Articulate wrist with flexible central member having stiffening members
An articulable wrist for an end effector includes a distal linkage provided at a distal end of the articulable wrist, a proximal linkage provided at a proximal end of the articulable wrist, and a central channel cooperatively defined by the distal and proximal linkages and extending between the distal and proximal ends. A flexible member is arranged within the central channel, and one or more stiffening members are arranged within the flexible member and extend at least partially between the first and second ends. The stiffening members operate to increase a stiffness of the flexible member and the articulable wrist against bending.
1. An articulable wrist for an end effector, comprising:
a distal linkage provided at a distal end of the articulable wrist;
a proximal linkage provided at a proximal end of the articulable wrist;
a central channel cooperatively defined by the distal and proximal linkages and extending between the distal and proximal ends;
a flexible member arranged within the central channel;
a distal adapter fixed to an end of the flexible member and partially received within a portion of the central channel defined by the distal linkage, the distal adapter being matable with the distal linkage to rotationally fix the flexible member at the distal end of the articulable wrist; and
one or more stiffening members arranged within the flexible member and extending at least partially between the distal and proximal ends, wherein the one or more stiffening members increase a stiffness of the flexible member and the articulable wrist against bending.
2. The articulable wrist of claim 1 , further comprising one or more conduits defined in the flexible member to receive one or more central actuation members extending through the flexible member.
3. The articulable wrist of claim 1 , wherein the flexible member exhibits a circular, multi-lobed, or polygonal cross-sectional shape.
4. The articulable wrist of claim 1 , wherein the one or more stiffening members are made of a material selected from the group consisting of nickel, titanium, stainless steel, graphite epoxy, a composite material, nylon, polyetheretherketone, a thermoplastic polyurethane, a thermoplastic elastomer, and any combination thereof.
5. The articulable wrist of claim 1 , wherein at least one of the one or more stiffening members extends along a central axis of the flexible member.
6. The articulable wrist of claim 1 , wherein at least one of the one or more stiffening members is positioned offset from a central axis of the flexible member.
7. The articulable wrist of claim 1 , wherein the one or more stiffening members are selectively arranged to augment a stiffness of the flexible member in a predetermined deflection direction.
8. The articulable wrist of claim 1 , wherein the one or more stiffening members exhibit a circular or polygonal cross-section.
9. The articulable wrist of claim 8 , wherein at least one of the one or more stiffening members exhibits a rectangular cross-section having a height that is larger than a width.
10. The articulable wrist of claim 9 , wherein two of the one or more stiffening members exhibit the rectangular cross-section and are coaxially aligned along a central axis of the flexible member.
11. The articulable wrist of claim 10 , wherein a first of the two of the one or more stiffening members is oriented along a horizontal plane and a second of the two of the one or more stiffening members is oriented along a vertical plane.
12. The articulable wrist of claim 1 , wherein the flexible member provides one or more lobes arranged about a periphery of the flexible member and at least one of the one or more stiffening members is positioned within a corresponding one of the one or more lobes.
13. The articulable wrist of claim 12 , wherein another one of the one or more stiffening members extends along a central axis of the flexible member.
14. The articulable wrist of claim 1 , wherein the one or more stiffening members are arranged such that a stiffness of the flexible member in a first plane of articulation is different than a stiffness of the flexible member in a second plane of articulation.
15. The articulable wrist of claim 1 , wherein the one or more stiffening members are manufactured via a process selected from the group consisting of overmolding, adhesive bonding, reflow molding, co-extrusion, and any combination thereof.
16. A surgical tool, comprising:
a drive housing;
an elongate shaft that extends from the drive housing;
an end effector arranged at an end of the elongate shaft;
an articulable wrist that interposes the end effector and the elongate shaft, the articulable wrist including:
a distal linkage provided at a distal end of the articulable wrist;
a proximal linkage provided at a proximal end of the articulable wrist;
a central channel cooperatively defined by the distal and proximal linkages and extending between the distal and proximal ends;
a flexible member arranged within the central channel;
a distal adapter fixed to an end of the flexible member and partially received within a portion of the central channel defined by the distal linkage, the distal adapter being matable with the distal linkage to rotationally fix the flexible member at the distal end of the articulable wrist; and
one or more stiffening members arranged within the flexible member and extending at least partially between the distal and proximal ends; and
one or more central actuation members extending from the drive housing and through the flexible member via one or more conduits defined in the flexible member.
17. The surgical tool of claim 16 , wherein the flexible member exhibits a circular, multi-lobed, or polygonal cross-sectional shape.
18. The surgical tool of claim 16 , wherein at least one of the one or more stiffening members extends along a central axis of the flexible member.
19. The surgical tool of claim 16 , wherein at least one of the one or more stiffening members is positioned offset from a central axis of the flexible member.
20. The surgical tool of claim 16 , wherein the one or more stiffening members exhibit a circular or polygonal cross-section.
21. The surgical tool of claim 16 , wherein the one or more stiffening members are arranged such that a stiffness of the flexible member in a first plane of articulation is different than a stiffness of the flexible member in a second plane of articulation.
22. A method of operating a surgical tool, comprising:
positioning the surgical tool adjacent a patient for operation, the surgical tool including a drive housing, an elongate shaft that extends from the drive housing, an end effector arranged at an end of the elongate shaft, and a wrist that interposes the end effector and the elongate shaft and includes:
a distal linkage provided at a distal end of the articulable wrist;
a proximal linkage provided at a proximal end of the articulable wrist;
a central channel cooperatively defined by the distal and proximal linkages and extending between the distal and proximal ends;
a flexible member arranged within the central channel;
a distal adapter fixed to an end of the flexible member and partially received within a portion of the central channel defined by the distal linkage, the distal adapter being matable with the distal linkage to rotationally fix the flexible member at the distal end of the articulable wrist; and
one or more stiffening members arranged within the flexible member and extending at least partially between the distal and proximal ends;
articulating the wrist and simultaneously bending the flexible member within the central channel; and
resisting bending of the flexible member and the wrist with the one or more stiffening members.