CN-121987262-A - Instrument shaft with release feature and related devices, systems, and methods

Abstract

An instrument shaft with a release feature and related devices, systems, and methods. An instrument includes a tubular shaft, an end effector coupled to a distal portion of the tubular shaft, and a release feature extending circumferentially along a wall of the shaft and along at least a portion of a length of the shaft. The release feature defines a flexible member on opposite sides of the release feature. The flexible members may move relative to each other in response to bending of the shaft. In the case where the shaft is bent to an angle within a predetermined range of bending angles, the flexible members may be engaged with each other on one or both of the stretching side and the compression side of the shaft. Systems and methods relate to instruments including such shafts.

Inventors

• T.G. Cooper
• I.T. Heyer
• T.W. BROWN

Assignees

• 直观外科手术操作公司

Dates

Publication Date

20260508

Application Date

20201211

Priority Date

20191212

Claims (10)

1. 1. An instrument, comprising: A tubular shaft; an end effector coupled to a distal portion of the tubular shaft, and A release feature extending circumferentially along a wall of the shaft and along at least a portion of a length of the shaft, the release feature defining a flexible member on opposite sides of the release feature; Wherein: the flexible members move relative to each other in response to bending of the shaft, and The flexible members are engaged with each other on one or both of a tension side and a compression side of the shaft in a state where the shaft is bent to an angle within a predetermined range of bending angles.
2. 2. The instrument of claim 1, wherein the release feature extends in a generally helical pattern about the at least a portion of the shaft.
3. 3. The instrument of claim 2, wherein the release features extend along the wall of the shaft in a spiral pattern.
4. 4. The instrument of claim 1, wherein the release features comprise a plurality of release features spaced apart along a length of the shaft.
5. 5. The instrument of claim 1, wherein the release feature comprises a gap between the flexible members in a condition in which the shaft is in a straight configuration.
6. 6. The instrument of claim 5, wherein a width of the gap varies along the release feature.
7. 7. The instrument of claim 1, wherein each of the flexible members comprises a complementary interlocking engagement member comprising a base portion having a first width, a neck portion having a second width, and a head portion having a third width.
8. 8. The instrument of claim 7, wherein the second width is less than the first width and the third width.
9. 9. The instrument of claim 8, wherein each of the complementary interlocking engagement members includes an angled portion extending between the base portion and the neck portion.
10. 10. The instrument of claim 9, wherein the angled portion lies in a plane oriented at a non-orthogonal angle to a longitudinal axis of the shaft.

Description

Instrument shaft with release feature and related devices, systems, and methods The present application is a divisional application of chinese patent application 2020800920553 (PCT/US 2020/064538) entitled "instrument shaft with release feature and related devices, systems and methods" filed on 12/11 of 2020. Cross Reference to Related Applications The present application claims priority from U.S. provisional application No. 62/947,079 (filed 12 months 12 2019), entitled "INSTRUMENT SHAFTS WITH RELIEF FEATURES, AND RELATED DEVICES, SYSTEMS, AND METHODS," which is incorporated herein by reference in its entirety. Technical Field Aspects of the present disclosure relate to instrument shafts with release (relief) features that increase the flexibility of the shaft without increasing the rotational backlash, and related systems and methods. Background Instruments such as surgical or industrial instruments may have a variety of configurations to perform various types of procedures. Some instrument systems are configured for use in minimally invasive surgery. In some such systems, each individual instrument includes an end effector at the distal end of the shaft for positioning at a location where a procedure is to occur. Such instruments may include a transmission mechanism positioned at the proximal end of the shaft and configured to mount the instrument to a manipulator system (such as a remotely operated (e.g., computer controlled) manipulator system, a manipulator system configured for manual operation). The drive mechanisms of these tools may include a number of mechanical subsystems that receive mechanical inputs (e.g., from a manipulator system or manually via a user) and generate movements and actuations of the instrument, such as operation of the end effector, articulation of one or more joints of the proximal shaft of the end effector, shaft roll, and other operations or movements. Other instruments in medical, industrial, or other use applications may include shafts and associated components having similar structures and functions. For various reasons, it may be desirable to provide a degree of flexibility to the shaft of such an instrument. For example, in a system having multiple instruments configured to perform a procedure at a single location as described above, the end effectors at the distal end of the instrument shaft must be parallel and in close proximity. Because of the potentially large number of mechanical components and subsystems contained in the associated drive mechanism at the proximal end of the shaft, the size of the drive mechanism constrains how tightly the proximal ends of the shaft can be positioned together. Allowing the shaft to have some flexibility allows the distal ends to be brought into close proximity while allowing adequate spacing of the drive mechanisms at the proximal ends. In other applications and system architectures, a degree of flexibility may be desirable for other reasons. A shaft made of flexible material may perform in an undesirable manner in certain applications, such as exhibiting a higher axial compliance (compliance) than desired. It is desirable to provide an instrument shaft that exhibits relatively high compliance in bending while also exhibiting relatively high axial and rotational stiffness. Disclosure of Invention Exemplary embodiments of the present disclosure may address one or more of the above problems and/or may exhibit one or more of the above-described desirable features. Other features and/or advantages may become apparent from the description that follows. According to at least one exemplary aspect of the present disclosure, an instrument includes a tubular shaft, an end effector coupled to a distal portion of the tubular shaft, and a release feature extending circumferentially along a wall of the shaft and along at least a portion of a length of the shaft, the release feature defining a flexible member on opposite sides of the release feature. The flexible members move relative to each other in response to bending of the shaft. In a case where the shaft is bent to an angle within a predetermined range of bending angles, the flexible members are engaged with each other on one or both of the stretching side and the compression side of the shaft. According to at least another exemplary aspect of the present disclosure, a method of installing an instrument into a manipulator system includes bending an axis of the instrument to an angle within a predetermined range of bending angles. During bending, the flexible members defined by the release features in the walls of the shaft move relative to each other and engage each other on one or both of the tensile side of the shaft and the compressive side of the shaft when the shaft is bent to an angle within a predetermined range of bending angles. According to yet another exemplary aspect of the present disclosure, a method of manufacturing an instrument shaft includes forming a release feature al