TENSION REGULATION OF REMOTELY ACTUATED INSTRUMENTS, AND RELATED DEVICES, SYSTEMS, AND METHODS
First Claim
1. A surgical instrument, comprising:
- a shaft having a proximal end and a distal end;
a movable component coupled to the distal end of the shaft;
a force transmission mechanism coupled to the proximal end of the shaft;
an actuation element having a first end coupled to the force transmission mechanism and having a second end coupled to the movable component, the actuation element being configured to transmit an actuation force from the force transmission mechanism to the movable component; and
a coil spring coupled to the actuation element at a location between the first and second ends, wherein first and second portions of the coil spring are coupled to longitudinally separated locations on the actuation element, wherein, in response to a change in tension in the actuation element, the coil spring is configured to passively expand and contract and to alter a distance between the longitudinally separated locations on the actuation element.
1 Assignment
0 Petitions
Accused Products
Abstract
A surgical instrument includes a shaft with a proximal end and a distal end, a movable component coupled at the distal end of the shaft, a force transmission mechanism coupled at the proximal end of the shaft, and an actuation element with a first end coupled to the force transmission mechanism and a second end coupled to the movable component. The actuation element being configured to transmit an actuation force from the force transmission mechanism to the movable component. A coil spring is coupled to the actuation element between the first and second ends. First and second ends of the coil spring are coupled to longitudinally separated locations on the actuation element. The coil spring is configured to passively expand and contract in response to tension changes in the actuation element. A distance between the longitudinally separated locations changes as the coil spring passively expands and contracts.
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Citations
30 Claims
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1. A surgical instrument, comprising:
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a shaft having a proximal end and a distal end; a movable component coupled to the distal end of the shaft; a force transmission mechanism coupled to the proximal end of the shaft; an actuation element having a first end coupled to the force transmission mechanism and having a second end coupled to the movable component, the actuation element being configured to transmit an actuation force from the force transmission mechanism to the movable component; and a coil spring coupled to the actuation element at a location between the first and second ends, wherein first and second portions of the coil spring are coupled to longitudinally separated locations on the actuation element, wherein, in response to a change in tension in the actuation element, the coil spring is configured to passively expand and contract and to alter a distance between the longitudinally separated locations on the actuation element. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14)
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15-22. -22. (canceled)
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23. A surgical instrument comprising:
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a proximal drive element; a distal movable component; an actuation element coupled between the proximal drive element and the distal movable component; a first stop coupled to the actuation element at a first location; a second stop coupled to the actuation element at a second location spaced apart from the first location; and a spring having a first end engaged with the first stop, a second end engaged with the second stop, and windings that encircle the actuation element between the first and second locations. - View Dependent Claims (24, 25, 26)
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27. A surgical instrument, comprising:
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a shaft comprising a proximal end and a distal end; a movable component coupled at the distal end of the shaft; a force transmission mechanism coupled at the proximal end of the shaft; and a tensile actuation element comprising; a first actuation element portion comprising a first end and a second end, the first end of the first actuation element portion being coupled to the movable component, a second actuation element portion comprising a first end and a second end, the second end of the second actuation element portion being coupled to the force transmission mechanism, and a coil spring comprising a first end portion and a second end portion, the first end portion of the coil spring being directly coupled to the second end of the first actuation element portion, and the second end portion of the coil spring being directly coupled to the first end of the second actuation element portion, wherein the coil spring is in a state such that the coil spring is configured to maintain a preload tension in the tensile actuation element between the force transmission mechanism to the movable component and is configured to maintain a distance between the first end portion and the second end portion of the coil spring on a condition that actuation tension less than the preload tension is transmitted from the force transmission mechanism to the movable component. - View Dependent Claims (30)
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29-30. -30. (canceled)
Specification