Surgical instrument with selectively rigidizable features
Mechanisms for altering the shape of a cell or chamber of a shaft or an actuation drive of an instrument are provided. The mechanisms may selectively rigidize the shaft of surgical or diagnostic instruments. The shaft assembly includes a shaft operatively connectable to a control member, at least one cell or a set of cells defined within the shaft, a shape altering material contained within the cell or cells, and, an activation link operatively connectable to a source of activation energy for delivering activation energy to each cell for activating the shape altering material to selectively rigidize or unrigidize the shaft. An actuator for producing work is also provided that includes an element within a housing that defines a cell or a set of cells. The shape altering material is contained within the cells, and a source of activation energy operatively connected to each cell for activating the shape altering material to expand or contract the cell. The element is operatively connectable to a driving member of an instrument such that the change in the cell is translated to the driving member to facilitate the production of work.
1. A surgical instrument comprising:
a shaft assembly, comprising:
an inner tube extending longitudinally along the shaft assembly;
an outer tube coaxially aligned with the inner tube along a combined length of the inner tube and the outer tube;
a phase change material continuously disposed along the combined length of the inner tube and the outer tube in an annular space defined between the inner tube and the outer tube, wherein the phase change material is transitionable between a flexible mode and a rigidized mode, wherein, in the flexible mode, the combined length is flexible to define a plurality of curved orientations, wherein, in the flexible mode, the inner tube and the outer tube are longitudinally movable relative to each other between a plurality of relative positions, wherein the phase change material, in the rigidized mode, maintains the plurality of curved orientations, and wherein the phase change material, in the rigidized mode, constrains relative longitudinal motion between the inner tube and the outer tube; and
an activation link extending longitudinally along the combined length of the inner tube and outer tube, wherein the activation link at least partially extends through the phase change material in the annular space between the inner tube and the outer tube, and wherein the activation link is configured to transition the phase change material between the flexible mode and the rigidizable mode.
2. The surgical instrument of claim 1 , further comprising:
a source of activation energy; and
an activation control member for selectively applying the activation energy to the activation link.
3. The surgical instrument of claim 1 , wherein the phase change material comprises a solid phase and a non-solid phase, wherein the phase change material is in the rigidized mode in the solid phase, and wherein the phase change material bonds the inner tube to the outer tube in the solid phase.
4. The surgical instrument of claim 3 , wherein the inner tube comprises an outer wall disposed along the combined length, wherein the outer tube comprises an inner wall disposed along the combined length, and wherein the inner wall and the outer wall are treated to increase friction between the phase change material, in the solid phase, and the inner wall and the outer wall.
5. The surgical instrument of claim 4 , wherein the inner wall and the outer wall are treated by one of cleaning, etching, and exposure to a corona arc.