Variable height support structure
A variable height support structure is provided. The variable height support structure can include a first support member, a second support member, a first expansion link, a second expansion link, and a third expansion link. The variable height support structure can selectively transition from a compressed configuration to an expanded configuration along a longitudinal central axis that extends between the first support member and the second support member.
1. A variable height support structure for supporting a flexible elongate medical instrument, the variable height support structure comprising:
a first support member connected to a first joint, a second joint, and a third joint, the first support member comprising a central aperture configured to receive and support the flexible elongate medical instrument;
a second support member connected to a fourth joint, a fifth joint, and a sixth joint, the second support member comprising a central aperture configured to receive and support the flexible elongate medical instrument;
a first expansion link connected to the first joint and the fourth joint;
a second expansion link connected to the second joint and the fifth joint; and
a third expansion link connected to the third joint and the sixth joint,
wherein the variable height support structure selectively transitions from a compressed configuration to an expanded configuration while maintaining an alignment between the central aperture of the first support member and the central aperture of the second support member along a longitudinal central axis that extends between the central aperture of the first support member and the central aperture of the second support member.
2. The variable height support structure of claim 1 , wherein the first joint further comprises a two-axis gimbal such that the two-axis gimbal rotates relative to the first support member along a longitudinal axis parallel to the longitudinal central axis and the first expansion link rotates about the two-axis gimbal along a transverse axis.
3. The variable height support structure of claim 2 , wherein the second joint further comprises a second two-axis gimbal such that the second two-axis gimbal rotates relative to the first support member along a second longitudinal axis parallel to the longitudinal central axis and the second expansion link rotates about the second two-axis gimbal along a second transverse axis.
4. The variable height support structure of claim 3 , wherein the third joint further comprises a third two-axis gimbal such that the third two-axis gimbal rotates relative to the first support member along a third longitudinal axis parallel to the longitudinal central axis and the third expansion link rotates about the third two-axis gimbal along a third transverse axis.
5. The variable height support structure of claim 2 , wherein the first joint further comprises an axle to connect the two-axis gimbal to the first support member, the axle extending along the longitudinal axis.
6. The variable height support structure of claim 1 , wherein the variable height support structure has an expansion ratio of approximately 6.5 to 1.
7. The variable height support structure of claim 1 , wherein movement of the first support member, the second support member, the first expansion link, the second expansion link, and the third expansion link is constrained by a single degree of freedom along the longitudinal central axis.
8. The variable height support structure of claim 1 , further comprising:
a third support member connected to a seventh joint, an eighth joint, and a ninth joint;
a fourth expansion link connected to the fourth joint and the seventh joint, the fourth expansion link including a fourth link recessed surface at an end of the fourth expansion link connected to the fourth joint;
a fifth expansion link connected to the fifth joint and the eighth joint; and
a sixth expansion link connected to the sixth joint and the ninth joint,
wherein the first expansion link includes a first link recessed surface at an end of the first expansion link connected to the fourth joint such that the first link recessed surface is adjacent to the fourth link recessed surface along a transverse axis.
9. The variable height support structure of claim 1 , wherein the central aperture of the first support member comprises a chamfered lumen configured to receive the flexible elongate medical instrument and to provide lateral support to the flexible elongate medical instrument.
10. The variable height support structure of claim 1 , further comprising a coupler to couple the variable height support structure to an instrument manipulator.
11. The variable height support structure of claim 1 , wherein when the variable height support structure is in the compressed configuration, the first support member is at a first rotational orientation, and when the variable height support structure is in the expanded configuration, the first support member is at a second rotational orientation different from the first rotational orientation.
12. The variable height support structure of claim 1 , wherein the first support member is configured to rotate about the longitudinal central axis.
13. The variable height support structure of claim 1 , wherein the first support member is configured to rotate with respect to the second support member as the variable height support structure selectively transitions from the compressed configuration to the expanded configuration.