Tension regulator for actuating element, and related remote actuation apparatus, system and method

Abstract

The present application relates to a tension regulator for an actuating element, and related remote actuating instruments, systems and methods, and discloses a device for adjusting the tension of an actuating element for actuating the movement of a surgical instrument, which includes an elastically deformable body configured to be coupled to the actuating element. The deformable body is configured to elastically deform in response to a relaxation state occurring in the actuating element. When relaxation occurs in the actuating element, the deformable body is configured to shift the path of the actuating element to accommodate the relaxation, so that the path of the actuating element is different from the axis followed by the actuating element before the actuating element exhibits relaxation. A force transmission mechanism for a remotely operated surgical instrument is disclosed, which includes a base frame, an actuating input mechanism, an actuating element and a tension regulator coupled to the actuating element to compensate for the relaxation of the actuating element.

Description

[0001] This application is a divisional application of Chinese patent application 201680036371.2, filed on April 21, 2016, entitled “Tension regulator for actuating elements, and related remote actuation devices, systems and methods”.

[0002] Related Applications

[0003] This application claims priority to and the benefit of U.S. Provisional Patent Application No. 62 / 151,138, filed on April 22, 2015, entitled “TENSION REGULATOR FOR ACTUATION ELEMENTS, AND RELATED REMOTELY ACTUATED INSTRUMENTS, SYSTEMS, AND METHODS,” which is incorporated herein by reference in its entirety. Technical Field

[0004] Various aspects of the present disclosure relate to adjusting tension in an actuating element, for example, via one or more devices, wherein the one or more devices are used in a force transmission mechanism that includes such an actuating element. In particular, various aspects of the present disclosure relate to surgical instruments actuatable by a force transmission mechanism, wherein the force transmission mechanism includes one or more such tension adjustment mechanisms. Background Art

[0005] The benefits of minimally invasive surgery are well known and include less patient trauma, less blood loss, and faster recovery time compared to traditional open incision surgery. In addition, remotely operated surgical systems (e.g., robotic systems providing distal end presence), such as the da Surgical systems, the use of which is known. Such teleoperated surgical systems can allow surgeons to operate with intuitive control and precision.

[0006] In order to perform the actions directed by the surgeon, the surgical instrument may use a force transmission mechanism that receives a drive input and transmits the relevant force from the proximal end of the surgical instrument along its axis to the distal portion of the surgical instrument via an actuating element. In some cases, the actuating element includes a tension member, such as a cable, wire, etc. The slack that may be exhibited in such an actuating element can affect the transmission of force along such an actuating element. In addition, the slack may cause misalignment and / or derailment of the actuating element, such as at a capstan or pulley. Therefore, it is desirable to provide a method for handling slack so as to minimize or prevent misalignment or derailment of the actuating element, and / or to provide a response to the force transmission from the drive input at the force transmission mechanism to the final actuation of the distal end portion of the surgical instrument. Summary of the invention

[0007] Exemplary embodiments of the present disclosure may solve one or more of the above problems and / or may exhibit one or more of the above desirable features.Other features and / or advantages may become apparent from the following description.

[0008] According to at least one exemplary embodiment, a device for adjusting the tension of an actuating element for actuating movement of a surgical instrument includes an elastically deformable body configured to be coupled to the actuating element. The deformable body is configured to elastically deform in response to a relaxation state occurring in the actuating element. When relaxation occurs in the actuating element, the deformable body is configured to shift a path of the actuating element to accommodate the relaxation, so that the path of the actuating element is different from the axis that the actuating element followed before the actuating element exhibited relaxation.

[0009] According to at least one exemplary embodiment, a force transmission mechanism for a remotely operated surgical instrument includes a chassis, an actuation input mechanism mounted to the chassis, an actuation element, and a tension regulator. The actuation input mechanism is configured to receive a force from an actuation interface assembly of a remotely operated surgical system. The actuation element is configured to transmit a force sufficient to actuate an end effector of the surgical instrument. The tension regulator is coupled to the actuation element to compensate for slack in the actuation element. When slack occurs in the actuation element, the tension regulator is configured to shift the path of the actuation element to accommodate the slack, so the path of the actuation element is different from the axis that the actuation element followed before the actuation element exhibited slack.

[0010] According to at least one exemplary embodiment, a method of compensating for slack in an actuating element of a surgical instrument includes coupling a tension adjuster including an elastically deformable body to the actuating element, and compensating for slack exhibited in the actuating element by shifting a path of the actuating element so that the path of the actuating element is different from an axis followed by the actuating element before the actuating element exhibits slack.

[0011] Part of additional objectives, features and / or advantages will be set forth in the following description, and part will be apparent from the description, or may be known by practicing this disclosure and / or the claims. At least some of these objectives and advantages may be realized and achieved by the elements and combinations specifically indicated in the appended claims.

[0012] It is to be understood that the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the claims; rather, the claims should be entitled to their full breadth of equivalents. BRIEF DESCRIPTION OF THE DRAWINGS

[0013] The present disclosure can be understood through the following detailed description alone or in conjunction with the accompanying drawings. The accompanying drawings are included to provide a further understanding of the present disclosure and are incorporated into and constitute a part of this specification. The accompanying drawings illustrate one or more exemplary embodiments of the present teachings and are used together with the description to explain certain principles and operations. In the accompanying drawings,

[0014] Figure 1 A patient side cart of a teleoperated surgical system is shown according to an exemplary embodiment.

[0015] Figure 2 A diagrammatic perspective view is shown of a surgical instrument according to an exemplary embodiment.

[0016] Figure 3 is a perspective view of an interior portion of a force transmission mechanism and a chassis according to an exemplary embodiment.

[0017] Figure 4 yes Figure 3 A partial perspective view of the actuating element and the tension regulator.

[0018] Figure 5 is a partial view of actuation elements according to an exemplary embodiment, each actuation element including a tension adjuster.

[0019] Figure 6 is a plan view of a tension adjuster according to an exemplary embodiment.

[0020] Figure 7 is from Figure 6 Side view obtained in field of view 7-7.

[0021] Figure 8 Depicts a device coupled to an actuation element in a tensioned state according to an exemplary embodiment. Figure 6 Tension regulator.

[0022] Fig. 9 Depicts the tension regulator and the relaxed state Figure 8 actuating element.

[0023] Fig.10 Depicts the tension regulator and another in a relaxed state Fig. 9 actuating element.

[0024] Fig.11 A tension adjuster coupled to an actuation element in a relaxed state is depicted according to another exemplary embodiment.

[0025] Fig.12 A tension adjuster according to yet another exemplary embodiment is depicted.

[0026] Fig.13 A tension adjuster coupled to a force transmission element in a tensioned state is depicted according to another exemplary embodiment.

[0027] Fig.14 Depicts the tension regulator and the relaxed state Fig.13 actuating element.

[0028] Fig.15 A tension adjuster coupled to an actuation element in a relaxed state is depicted according to another exemplary embodiment.

[0029] Fig.16 Depicted is a tension adjuster coupled to two actuation elements according to an exemplary embodiment.

[0030] Fig.17 A tension adjuster mounted to a force transmission mechanism and coupled to an actuation element is depicted according to an exemplary embodiment. DETAILED DESCRIPTION

[0031] This description and the accompanying drawings showing exemplary embodiments should not be considered as limiting. Various mechanical changes, composition changes, structural changes, electrical changes and operational changes can be made without departing from the scope of this description and claims including equivalents. In some cases, well-known structures and technologies are not specifically shown or described so as not to avoid confusing the present disclosure. The same numbers in two or more drawings represent the same or similar elements. In addition, the elements and their related features described in detail with reference to an embodiment can be included in other embodiments in which the elements and their related features are not clearly shown or described whenever feasible. For example, if an element is specifically described with reference to an embodiment and the element is not described with reference to a second embodiment, the element can still be required to be included in the second embodiment.

[0032] For purposes of the present description and the appended claims, unless otherwise indicated, all numbers and other numerical values ​​expressing quantities, percentages or proportions used in the description and claims should be understood as, to the extent they have not been modified, being modified in all instances as "about". Accordingly, unless indicated to the contrary, the numerical parameters set forth in the following description and the appended claims are approximations that may vary depending upon the desired properties sought to be obtained. At the very least, and not as an attempt to limit the application of the doctrine of equivalents to the scope of the claims, each numerical parameter should at least be construed in light of the number of reported significant digits and by applying ordinary rounding techniques.

[0033] It should be noted that, as used in this description and the appended claims, the singular forms "a," "an," and "the," as well as any term used in the singular, include plural referents unless clearly and unambiguously limited to one referent. As used herein, the term "include" and its grammatical variations are intended to be non-limiting, such that specific items in a list do not exclude other identical items that can be substituted for or added to the listed items.

[0034] Further, the terms of this description are not intended to limit the present disclosure or claims. For example, spatial relative terms—such as "below," "below," "lower," "above," "upper," "proximal," "distal," etc.—can be used to describe the relationship between an element or feature and another element or feature, as shown in the figure. In addition to the position and orientation shown in the figure, these spatial relative terms are intended to cover the different positions (i.e., orientations) and orientations (i.e., rotational arrangements) of the device in use or operation. For example, if the device is turned over in the figure, the element described as "below" or "below" other elements or features will become "above" or "above" other elements or features. Therefore, the exemplary term "below" can cover both the position and orientation above and below. The device can be oriented (rotated 90 degrees or in other orientations) in addition, and the spatial relative relationship description used herein is interpreted accordingly.

[0035] According to various exemplary embodiments, the present disclosure contemplates a force transmission mechanism including a tension regulator, wherein the tension regulator compensates for slack in an actuating element. In various exemplary embodiments, the tension regulator can adapt to slack in a passive manner. According to exemplary embodiments, the tension regulator can passively compensate for slack using potential energy. For example, the tension regulator can passively compensate for slack by changing its configuration or shape (e.g., via elastic deformation) when slack is exhibited. The tension regulator of the various exemplary embodiments described herein can allow the tension in the actuating element to be maintained without automatic control or manual adjustment, thereby providing an effective and robust means for adjusting the tension of the actuating element. Therefore, when the actuating element changes over time and exhibits slack, the tension regulator can compensate for the slack and substantially maintain the desired tension in the actuating element, as will be discussed below.

[0036] According to an exemplary embodiment, the actuating element can follow a substantially straight path extending from the transmission mechanism and entering the shaft of the surgical instrument. In order to transmit the force that affects the movement of different parts of the surgical instrument, the actuating element is usually in a tension state. However, when relaxation occurs in the actuating element, according to various exemplary embodiments, a tension regulator coupled to the actuating element can adapt to the relaxation by transferring a portion of the actuating element from the initial path of the actuating element in its tensioned state. For example, the tension regulator can form one or more bends in the actuating element so that the longitudinal axis of the actuating element is not straight at the position where the tension regulator is set. Therefore, the tension regulator can adapt to the relaxation by acting on the portion of the actuating element where the relaxation occurs and applying a force to maintain the tension in the portion. According to an exemplary embodiment, when the actuating element loses tension, the tension regulator coupled to the actuating element can pull the actuating element in a direction that is transverse (e.g., perpendicular) to the original path (e.g., straight path) of the portion of the actuating element. When the actuating element exhibits slack (i.e., loses tension), shifting a portion of the length of the actuating element can be used to reestablish and maintain the tensioned condition of the actuating element. According to an exemplary embodiment, the tension adjuster can be configured to compensate (e.g., dynamically compensate) for a changing amount of slack (e.g., up to a maximum amount that the tension adjuster can compensate), such as when slack of the actuating element increases over time.

[0037] The tension adjuster can be coupled to the actuating element along a portion of the actuating element disposed within the force transmission mechanism of the surgical instrument. In various exemplary embodiments, the tension adjuster can be coupled to the actuating element so that when the actuating element is actuated according to the exemplary embodiments, the tension adjuster moves with the actuating element. In various exemplary embodiments, the tension adjuster can be configured to float relative to the force transmission mechanism (e.g., as the actuating element moves relative to the force transmission mechanism), while in other exemplary embodiments, the tension adjuster can be fixed to the force transmission mechanism, such as a chassis of the force transmission mechanism. According to an exemplary embodiment, the tension adjuster can be coupled to one or more of a plurality of actuating elements connected to an actuation input mechanism. According to an exemplary embodiment, although the tension adjuster can be coupled to adjust the tension in a single actuating element, the tension adjuster can also be coupled to facilitate simultaneous adjustment of the tension in more than one actuating element.

[0038] Various exemplary embodiments described herein contemplate a tension adjuster having a single-piece (e.g., single-piece) construction. For example, the tension adjuster can be a single piece of wire, a single piece of sheet metal, a single molded piece, a single band of elastic material, or other single-piece constructions familiar to those skilled in the art. According to exemplary embodiments, the portion of the actuating element extending through the tension adjuster can be a continuous length portion of the actuating element. In other words, the tension adjuster can take up slack by acting on a portion of the length of the actuating element between the ends of the actuating element (as opposed to, for example, acting on the ends of the actuating element).

[0039] Reference now Figure 1 , showing an exemplary embodiment of a patient-side cart 100 of a teleoperated surgical system. The teleoperated surgical system may further include a physician console (not shown) for receiving input from a user to control instruments mounted at the patient-side cart 100. The teleoperated surgical system may also include an auxiliary control / vision cart (not shown), as described, for example, in U.S. Publication No. US2013 / 0325033, entitled “Multi-Port Surgical Robotic System Architecture,” published on December 5, 2013, and U.S. Publication No. US2013 / 0325031, entitled “Redundant Axis and Degree of Freedom for Hardware-Constrained Remote Center Robotic Manipulator,” published on December 5, 2013, each of which is incorporated herein by reference in its entirety. Further, the exemplary embodiments described herein may be used in conjunction with, for example, a da Surgical systems, Si surgical system, single site da Surgical system or da Xi Surgical System.

[0040] The patient side cart 100 may include a base 102, a main column 104, and a main boom 106 connected to the main column 104. The patient side cart 100 may also include a plurality of manipulator arms 110, 111, 112, 113, each of which may be connected to the main boom 106. Each of the manipulator arms 110, 111, 112, 113 may include an instrument mounting portion 120 to which an instrument 130 may be mounted, which is shown attached to the manipulator arm 110. During a surgical procedure, portions of the manipulator arms 110, 111, 112, 113 may be manipulated according to commands provided by a user at a physician console. In an exemplary embodiment, the signal(s) or input(s) transmitted from the surgeon's console may be transmitted to the control / vision sidecar, which may interpret the input(s) and generate, for example, commands(s) or input(s) transmitted to the patient side cart 100 via a drive interface device and ultimately to the surgical instrument delivery mechanism to cause the instrument 130 (only one such instrument is mounted on the patient side cart 100) to be operated. Figure 1 ) and / or at the patient side cart 100 for manipulation of the portion of the manipulator arm 110 to which the instrument 130 is coupled.

[0041] According to an exemplary embodiment, the instrument mounting portion 120 can include an actuation interface assembly 122 and a cannula mount 124, with the shaft 132 of the instrument 130 extending through the cannula mount 124 (and reaching the surgical site during surgery), and the force transmission mechanism 134 of the instrument 130 connected to the actuation interface assembly 122. The cannula mount 124 can be configured to hold the cannula (in Figure 1 The actuation interface assembly 122 may include a plurality of drive devices (e.g., input drive devices) and other mechanisms that are controlled to respond to input commands at the physician console and transmit force to the force transmission mechanism 134 to actuate the instrument 130, each of which is familiar to those skilled in the art and can be broadly classified as a drive interface device. For example, the input drive device of the actuation interface assembly 122 can directly engage an interface structure (not shown) of the force transmission mechanism 134 and transmit force to the force transmission mechanism 134, as will be discussed below.

[0042] Although to simplify the diagram, Figure 1 The exemplary embodiment of shows the instrument 130 attached only to the manipulator arm 110, but the instrument may be attached to any and each of the manipulator arms 110, 111, 112, 113. The instrument 130 may be a surgical instrument with an end effector, or may be an endoscopic imaging instrument or other sensing instrument utilized during a surgical procedure to provide information (e.g., visualization, electrophysiological activity, pressure, fluid flow, and / or other sensed data) of a remote surgical site. Figure 1 In an exemplary embodiment of the present invention, a surgical instrument or an imaging instrument with an end effector can be attached to the manipulator arms 110, 111, 112, 113 and used with any of the manipulator arms 110, 111, 112, 113. However, the embodiments described herein are not limited to Figure 1 Exemplary embodiments of a patient side cart and various other teleoperated surgical system configurations including patient side cart configurations may be used with the exemplary embodiments described herein.

[0043] Steering Figure 2 , showing a schematic side view of an exemplary embodiment of a surgical instrument 200. For example, the surgical instrument 200 can be used as a Figure 1 The surgical instrument 200 may include a force transmission mechanism 210 ( Figure 2 The base 211 is shown in an exemplary embodiment of the present invention, wherein the housing is removed from the illustration to show the components of the force transmission mechanism 210 within the housing), a shaft 222 connected to the force transmission mechanism 210 at a proximal end 223 of the shaft 222, a wrist 230 connected to a distal end 224 of the shaft 222, and an end effector 220 connected to the wrist 230. The shaft 222 can be flexible or rigid. According to an exemplary embodiment, the diameter of the shaft 222 can vary from about 3 mm to about 15 mm. According to another exemplary embodiment, the diameter of the shaft 222 can vary, for example, from about 5 mm to about 8 mm. The end effector 220 can include, for example, forceps, needle drivers for suturing, cutting devices, dissecting devices, clip appliers, and other end effector configurations for performing various surgical procedures.

[0044] The surgical instrument 200 may include one or more components to translate force between the force transmission mechanism 210 and the end effector 220 and / or between the force transmission mechanism 210 and the wrist 230. For example, the actuation elements 242, 244 may connect the force transmission mechanism 210 to the end effector 220, such as by extending through the interior of the shaft 222, so as to provide an actuation force to the end effector 220. By utilizing the actuation elements 242, 244, the force transmission mechanism 210 may actuate the end effector 220 to control, for example, a jaw of the end effector 220 (or other movable portion of the end effector 220). In another example, the actuation elements 242, 244 may be used to actuate the wrist 230 in one or more degrees of freedom (e.g., pitch and / or yaw). The actuation elements 242, 244 may be in the form of tension members, such as when the force transmission mechanism 210 is a pull-pull mechanism, as described in US Pat. No. 8,545,515, which is incorporated herein by reference in its entirety.

[0045] The force transmission mechanism 210 may include one or more components to engage with the patient side cart 100 of the teleoperated surgical system to transfer the force provided by the patient side cart to the surgical instrument 200. For example, the force transmission mechanism 210 may be connected to Figure 1 The patient side cart 100 of the exemplary embodiment of the present invention is actuated by the actuation interface assembly 122 of the patient side cart 100, so the actuation interface assembly 122 can transmit force to the force transmission mechanism 210 to actuate the instrument 200. According to an exemplary embodiment, the force transmission mechanism 210 may include one or more drive actuation input mechanisms 212, 214 that engage with a manipulator of the patient side cart (such as the actuation interface assembly 122 of the patient side cart 100) (e.g., via a distal end of the force transmission mechanism 210).

[0046] According to an exemplary embodiment, the actuation input mechanism 212, 214 can interact with a manipulator of the patient side cart (such as the actuation interface assembly 122 of the patient side cart 100) via a sterile adapter (not shown), as will be described below. An exemplary type of actuation input mechanism that can be used for the force transmission mechanism 210 is a pull-pull mechanism, an exemplary embodiment of which is described in U.S. Pat. No. 8,545,515, which is incorporated herein by reference in its entirety. According to an exemplary embodiment, the force transmission mechanism 210 can use a pull-pull mechanism, the actuation elements 242, 244 can be tension members, and the drive actuation input mechanism 212, 214 can be a capstan driven rotationally by the actuation interface assembly 122 for tensioning the actuation elements 242, 244 to actuate the instrument. Therefore, the drive actuation input mechanism 212, 214 utilizes the actuation force from the actuation interface assembly to actuate the instrument 200. The force transmission mechanism 210 can include other components in addition to or in place of the capstan to actuate various other functions of the surgical instrument, as is familiar to those skilled in the art. These components include, but are not limited to, gears, clutches, pulleys, linkages, and other mechanisms that convert input force and / or motion into desired output force and / or motion. Figure 2 The number of actuation input mechanisms 212, 214 shown in the exemplary embodiment of the present invention may be different, such as, for example, one, three, four, five, six, seven, eight or more actuation input mechanisms. For example, depending on the nature of the surgical instrument and on the operable degrees of freedom of such instrument, any number of actuation input mechanisms 212, 214 may be used.

[0047] Figure 2 The force transmission mechanism provides precise conversion from rotational movement to translational movement for the actuating element of the surgical instrument of the teleoperated surgical system. However, the actuating element of the force transmission mechanism may undergo a change in shape. For example, Figure 2The actuating element 242 of an exemplary embodiment can be a tension member that can be deformed, such as by stretching and increasing in length in proportion to the load being delivered. Therefore, the actuating element 242 can exhibit relaxation. If both the actuating element 244 and the actuating element 242 are coupled to the movement of the wrist 230 or the end effector 220, the actuating element 244 can move in coordination with the actuating element 242. With such coordinated movement, the actuating element 244 can also exhibit relaxation. Conversely, the actuating element 242 can be in tension when the actuating element 244 has relaxation. Further, when the actuating elements 242, 244 are in a relaxed state, the accuracy of the force transmission mechanism 210 in actuating the instrument 200 (such as the end effector 220 or the wrist 230) may be reduced. For example, the rotation of the drive actuation input mechanism 212, 214 may need to be rotated to remove slack from the actuation elements 242, 244 so that the actuation elements 242, 244 are in a tensioned state in which they can actuate the instrument 200. In addition, the drive actuation input mechanism 212, 214 may include a groove (not shown) in which the actuation elements 242, 244 are generally located during use of the force transmission mechanism 210. The slack in the actuation elements 242, 244 may become significant enough that the actuation elements 242, 244 move out of the groove, which can also affect the actuation of the instrument 200. Therefore, further improvements can be made to the surgical instrument components to compensate for changes in the actuation elements, such as by using a tension adjustment device that utilizes the limited space within the surgical instrument in a more efficient manner.

[0048] Steering Figure 3 , showing the internal portion of the force transmission mechanism 310 according to an exemplary embodiment. The force transmission mechanism 310 may include a chassis 320 and a housing (not shown in order to show the components of the force transmission mechanism 310 within the housing). The force transmission mechanism 310 may be used as Figure 1 The force transmission mechanism 310 may include: other components (such as, for example, a roller gear (not shown)) for engaging the proximal portion of the shaft (not shown) of the instrument and rolling the shaft (such as Figure 2 The shaft 222 of the instrument 200 in the exemplary embodiment of the present invention; a flux conduit for delivering flux (e.g., electrical energy, fluid, suction, light, etc.) to the end effector of the instrument, as well as other components familiar to those skilled in the art.

[0049] like Figure 3 As shown in the exemplary embodiment of FIG. 1 , the force transmission mechanism 310 may include one or more actuation input mechanisms 330, 332. In the exemplary non-limiting embodiment, the actuation input mechanisms 330, 332 may be as described above with reference to FIG. Figure 2 The exemplary embodiment of the actuation input mechanism 212, 214 discussed above is a winch, however various other actuation input mechanism configurations may also be used without departing from the scope of the present disclosure. The actuation element may be coupled to the drive actuation input mechanism 330, 332, respectively. For example, as Figure 3 As shown in an exemplary embodiment of the present invention, the actuation elements 340, 342 can be coupled to the actuation input mechanism 330 and the actuation elements 344, 346 can be coupled to the actuation input mechanism 332. According to an exemplary embodiment, the actuation elements 340, 342, 344, 346 can be tension members, such as cables, as described in U.S. Patent No. 8,545,515, issued on October 1, 2013, which is incorporated herein by reference in its entirety. According to an exemplary embodiment, the pull-pull mechanism can include two tension members, one of which is pulled to actuate the end effector or wrist in one direction, and the other tension member is pulled to actuate the end effector or wrist in another direction. According to another exemplary embodiment, the pull-pull mechanism can include a single tension element (e.g., a single tension element wrapped around a capstan or other actuator), wherein a portion of the tension element is pulled to actuate the end effector or wrist in one direction, and another portion of the tension element is pulled to actuate the end effector or wrist in another direction. According to an exemplary embodiment, the chassis 320 of the force transmission mechanism 310 can further include a chassis portion 322 defining an exit aperture 324 into which the actuating elements 340, 342, 344, 346 extend so that the actuating elements 340, 342, 344, 346 can be moved by a shaft (e.g., Figure 2 The shaft 222) is delivered to the distal portion of the instrument.

[0050] According to an exemplary embodiment, the actuating elements connected to the drive actuation input mechanism can be formed by a single actuating element. Thus, the actuating elements 340, 342 connected to the actuation input mechanism 330 can be formed by a single actuating element, wherein the actuating elements 340, 342 are defined by two portions of a single actuating element extending between the force transmission mechanism 310 and the distal portion of the instrument. For example, the actuating elements 340, 342 can be portions of a single actuating element (e.g., a cable) that is looped around the actuation input mechanism 330 at one end of the force transmission mechanism when the actuation input mechanism 330 is driven, extending from the force transmission mechanism 310 through an axis of the instrument (e.g., Figure 2 The shaft 222 of the device reaches the distal portion of the device (e.g., Figure 2 Thus, when the actuation input mechanism 330 is such as by moving along Figure 3When the actuator 340 is driven by rotating in the direction indicated by arrow 331 in the exemplary embodiment of the present invention, a portion of the portion of the single actuator element (e.g., one of the actuator elements 340, 342) is loosened from the actuator input mechanism 330, while another portion of the single actuator element (e.g., the other of the actuator elements 340, 342) is tightened by (e.g., wound around) the actuator input mechanism 330. The actuator elements 344, 346 connected to the actuator input mechanism 332 may be arranged similarly.

[0051] According to another exemplary embodiment, the actuating elements 340, 342 can be two separate actuating elements. For example, a first end of each of the actuating elements 340, 342 can be connected to the actuating input mechanism 330, and a second end of each of the actuating elements 340, 342 can be connected to the distal portion of the instrument (e.g., wrist 230 or end effector 220). According to an exemplary embodiment, the actuating elements 344, 346 connected to the actuating input mechanism 332 can be arranged as two separate actuating elements. Thus, the actuating elements 344, 346 connected to the actuating input mechanism (e.g., Figure 3 an actuating element (e.g., an actuating input mechanism in Figure 3 The actuating elements 340, 342) in the embodiment may be two parts of a single actuating element or may be defined by two actuating elements.

[0052] According to exemplary embodiments, the tension adjuster of various exemplary embodiments described herein can be coupled to at least one actuating element of the force transmission mechanism before or after the force transmission mechanism has been assembled. For example, the tension adjuster can be coupled to at least one actuating element of the force transmission mechanism after the actuating element has been connected to the wrist or end effector (e.g., Figure 2 230 or 220) and connected to an actuation input mechanism (e.g., Figure 3 According to another exemplary embodiment, the tension regulator can be coupled to the actuating element, and the actuating element can then be connected to the wrist or end effector of the instrument (e.g., Figure 2 230 or 220) and connected to an actuation input mechanism (e.g., Figure 3 330 or 332 in the example above).

[0053] like Figure 3 As shown in the exemplary embodiment of , the tension adjuster 350 can be coupled to one or more actuating elements of the force transmission mechanism 310 and configured to passively compensate for slack in the one or more actuating elements. In various exemplary embodiments, the tension adjuster 350 can be decoupled from the chassis 320 of the force transmission mechanism 310 and can therefore freely translate with the actuating elements.

[0054] Due to the manner in which tension adjuster 350 is coupled to an actuation element (e.g., one of actuation elements 340, 342, 344, 346), tension adjuster 350 is not necessarily coupled to an actuation element when the actuation element is wound around or removed from a respective actuation input mechanism (e.g., actuation input mechanism 330 or 320), such as along Figure 3 When the force transmission mechanism 310 is relaxed (payout) in the direction indicated by arrow 370 in the exemplary embodiment of the present invention, the tension regulator 350 also moves in the direction indicated by arrow 370 relative to the chassis 320. One consideration of such a configuration in which the tension regulator 350 is coupled to the actuation element is that when the actuation element moves back and forth between the actuation input mechanism and the hole 324, the tension regulator can affect the actuation input mechanism, or the tension regulator 350 can affect the chassis portion 322 defining the hole 324. Due to the size of the force transmission mechanism 310 and the distance that the actuation element travels between the hole 324 and the actuation input mechanism, when the tension regulator 350 is coupled to the actuation element, little space is provided for the tension regulator 350 to travel. In this manner, the tension regulator 350 configured to be coupled to the actuation element can be designed to compensate for the slack of the actuation element but also has a sufficiently small size to minimize or eliminate the influence between the tension regulator 350 and the chassis portion 322 or the actuation input mechanism.

[0055] In various exemplary embodiments, the tension adjuster may be coupled to only one of the actuation elements connected to the actuation input mechanism (e.g., when Figure 3 ), or coupled to only a portion of a single actuation element extending between the force transmission mechanism and the distal portion of the instrument (e.g., when the actuation elements 340, 342 in the instrument are defined by two actuation elements). Figure 3 340, 342 are parts of a single actuation element). However, the various exemplary embodiments described herein are not limited to such configurations, and may instead have a tension adjuster coupled to more than one actuation element of a given actuation input mechanism. According to exemplary embodiments, a tension adjuster may be coupled to each actuation element of the actuation input mechanism. According to exemplary embodiments, coupling a tension adjuster to an actuation element may be based, for example, on the function of the component actuated by the actuation element.

[0056] like Figure 4 As shown in the exemplary embodiment, Figure 4 yes Figure 3 In the partial view of the actuating elements 340, 342, 344, 346 of the exemplary embodiment of FIG. 3 , the tension adjuster 350 can be coupled to the actuating element 340 but not to the actuating element 342. Similarly, the tension adjuster 350 is coupled to the actuating element 344. In other words, as Figure 3 and Figure 4 As shown, elements 342 and 346 may lack tension adjuster 350 .

[0057] In the case where slack exists in two pairs of actuating elements (e.g., actuating elements 340 and 342, or actuating elements 344 and 346), precise control of the end effector element can be improved by selectively accumulating all slack to only one actuating element in a pair of actuating elements. For example, all slack is accumulated, where a single tension regulator 350 is coupled to one of the actuating elements 340 and 342 or to one of the actuating elements 344 and 346. Thus, the slack in the pair of actuating elements 340, 342 or the pair of actuating elements 344, 346 is accumulated in the tension regulator 350 coupled to one actuating element of the respective pair (e.g., one of the actuating elements 340, 342). At the same time, since the slack is removed from the pair of actuating elements via the tension regulator 350, the other actuating element of the pair (e.g., the other of the actuating elements 340, 342) is tensioned. Because the further actuation element is taut and substantially straight, the length of the further actuation element is substantially known, which facilitates precise control of the element actuated by the actuation element.

[0058] By way of example, when the tension adjuster 350 is coupled to the actuation element 340 and not coupled to the actuation element 342, the tension adjuster 350 accumulates all the slack of the pair of actuation elements 340, 342. In this way, the actuation element 342 becomes taut, as shown in FIG. Figure 4 342 is substantially known. The actuation input mechanism 330 can be rotated (e.g., along direction 330) an amount corresponding to the length of the actuation element 342 in order to precisely control the end effector element actuated by the actuation element 342. Conversely, when the length of the actuation element 342 is not substantially known, such as due to slack in the actuation element 342, the rotation of the actuation input mechanism 300 does not necessarily provide precise control of the end effector element because the rotation of the actuation input mechanism 330 no longer matches the length of the actuation element. In other words, because there is slack in the actuation element 342, the amount of rotation of the actuation input mechanism 330 no longer corresponds to a specific amount of unwinding or winding of the actuation element 342.

[0059] According to various exemplary embodiments, the tension adjuster 350 can be selectively coupled to the actuating element according to the function of the actuating element. Coupling the tension adjuster 350 to the actuating element (e.g., the actuating element 340) can result in the removal of slack between a pair of actuating elements (e.g., the actuating elements 340, 342) and cause the actuating element (e.g., the actuating element 342) in the pair of actuating elements not coupled to the tension adjuster to become taut and straight, as shown in FIG. Figure 4As shown, while taking into account the function of tension adjuster 350 to accumulate slack, the other actuating element (e.g., actuating element 340) coupled to tension adjuster 350 is no longer straight. Because one actuating element (e.g., actuating element 342) is taut, its length is substantially known, which facilitates precise operation of the actuating element, such as operating an end effector by moving the actuating element an amount corresponding to its length. Conversely, the other actuating element (e.g., actuating element 340) is no longer straight, and therefore, because the length of the other actuating element is not precisely known, it is more difficult to use the other actuating element in a precise manner. Taking these factors into account, one can choose which actuating element in a pair of actuating elements to couple a tension adjuster to based on the function of the actuating element and how much precision can be expected when using the function of the actuating element.

[0060] For example, Figure 3 and Figure 4 The tension adjuster 350 in the embodiment may be coupled to the actuating elements 340 and 344 but not to the actuating elements 342 and 346, and the actuating elements 340 and 344 are pulled to actuate the end effector (e.g., Figure 2 In order to actuate the end effector 220 in the embodiment of the present invention to the open position, the actuating elements 342 and 346 are pulled to actuate the end effector to the closed position. Greater precision may be desirable, for example, for closing the end effector rather than opening the end effector, wherein the coupling of the tension adjuster 350 is selected in view of this consideration. In such an arrangement, because actuating the end effector to the open position is accomplished with lower precision and force than actuating the end effector to the closed position, slack is minimized or eliminated by coupling the tension adjuster 350 to the actuating elements 340 and 344. Conversely, since slack is removed via the tension adjuster 350 coupled to the actuating elements 340, 344, the actuating elements 342 and 346 may lack the tension adjuster 350 but be tensioned. Therefore, by tensioning the actuating elements 342, 346, the end effector may be effectively closed in an accurate manner with a desired amount of force.

[0061] According to another exemplary embodiment, Figure 5 As depicted in the exemplary embodiment of FIG. 1 , a tension adjuster may be coupled to each actuation element of the actuation input mechanism. Figure 5 is connected to a single actuation input mechanism (not shown) (such as Figure 3 A partial view of the actuation elements 440 and 442 of the actuation input mechanism 330 or 332 in an exemplary embodiment of FIG. Figure 5 As shown, tension adjuster 450 is coupled to each of actuation elements 440 and 442 .

[0062] like Figure 3-Figure 5As shown in the exemplary embodiments of the present invention, a single tension adjuster can be coupled to an actuating element. However, the various exemplary embodiments described herein are not limited to a single actuating element coupled to a particular actuating element. According to exemplary embodiments, more than one tension adjuster can be coupled to a particular actuating element. For example, two, three, or more tension adjusters can be coupled to a particular actuating element.

[0063] Steering Figure 6 , showing an exemplary embodiment of a tension adjuster 550. The tension adjuster 550 may be coupled to an actuation element, such as, for example, Figure 3 The tension adjuster 550 may be made of, for example, stainless steel or other surgical instrument materials familiar to those skilled in the art. The tension adjuster 550 may include a first leg 552 and a second leg 554 connected by a main ring 551. The first leg 552 may be configured to move relative to the main ring 551 (e.g., in a rotating manner), such as around Figure 6 The second leg 554 can also be configured to move relative to the main ring 551 (e.g., in a rotational manner), such as around Figure 6 According to an exemplary embodiment, the movement of the legs 552, 554 can be accomplished via elastic deformation of the tension adjuster 550, for example.

[0064] like Figure 6 As shown, the tension adjuster 550 can further include end loops 553, 555 at each end of the first leg 552 and the second leg 554. The loops 551, 553, 555 can operate to couple the tension adjuster 550 to the actuating element. For example, the actuating element (not shown) can pass through each of the loops 551, 553, 555 so that the tension adjuster 550 is coupled to the actuating element. Figure 6-10 The ring configuration shown in is intended to be exemplary and illustrative only, and it will be appreciated that various modifications may be made without departing from the scope of the present disclosure and claims. For example, the direction (helical direction), pitch and / or diameter may be modified, for example, in order to minimize any local stress risers in the actuating element. Figure 6-Figure 10 The loop structure of the tension adjuster can also enable the tension adjuster to be coupled to an actuating element that is already installed in a force transmission mechanism for an instrument.

[0065] According to an exemplary embodiment, rotation of the legs 552 and 554 about the main loop 551 causes the tension adjuster 550 to transition between a configuration in which the tension adjuster is approximately straight and a configuration in which the tension adjuster is bent at a reduced angle between the legs 552 and 554 (e.g., one or more acute angles or curves in the tension adjuster). According to an exemplary embodiment, bending of the legs 552, 554, such as relative to the main loop 551, can be accomplished via elastic deformation of the tension adjuster 550. For example, the material from which the tension adjuster 550 is made allows the tension adjuster to elastically deform between an approximately straight configuration and a bent configuration, wherein the bent configuration is a state to which the tension adjuster is biased (e.g., a low energy state of the tension adjuster). That is, in the absence of a force acting in a manner to straighten the tension adjuster 550, the tension adjuster 550 is naturally in a state in which the tension adjuster 550 is bent. Figure 6 According to an exemplary embodiment, the tension adjuster 550 may have a configuration between approximately a straight configuration and approximately a curved configuration, based on the amount of force applied to the tension adjuster 550 by an actuation element coupled to the tension adjuster 550. Figure 6 Configurations intermediate to the curved configurations depicted.

[0066] According to an exemplary embodiment, the tension adjuster 550 may be configured to: when the tension adjuster 550 transitions from a nearly straight configuration (such as when the actuation element lacks slack) to when the actuation element exhibits slack Figure 6 The tension adjuster 550 may be configured to move the actuator element from a substantially straight path along a portion of its length when the actuator element is moved to a bent configuration of the substantially straight configuration. The tension adjuster 550 may be converted from the approximately straight configuration to the bent configuration via elastic deformation, which may bring about a dynamic change in the energy state of the tension adjuster 550 (e.g., from a high energy state in its approximately straight configuration to a lower state in the bent configuration). Thus, the tension adjuster 550 may passively compensate for an increase in slack in the actuator element.

[0067] Now, according to exemplary embodiments, reference will be made to Figure 8-Figure 10 The use and operation of tension adjuster 550 will be described. Figure 8 Depicted as above reference Figure 6 and Figure 7 A tension adjuster 550 is described as being coupled to an actuating element 560. Specifically, the actuating element 560 can be passed through the loops 551, 553, 555 of the tension adjuster 550 so that the tension adjuster 550 is secured to the actuating element 560. Thus, a portion of the actuating element 560 can extend through the tension adjuster 550 in a continuous, uninterrupted manner. In other words, there is no need to attach the tension adjuster 550 to an end of the actuating element 560 or to attach the tension adjuster 550 to a separate end of the actuating element (e.g., the tension adjuster is connected to a separate end of the actuating element). Further, if the actuating element 560 is moved along Figure 8When the direction indicated by the middle arrow 570 is pulled, the tension regulator 550 moves together with the actuating element 560, as described above with reference to Figure 3 When a large amount of movement of the actuating element 560 occurs, the ring 553 or 555 encounters Figure 3 By attaching the base portion 327 or the capstan 330 of the actuator 560, for example, the tension adjuster 550 can be slidably adjusted to a new position on the actuator element 560 without restricting the travel of the actuator element 560. In some embodiments, by configuring the tension member to be attachable along a continuous length of the actuator element, the tension adjuster can thus be relatively simply coupled to an actuator element that is already in an assembled state with the force transmission housing component, as further described below with reference to some exemplary embodiments.

[0068] exist Figure 8 In an exemplary embodiment of the present invention, the actuating element 560 is taut, substantially straight, and substantially lacks slack (e.g., prior to exhibiting slack). Since the actuating element 560 is coupled to the tension adjuster 550, the actuating element 560 applies a force to the tension adjuster 550, such as by extending the actuating element 560 through the loops 551, 553, 555. This causes the first leg 552 and the second leg 554 to be pulled away from each other in directions 557 and 559, such as relative to the main loop 551 (e.g., via elastic deformation). Therefore, due to the fact that the tension adjuster 550 is not bent by the actuating element 560, such as when the tension adjuster 550 is not bent by the actuating element 560, Figure 8 The substantially straight, elongated configuration of the tension adjuster 550 shown in FIG. 5 , so the tension adjuster 550 has an increased amount of potential energy. Figure 8 In the exemplary embodiment of the present invention, because the actuating element 560 extends through the end rings 553, 555 and also extends through the main ring 551, and because the actuating element 560 is taut and lacks slack, the actuating element 560, such as when the actuating element is in Figure 8 In the illustrated state, legs 552, 554 are pulled, and main ring 551 is also pulled, in a direction 574 relative to straight axis 571 of actuation element 560. According to an exemplary embodiment, axis 571 can represent a path followed by actuation element 560 when actuation element 560 is taut, substantially straight, and substantially lacks slack (e.g., before exhibiting slack), as shown. Figure 8 shown.

[0069] Over time, the actuation element 560 may exhibit slack, such as, for example, due to deformation and elongation of the actuation element 560. However, when slack is exhibited in the actuation element 560, the tension adjuster 550 may compensate for the slack. Fig. 9 , the tension adjuster 550 and the actuating element 560 are shown in a position where the actuating element 560 is relative to Figure 8The initial non-relaxed state shown has developed into a relaxed state. As relaxation develops, the actuating element 560 becomes less taut and applies less force to the tension adjuster 550. This causes the tension adjuster 550 to relax to a certain extent and relative to the Figure 8 The state shown becomes less elastically deformed. For example, the first leg 552 can be Fig. 9 The second leg 554 is bent relative to the main ring 551 in the direction indicated by the arrow 557, and the second leg 554 can be Fig. 9 The main ring 551 is bent in the direction indicated by the arrow 559. Fig. 9 As shown, the first leg 552 and the second leg 554 may be bent until the slack has been removed and the actuation element 560 is again taut.

[0070] According to an exemplary embodiment, when the actuating element 560 exhibits slack, the tension adjuster 550 may move along Fig. 9 The direction indicated by the middle arrow 572 pulls the actuating element 560, which is substantially perpendicular to the axis 571 of the actuating element 560. For example, Figure 8 As depicted, when the actuating element is taut and substantially straight, the main loop 551 may be moved along Fig. 9 The tension adjuster 550 moves in a direction 572 in the tension adjustment device 550 and locally pulls the actuating element 560 relative to the axis 571 of the actuating element 560. Therefore, some of the potential energy caused by the deformation of the tension adjuster 550 (e.g., when the actuating element 560 is in a tensioned state and acts on the tension adjuster 550) can be used to compensate the actuating element 560 and remove the slack from the actuating element 560, so the actuating element 560 can remain substantially taut and can be used to actuate the surgical instrument. Therefore, the tension adjuster 550 can compensate for the slack in the actuating element 560 via the dynamic change of the potential energy of the tension adjuster 550.

[0071] like Figure 8 As shown in the exemplary embodiment of FIG. 5 , when the actuating element lacks slack, the actuating element 560 can be substantially straight. For example, when the actuating element 560 is taut and substantially straight, the actuating element 560 can extend along a substantially straight path, such as along Figure 8 When the actuating element 560 exhibits slack, the tension adjuster 550 can compensate for the slack by diverting the actuating element 560 from a straight path along the axis 571. Fig. 9 As shown, the actuator element 560 extends through a portion of the tension adjuster 550 to follow a path that deviates from extending along (eg, substantially coaxial with) the longitudinal axis 571. For example, as shown in FIG. Fig. 9As shown in an exemplary embodiment of , when the actuation element 560 has exhibited slack, the portion of the actuation element 560 extending through the tension adjuster 550 can follow a path through the tension adjuster 550 having a non-zero angle 575 relative to the axis 571. The angle 575 can depend on the amount of tension in the actuation element 560, and when the actuation element 560 exhibits slack, the angle 575 can vary, for example, between about 5 degrees and about 80 degrees. According to another exemplary embodiment, when the actuation element 560 exhibits slack, the tension adjuster 550 can divert the actuation element 560 along a path having an angle 575, for example, between about 5 degrees and about 30 degrees.

[0072] According to an exemplary embodiment, if the actuation element 560 exhibits slack, such as due to elongation of another actuation element that is paired with the actuation element 560 or via an increase in the length of the actuation element 560 (such as via stretching the actuation element 560 along the axis 571), the tension adjuster 550 can accommodate the slack in the actuation element 560 by increasing the path length of the actuation element 560 in a direction that is different from the path along (e.g., substantially coaxial with) the axis 571 of the actuation element 560 when the actuation element 560 is taut and substantially straight, such as Figure 8 For example, the tension adjuster 550 can accommodate an increase in the length of the actuating element 560 by pulling the actuating element along a direction 572 that is substantially transverse (e.g., perpendicular) to a longitudinal axis 571 of the actuating element 560. Thus, when the actuating element 560 is taut and substantially straight, a portion of the actuating element 560 extending through the tension adjuster 550 can follow a path having an angle 575 relative to the axis 571 of the actuating element 560, as shown in FIG. Figure 8 Depicted.

[0073] The tension adjuster 550 can be configured to compensate for the varying amount of slack in the actuating element 560. For example, the slack in the actuating element 560 can be varied from Fig. 9 The status displayed in the Fig.10 Thus, the tension adjuster 550 may be relative to Fig. 9The state shown is further relaxed and becomes less elastically deformed, so the change in potential energy of the tension adjuster 550 due to its deformation can be used to dynamically compensate for or remove slack from the actuation element 560. For example, the first leg 552 and the second leg 554 can be further bent in their respective directions relative to the main loop 551, while the main loop 551 is further moved in the direction 572 relative to the axis 571. Therefore, the tension adjuster 550 can further pull the actuation element 560 in the direction 572, and as the amount of slack increases, the angle 575 of the path for the actuation element 560 to extend through the portion of the tension adjuster 550 can also increase. Therefore, even as the slack of the actuation element 560 increases, the tension adjuster 550 can continue to compensate for the slack and keep the actuation element 560 substantially taut.

[0074] The tension adjusters of the exemplary embodiments described herein may have a maximum amount of slack compensation. According to exemplary embodiments, the maximum amount of slack compensation may correspond to the amount of elastic deformation that the tension adjuster may experience. For example, according to exemplary embodiments, the tension adjuster 550 may elastically deform corresponding to Figure 6 The non-deformed state shown is similar to Figure 8 According to exemplary embodiments, the amount of elastic deformation that a tension regulator can undergo can be determined, at least in part, by the material of the tension regulator and the geometry of the tension regulator. Further, the tension regulator of the exemplary embodiments described herein can be designed to provide actuation elements (such as in Fig. 9 and Fig.10 Tension is applied (in the state shown in the exemplary embodiment of the present invention) to remove slack but without applying an excessive amount of tension, which may overstress the actuator element.

[0075] Other configurations may be used for the tension regulators of the exemplary embodiments described herein. Fig.11 , the tension regulator 600 is shown coupled to the actuating element 620. As described above with reference Figure 3 As described in the exemplary embodiment of the present invention, the tension adjuster 600 may be fastened to the actuating element 620 such that the tension adjuster 600 moves together with the actuating element 620 . Fig.11 The tension adjuster 600 is depicted in a non-deformed state. The tension adjuster 600 can be made of, for example, stainless steel or other surgical instrument materials familiar to those skilled in the art. According to an exemplary embodiment, the top 606 can be shaped to resist the actuating element 620 from sliding out of the top 606. For example, the top 606 can include a protrusion 608 on the side of the actuating element 620, such as Fig.11 As shown in an exemplary embodiment of the present invention.

[0076] The tension adjuster 600 may be coupled to the actuation element 620 by passing the actuation element 620 through the holes 610 and 612 in the first leg 602, over the top 606, and through the holes 614 and 616 in the second leg 604 of the tension adjuster 600. Fig.11 As shown in the exemplary embodiment of FIG. 6 , when the actuating element 620 is taut, substantially straight, and lacks slack, the first leg 602 and the second leg 604 can bend (e.g., elastically deform) relative to the top 606 along the respective directions 601 and 603, and the top 606 can be pulled along the direction 605 relative to the longitudinal axis 624 of the actuating element 620. Thus, the potential energy of the tension adjuster 600 can be increased and used to dynamically compensate for the slack exhibited in the actuating element 620. When the actuating element 620 is taut and lacks slack, the actuating element 620 can be substantially straight and follow a path extending along (e.g., substantially coaxial with) the axis 624, as described above with reference to FIG. Figure 8 When the actuation element 620 exhibits slack, the tension adjuster 600 can divert the actuation element 620 from a path along the axis 624. For example, the tension adjuster 600 can divert a portion of the actuation element 620 extending through the tension adjuster 600 along a path that forms a non-zero angle 630 relative to the axis 624. Thus, the tension adjuster 600 can accommodate slack in the actuation element 620 by increasing the path length of the actuation element 620. In another example, the tension adjuster 600 can pull the actuation element 620 in a direction substantially transverse (e.g., perpendicular) to the longitudinal axis 624.

[0077] Fig.12 Another exemplary embodiment of a tension adjuster 700 is shown. The tension adjuster 700 may include a first leg 702 and a second leg 704, wherein contact portions 720, 722 are at respective ends of the first leg 702 and the second leg 704. The tension adjuster 700 may further include a main leg 706, which includes a contact portion 724. An actuation element (not shown) may pass, for example, above the contact portions 720, 722 at the ends of the legs 702, 704 and below the contact portion 724. According to an exemplary embodiment, the first leg 702 and the second leg 704 may be configured to bend (e.g., elastically deform) relative to the main leg 706. For example, the first leg 702 and the second leg 704 may include material defect areas (such as cutouts 708 and 710) to facilitate the first leg 702 and the second leg 704 relative to the main leg 706, such as along Fig.12 In the exemplary embodiment, the tension adjuster 700 is bent in directions 730 and 732. Therefore, when the tension adjuster 700 is bent, the tension adjuster 700 can experience a change in potential energy, which can be used to dynamically compensate for slack in the actuating element.

[0078] According to an exemplary embodiment, when the actuating element coupled to the tension adjuster 700 lacks slack (e.g., is taut and aligned with the tension adjuster 700), the tension adjuster 700 is Fig.12 734 extends substantially straight), the actuating element can cause the legs 702, 704 to bend in directions 730, 732 toward the main leg 706. When the actuating element exhibits slack, the tension adjuster can relax and the legs 702, 704 can bend away from the main leg 706. For example, the tension adjuster 700 can accommodate slack in the actuating element by shifting the path of the actuating element from a path along the axis 734, similar to Figure 8-Figure 10 Thus, the tension adjuster 700 can increase the path length of the actuating element relative to its longitudinal axis 734.

[0079] Steering Fig.13 , depicts another exemplary embodiment of a tension adjuster 810. The tension adjuster 810 is coupled to the actuation element 800, such as by joining a first end 812 and a second end 814 of the tension adjuster 810 to the actuation element 800. According to an exemplary embodiment, the tension adjuster 810 may be a strip of elastic material. Fig.13 Depicts a state in which the actuating element 800 is taut and lacks slack. Fig.13 As shown in the exemplary embodiment of FIG. 8 , the tension adjuster 810 is elastically deformed and stretched along the actuating element 800. Fig.14 As depicted in the exemplary embodiment of FIG. 8 , when the actuator element 800 exhibits relaxation, the tension adjuster 810 may be moved along Fig.14 The actuator 800 is loosened in the direction indicated by the arrow 820 in the figure to compensate for the slack and keep the actuator 800 taut. Figure 6-Figure 10 In an exemplary embodiment, the tension adjuster 810 can accommodate slack in the actuating element 800 by shifting the path of the actuating element 800 relative to the axis 830 along which the actuating element 800 extends when the actuating element 800 is taut and substantially straight, as shown in FIG. Fig.13 For example, tension adjuster 810 can increase the length of the path of actuation element 800 relative to axis 830 .

[0080] As mentioned above Figure 3 According to an exemplary embodiment of the present invention, the tension regulator can be fastened to the actuating element so that when the actuating element is unwound or wound on the actuating input mechanism, the tension regulator moves with the actuating element. According to an exemplary embodiment, the contact surface of the tension regulator can be configured so that the tension regulator is fastened to the actuating element, but if the tension regulator contacts a component of the force transmission mechanism (e.g., Figure 3If the actuating element is not provided with a chassis portion 322 or an actuating input mechanism 330, 332 in the embodiment of the present invention, the actuating element may be allowed to slide relative to the tension adjuster to minimize or prevent damage to the tension adjuster and force transmission mechanism components. Figure 6 In an exemplary embodiment of the present invention, the surfaces of the rings 551, 553, 555 of the tension adjuster 550 may be smooth so as to allow the actuating element to slide relative to the tension adjuster 550 when the tension adjuster 550 influences the force transmission mechanism components. Figure 11-Figure 14 The surface of the tension adjuster 600, 700, 800 of the exemplary embodiment may also allow the actuating element to slide. According to an exemplary embodiment, the surface of the tension adjuster may be shaped to minimize wear of the actuating element due to sliding against the tension adjuster, such as by shaping the tension adjuster surface to have a large radius of curvature.

[0081] Steering Fig.15 , an exemplary embodiment of a tension adjuster 900 is shown including a surface that couples the tension adjuster 900 to the actuating element 910 but allows the tension adjuster 900 to slide relative to the actuating element 910, such as when the tension adjuster 900 affects a component of a force transmission mechanism. The tension adjuster 900 can include a first leg 902 and a second leg 904 connected to a main pulley 903, wherein pulleys 901 and 905 are disposed at the ends of the first leg 902 and the second leg 904. The first leg 902 and the second leg 904 can bend (e.g., elastically deform) relative to the main pulley 903, similar to Figure 6-Figure 11 The actuator 910 may pass through the pulleys 901, 903, 905 so that the tension adjuster 900 is coupled to the actuator 910, but when the tension adjuster 900 affects the force transmission mechanism components (e.g., Figure 3 When the base portion 322 or the actuation input mechanism 330, 332 of the actuator 910 is moved, the tension adjuster 900 is allowed to slide relative to the actuation element 910. According to an exemplary embodiment, when the actuation element 910 exhibits slack, the tension adjuster 900 can shift the path of the actuation element 910 relative to the axis 920 of the actuation element 910 (e.g., the path along which the actuation element 910 extends when the actuation element 910 is taut and substantially straight), similar to Figure 6-Figure 10 Thus, according to an exemplary embodiment, the tension adjuster 900 can increase the path length of the actuating element 910 relative to the axis 920.

[0082] As mentioned above Figure 4-Figure 15 As described in the exemplary embodiments of the present invention, the tension adjuster can be coupled to a single actuating element. However, the tension adjusters of the various exemplary embodiments described herein are not limited to being coupled to a single actuating element. Fig.16, the tension adjuster 1000 is shown coupled to a first actuation element 1010 and a second actuation element 1012. The actuation elements 1010, 1012 may be coupled to the same actuation input mechanism (e.g., Figure 3 The tension regulator 1000 may include a first end 1002 coupled to the actuating element 1012 and a second end 1004 coupled to the actuating element 1010, wherein the ends 1002, 1004 are configured such that when the actuating elements 1010, 1012 are moved along the Fig.16 In the exemplary embodiment of the present invention, when the ends 1002 and 1004 move in the direction indicated by the arrow 1020, they slide relative to the actuating elements 1010 and 1012. The tension adjuster 1000 may include a deformable portion 1006 to facilitate the tension adjuster 1000 to move along the Fig.16 1022 in the figure, and deforms (e.g., elastically deforms) in the direction indicated by the arrow 1022, which helps to compensate for the slack in one or both of the actuating elements 1010, 1012. The deforming portion 1006 can be, for example, a compliant portion of the tension adjuster 1000 that is more easily deformed than the rest of the tension adjuster 1000, can be formed as a spring, or can have other configurations that facilitate elastic deformation of the tension adjuster 1000.

[0083] According to an exemplary embodiment, when the actuating elements 1010, 1012 are taut and lack slack (e.g., before exhibiting slack), the actuating elements 1010, 1012 can extend along a path along the axes 1030, 1032. In this state, the deformed portion 1006 is stretched (e.g., via elastic deformation) and the tension adjuster 1000 experiences an increase in potential energy. When the actuating elements 1010, 1012 exhibit slack, the deformed portion 1006 can relax and the tension adjuster 1000 can cause the actuating elements 1010, 1012 to shift from a path along (e.g., substantially coaxial with) their corresponding axes 1030, 1032, similar to Figure 8-Figure 10 For example, the portion of the actuating element 1010 , 1012 extending through the end portion 1002 , 1004 may form a non-zero angle with the axis 1030 , 1032 .

[0084] As mentioned above Figure 3-Figure 16 As described in the exemplary embodiments of the present invention, the tension adjuster can be coupled to the actuating element so that the tension adjuster moves with the actuating element. Therefore, when the actuating element is unwound or wound on the actuating input mechanism, the tension adjuster moves relative to the chassis of the force transmission mechanism. The various exemplary embodiments described herein are not limited to such tension adjusters and may also include a tension adjuster fixed to the chassis of the force transmission mechanism.

[0085] Steering Fig.17 , an exemplary embodiment of a tension adjuster 1100 is shown that is secured to a portion 1106 of a force transmission mechanism (e.g., Figure 3 The tension adjuster 1100 may be coupled to the actuating element 1110, such as by extending the actuating element 1110 through a pulley 1102 or other member of the tension adjuster 1100 that couples the tension adjuster 1100 to the actuating element 1110. The tension adjuster 1100 may further include a deformable portion 1104 to facilitate the tension adjuster 1100 to move along the Fig.17 The deformable portion 1104 can be deformed in the direction indicated by the arrow 1120 in FIG. 1 , which is conducive to compensating for the slack in the actuating element 1110. The deformable portion 1104 can be, for example, a compliant portion of the tension regulator 1100 that is more easily deformed than the rest of the tension regulator 1100, can be formed as a spring, or can have other configurations that are conducive to elastic deformation of the tension regulator 1100. As described above with reference to Figure 8-Figure 10 As described in an exemplary embodiment of the present invention, when the actuating element 1110 lacks slack, the actuating element 1110 can follow a path along (e.g., substantially coaxial with) the axis 1130 of the actuating element 1110. When the actuating element 1110 exhibits slack, the tension adjuster 1100 can pull the actuating element 1110, such as along a lateral direction (e.g., perpendicular to the axis 1130). Thus, the path of the actuating element 1110 is different from the path along the axis 1130 when the actuating element 1110 is taut and has not yet exhibited slack, similar to Figure 8-Figure 10 Thus, when slack is exhibited in the actuating element 1110, the tension adjuster 1100 can increase the path length of the actuating element 1110.

[0086] The tension regulator may have a single-piece (e.g., monolithic) construction. A tension regulator having a single-piece (e.g., monolithic) construction may be efficiently manufactured and coupled to the actuator element, and may also be efficient for slack compensation. Figure 6 and Figure 7 As shown in the exemplary embodiment of FIG. 5 , the tension adjuster 550 can have a single-piece (eg, single-piece) construction. For example, the tension adjuster 550 can be, for example, a single-piece wire. Fig.11 The tension adjuster 600 of the exemplary embodiment of the present invention may also have a single-piece (e.g., single-piece) construction. For example, the tension adjuster 600 may have Fig.11 Another exemplary embodiment of a tension adjuster that can have a one-piece (e.g., monolithic) construction is Fig.12 The tension adjuster 700. For example, the tension adjuster 700 can be molded as a single piece. Fig.13 and Fig.14The tension adjuster 810 of the exemplary embodiment may also have a single-piece (e.g., single-piece) construction. According to an exemplary embodiment, Fig.16 The tension adjuster 1000 may have a one-piece (eg, monolithic) construction including the end portions 1002 , 1004 and the deformed portion 1006 .

[0087] Although the various exemplary embodiments of the tension adjusters contemplated herein have been described with reference to an actuating element within a force transmission mechanism of a surgical instrument, the various exemplary embodiments of the tension adjusters described herein are not limited to use with the force transmission mechanism of an instrument. For example, the various exemplary embodiments of the tension adjusters described herein may be coupled to an actuating element of a patient side cart of a teleoperated surgical system. According to exemplary embodiments, the various exemplary embodiments of the tension adjusters described herein may be coupled to an actuating element of a patient side cart of a teleoperated surgical system. Figure 1 The patient side cart 100 of the exemplary embodiment of the present invention may be configured to include an actuating element (e.g., a tensioning element) of the manipulator arm 110-113 of the patient side cart 100. Thus, the tensioning elements of the various exemplary embodiments described herein may be coupled to the actuating elements within the manipulator arm 110-113, not just to the actuating elements located within the patient side cart 100. Figure 1 The actuating element within the force transmission mechanism 134.

[0088] By providing a force transmission mechanism comprising a tension adjuster, slack of the actuating element may be compensated for. Further, the tension adjuster may have a simple design that is efficiently manufactured and coupled to the actuating element while being able to compensate for slack of the actuating element.

[0089] In view of the present disclosure, further modifications and replacement embodiments will be apparent to those skilled in the art. For example, in order to clearly operate, the system and method may include additional components or steps omitted from the drawings and description. Therefore, this description should be understood to be merely illustrative and is for the purpose of teaching those skilled in the art to perform the general method of this teaching. It should be understood that the various embodiments shown and described herein are exemplary. Elements and materials, and the arrangement of those elements and materials may replace those illustrated and described herein, parts and processes may be reversed, and certain features of this teaching may be used alone, after having the benefits described herein, so these will be apparent to those skilled in the art. Without departing from the spirit and scope of this teaching and the appended claims, elements may be modified.

[0090] It is to be understood that the particular examples and embodiments set forth herein are non-limiting and that modifications in structure, dimensions, materials, and methods may be made without departing from the scope of the present teachings.

[0091] Other embodiments according to the present disclosure will be apparent to those skilled in the art in view of the specification and practice of the invention disclosed herein. It is intended that the specification and examples be considered exemplary only, with the claims being entitled to their full breadth and scope including equivalents.

Claims

1. A device for adjusting tension of a first actuating element and a second actuating element, wherein the first actuating element and the second actuating element are configured to actuate movement of a surgical instrument via translational movement of the first actuating element and the second actuating element, the device comprising: a tension adjuster configured to be coupled between the first actuating element and the second actuating element; Wherein, in the coupling state of the tension regulator and the first actuating element and the second actuating element: the tension adjuster being elastically deformable in a first direction transverse to the first actuation element and transverse to the second actuation element in response to a relaxation state occurring in the first actuation element, a relaxation state occurring in the second actuation element, or a relaxation state occurring in both the first actuation element and the second actuation element; The tension adjuster shifts the path of the first actuating element and the path of the second actuating element in response to the relaxation state occurring in one or both of the first actuating element and the second actuating element; the translated path of the first actuation element being different from a first axis of the first actuation element before the relaxed state occurs in one or both of the first actuation element and the second actuation element; as well as The translated path of the second actuation element is different from a second axis of the second actuation element before the relaxed state occurs in one or both of the first actuation element and the second actuation element.

2. The device according to claim 1, wherein: the tension adjuster extending the length of the translated path of the first actuating element in a direction forming a non-zero angle with the first axis; and The tension adjuster extends a length of the translated path of the second actuation element in a direction forming a non-zero angle with the second axis.

3. The device according to claim 1, wherein: The tension adjuster includes a first end, a second end, and an elastically deformable portion between the first end and the second end; The first end of the tension adjuster is coupled to the first actuating element; The second end of the tension adjuster is coupled to the second actuating element; The first end of the tension adjuster is movable along the first actuating element; and The second end of the tension adjuster is movable along the second actuating element.

4. The device according to any one of claims 1 to 3, wherein: The first actuation element and the second actuation element are both coupled to an actuation input mechanism.

5. The device according to any one of claims 1 to 3, wherein: The first actuation element is coupled to a first actuation input mechanism; and The second actuation element is coupled to a second actuation input mechanism.

6. A surgical instrument, comprising: a first actuating element; a second actuating element; a tension adjuster coupled between the first actuating element and the second actuating element; as well as End effector; wherein the first actuating element follows a path along a first axis prior to a relaxed state occurring in the first actuating element; wherein the second actuating element follows a path along a second axis before a relaxed state occurs in the second actuating element; wherein the tension adjuster is elastically deformable along a third axis in response to the relaxation state occurring in the first actuation element, the relaxation state occurring in the second actuation element, or the relaxation state occurring in both the first actuation element and the second actuation element, the third axis being transverse to the first axis and the second axis; wherein the tension adjuster shifts the first actuation element to follow a first shifted path in response to the relaxation state occurring in the first actuation element, and the first shifted path is different from the path along the first axis before the relaxation state occurs in the first actuation element; and wherein the tension adjuster shifts the second actuating element to follow a second shifted path in response to the relaxation state occurring in the second actuating element, and the second shifted path is different from the path along the second axis before the relaxation state occurs in the second actuating element.

7. The surgical instrument according to claim 6, wherein: the tension adjuster extending the length of the first translated path of the first actuation element in a direction that forms a non-zero angle with the first axis of the first actuation element before the first actuation element is in the relaxed state; and The tension adjuster extends a length of the second translated path of the second actuation element in a direction that forms a non-zero angle with the second axis of the second actuation element before the second actuation element is in the relaxed state.

8. The surgical instrument according to claim 6, wherein: The tension adjuster includes a first end, a second end, and an elastically deformable portion between the first end and the second end; The first end of the tension adjuster is coupled to the first actuating element; and The second end of the tension adjuster is coupled to the second actuating element.

9. The surgical instrument according to any one of claims 6 to 8, wherein: The surgical instrument further includes an actuation input mechanism; and The first actuation element and the second actuation element are both coupled to the actuation input mechanism.

10. The surgical instrument according to claim 8, wherein: The surgical instrument further includes a first actuation input mechanism and a second actuation input mechanism; the first actuation element coupled to the first actuation input mechanism; the second actuation element coupled to the second actuation input mechanism; The first end of the tension adjuster is movable along the first actuating element; and The second end of the tension adjuster is movable along the second actuating element.

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