RETROGRADE INSTRUMENT
First Claim
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1. A minimally invasive surgical instrument assembly comprising:
- a retrograde minimally invasive surgical instrument comprising;
a transmission mechanism;
a proximal body segment, wherein a proximal end of the proximal body segment is coupled to the transmission mechanism;
a distal body segment;
a component coupled to a distal end of the distal body segment; and
a U-turn mechanism coupled between the proximal and the distal body segments,wherein the U-turn mechanism is dedicated to transmitting actuating forces from the transmission mechanism to the component, andwherein the U-turn mechanism has a constant fixed shape so that a distance between a point where an actuating force enters the U-turn mechanism and a point where the actuating force exits the U-turn mechanism is unchangeable.
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Abstract
A minimally invasive surgical instrument includes a U-turn mechanism that transmits actuating forces around a U-turn. The U-turn mechanism is coupled between segments of the instrument and has a bend radius that is smaller than flexible arms having a similar cross section diameter. The actuating forces transmitted by the U-turn mechanism are used to move distal components of the instrument, such as an end effector and a wrist mechanism.
297 Citations
21 Claims
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1. A minimally invasive surgical instrument assembly comprising:
a retrograde minimally invasive surgical instrument comprising; a transmission mechanism; a proximal body segment, wherein a proximal end of the proximal body segment is coupled to the transmission mechanism; a distal body segment; a component coupled to a distal end of the distal body segment; and a U-turn mechanism coupled between the proximal and the distal body segments, wherein the U-turn mechanism is dedicated to transmitting actuating forces from the transmission mechanism to the component, and wherein the U-turn mechanism has a constant fixed shape so that a distance between a point where an actuating force enters the U-turn mechanism and a point where the actuating force exits the U-turn mechanism is unchangeable. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9)
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10. A method comprising:
transmitting actuating forces from a transmission mechanism through a U-turn mechanism that is dedicated to transmitting the actuating forces through a retrograde angle to a distal component of a minimally invasive surgical instrument, wherein the U-turn mechanism has a constant fixed shape so that a distance between a point where an actuating force enters the U-turn mechanism and a point where the actuating force exits the U-turn mechanism is unchangeable. - View Dependent Claims (11, 12, 13, 14, 15, 16, 17, 18)
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19. A surgical instrument assembly comprising:
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a transmission mechanism; a distal component; and a U-turn mechanism; wherein the U-turn mechanism is coupled between the transmission mechanism and the distal component; wherein the U-turn mechanism has a constant fixed shape; and wherein the U-turn mechanism is dedicated to transmitting an actuating force from the transmission mechanism through a retrograde angle to the distal component. - View Dependent Claims (20, 21)
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Specification