Instrument actuation interface
A system includes a medical instrument that includes a termination fixture, an actuated element, and drive members coupled to the actuated element and extending to the termination fixture. The termination fixture provides an interface that exposes portions of the drive member to direct movement by an external system that may include a manipulator and a sterile barrier.
1. A system comprising a medical instrument that includes:
a main shaft;
an actuated element connected to a distal end of the main shaft;
a tendon connected to the actuated element and physically extending through the main shaft; and
an interface at a proximal end of the main shaft and configured to expose a suspended portion of the tendon to direct access and sideways deflection that is located away from ends of the tendon and actuates the actuated element.
2. The system of claim 1 , wherein the actuated element comprises a joint operated by the sideways deflection of the tendon.
3. The system of claim 1 , wherein the interface comprises a first plate positioned to limit movement of a proximal end of the tendon in a distal direction.
4. The system of claim 3 , wherein the interface further comprises a second plate through which the tendon passes, wherein the second plate is positioned so that the suspended portion of the tendon is suspended between the first plate and the second plate.
5. The system of claim 1 , wherein the interface further exposes a proximal end of the tendon to longitudinal movement that actuates the actuated element.
6. The system of claim 1 , wherein the instrument further comprises a plurality of tendons extending through the main shaft and the interface, wherein for each of the tendons, the interface exposes a suspended portion of the tendon to direct access and movement that actuates the actuated element.
7. The system of claim 6 , wherein the exposed suspended portions of the tendons in the interface are arranged cylindrically about an axis of the main shaft.
8. The system of claim 6 , wherein the exposed suspended portions of the tendons are arranged in a plane.
9. The system of claim 1 , further comprising:
a patient-side manipulator that physically acts on the drive member to cause actuation of the actuated element; and
a sterile barrier that is between the patient-side manipulator and the instrument.
10. The system of claim 9 , wherein the sterile barrier comprises a sheet that is between the exposed portion of the tendon and the patient-side manipulator, wherein the patient-side manipulator moves the tendon by pressing on the tendon through the sheet.
11. The system of claim 9 , wherein the manipulator presses on the tendon through the sheet without other intervening structure.
12. A system comprising a medical instrument that includes:
a main shaft;
an actuated element connected to a distal end of the main shaft;
a drive member connected to the actuated element and physically extending through the main shaft;
an engagement structure that is on a proximal end of the drive member and is a solid structure shaped to engage a system external to the medical instrument; and
an interface at a proximal end of the main shaft and configured to expose the engagement structure to direct engagement by an adapter in a sterile barrier and to permit the adapter to move the engagement structure in a direction along a length of the drive member to thereby actuate the actuated element.
13. The system of claim 12 , wherein the engagement structure is shaped to engage a fork that is part of the adapter.
14. The system of claim 12 , wherein the engagement structure comprises a gear rack positioned in the interface to be engaged by a pinion gear external to the instrument.
15. The system of claim 14 , further comprising the sterile barrier, wherein the adapter in the sterile barrier includes a pinion gear that engages the gear rack of the engagement structure.
16. The system of claim 12 , wherein the engagement structure comprises a surface positioned and shaped to engage a friction drive external to the instrument.
17. The system of claim 16 , further comprising the sterile barrier including a roller that engages the surface of the engagement structure.
18. The system of claim 12 , further comprising:
a patient-side manipulator that physically acts on the adapter to cause actuation of the actuated element; and
the sterile barrier positioned between the patient-side manipulator and the instrument, wherein the sterile barrier comprises:
a sheet; and
the adaptor mounted in the sheet, wherein the patient-side manipulator is connected to the adaptor and the adaptor is connected to the exposed portion of the drive member.
19. The system of claim 18 , wherein the adaptor comprises a fork that connects to an engagement structure on a proximal end of the drive member.
20. The system of claim 19 , wherein the patient-side manipulator pulls on the adaptor to move the drive member.
21. The system of claim 19 , wherein the patient-side manipulator pushes on the adaptor to move the drive member.
22. The system of claim 18 , wherein the adaptor comprises a gear that engages a gear rack on a proximal end of the drive member.
23. The system of claim 18 , wherein the adaptor comprises a roller configured to contact a surface of the engagement structure, wherein the patient-side manipulator rolls the roller on the surface to move the drive member.