgical or medical robotic environment
View Patent ↗An instrument that facilitates bending with large degrees of articulation while maintaining ease of manufacturing for medical and surgical applications is discussed.
1. A bending section to carry a tool for use in noninvasive medical procedures, the bending section comprising:
an actuation wire;
a rod having an approximately cylindrical outer circumference and a neutral axis;
a top portion along a length of the rod;
a bottom portion along the length of the rod, wherein at least a section of the bottom portion of the cylindrical rod is formed without material;
a non-cylindrical channel through the entire rod, the non-cylindrical channel comprising a top pathway along the top portion and proximate the neutral axis, a bottom pathway along the bottom portion and off-axis from the neutral axis, and a narrowed region therebetween connecting the top and bottom pathways, wherein the rod has a greater wall thickness at the narrowed region than at the top and bottom pathways, wherein the actuation wire is positioned within the bottom pathway to articulate the rod, wherein the actuation wire is in contact with a surface that forms the non-cylindrical channel, and wherein the top pathway is configured to accommodate at least one ancillary component to be in proximity to the neutral axis of the rod;
a plurality of first sections alternatingly adjacent to a plurality of second sections along the length of the rod, wherein the plurality of first sections is formed without material to form a plurality of partial voids next to the plurality of second sections, such that the partial voids permit bending of the rod along the top portion of rod.
2. The bending section of claim 1 wherein the non-cylindrical channel comprises a joined dual circle or joined dual oval shaped lumen that accommodates the at least one ancillary component and the off-axis actuation wire, respectively, and wherein each of the top and bottom pathways comprise a single circle or a single oval shape.
3. The bending section of claim 1 wherein the off-axis actuation wire comprises a pull wire.
4. The bending section of claim 1 wherein the at least one ancillary component is one or more of a pull wire, an actuation wire for an end effector, an optical fiber, an electrical wire, a pneumatic component, a hydraulic component, an open lumen, or a telescoping tube.
5. The bending section of claim 1 wherein the cross section of the rod material facilitates increased stiffness support relative to that possible with a constant wall thickness.
6. The bending section of claim 1 wherein the first sections that are formed without material are teardrop shaped.
7. The bending section of claim 1 wherein the second sections that are next to the first sections are leaf shaped as defined by adjacent tear-shaped cutouts from the first sections.
8. The bending section of claim 1 wherein the rod is formed from a superplastic material.
9. The bending section of claim 8 wherein the superplastic material comprises Nitinol.
10. An apparatus to facilitate bending of an instrument comprising:
an actuation wire;
a rod with a non-cylindrical lumen;
the rod with a first and a second cross sectional shape of the rod lumen,
the first configured to facilitate a bend and to accommodate the actuation wire, the actuation wire being positioned within the rod at the first cross sectional shape, the actuation wire being in contact with a surface that forms the non-cylindrical lumen and configured to articulate the rod;
and the second to facilitate at least one ancillary component to be in proximity to a neutral axis of the rod,
wherein the first and the second cross-sectional shapes are open to one another with a narrowed region therebetween, the rod having a greater wall thickness at the narrowed region than at the top and bottom pathways, and
wherein the non-cylindrical lumen is a joined dual oval or joined dual circle shaped lumen that accommodates the ancillary component and actuation wire, wherein each of the first and second cross-sectional shapes comprise a single oval or a single circle shape.
11. The apparatus of claim 10 wherein the cross section of the rod material facilitates increased stiffness support relative to that possible with a constant wall thickness.
12. The apparatus of claim 10 wherein the rod is formed from a superplastic material.
13. The apparatus of claim 12 , wherein the superplastic material comprises Nitinol.
14. An apparatus to facilitate bending of an instrument comprising:
an actuation wire;
a rod with a non-cylindrical channel and a neutral axis, the rod with a first and a second cross-section of the rod, to facilitate a bend and to accommodate the actuation wire; and
the non-cylindrical channel comprising a first pathway to facilitate at least one ancillary component to be in proximity to the neutral axis of the rod and a second pathway open to the first pathway with a narrowed region therebetween, the rod having a greater wall thickness at the narrowed region than at the top and bottom pathways, wherein the apparatus is coupled to an end effector, and
wherein the actuation wire is positioned within the second pathway to articulate the rod, the actuation wire being in contact with a surface that forms the non-cylindrical channel, and
wherein the first and second pathways form a dual oval or a dual circle shaped lumen that accommodates the ancillary component and actuation wire, the first pathway comprising a single first oval or a single first circle to accommodate the ancillary component and the second pathway comprising a single second oval or a single second circle to accommodate the actuation wire.
15. The apparatus of claim 14 wherein the second cross section facilitates increased stiffness support relative to the first cross section.
16. The apparatus of claim 14 wherein the rod is formed from a superplastic material.
17. The apparatus of claim 16 , wherein the superplastic material comprises Nitinol.
18. The apparatus of claim 14 wherein the at least one ancillary component is one or more of a pull wire, an actuation wire for the end effector, an optical fiber, an electrical wire, a pneumatic component, a hydraulic component, an open lumen, or a telescoping tube.