Force transfer mechanisms and related devices and structures

Abstract

The invention relates to a force transmission mechanism and related devices and structures. The steerable instrument includes a shaft extending from a proximal end portion to a distal end portion along a longitudinal axis, the shaft including an articulatable segment; a force transfer mechanism at a proximal end portion of the shaft, the force transfer mechanism including a rotatable drive member having an axis of rotation spaced from a longitudinal axis of the shaft, the rotatable drive member configured to be rotatably driven by a respective drive input torque; a push-pull actuation element coupled to the articulatable segment and configured to translate to transfer a compressive force to the articulatable segment to articulate the articulatable segment; and a rotatable coupler mechanism coupling one of the rotatable drive members to the push-pull actuation element, the rotatable coupler mechanism configured to rotate about the longitudinal axis of the shaft in response to rotation of the one of the rotatable drive members to cause translation of the push-pull actuation element.

Description

[0001] CROSS-REFERENCE TO RELATED APPLICATIONS This application claims priority to U.S. Provisional Application No. 63 / 559,300, filed on February 29, 2024, which is incorporated by reference in its entirety. Technical Field

[0002] Aspects of the present disclosure relate to force transfer mechanisms and related apparatus and methods. For example, aspects of the present disclosure relate to force transfer mechanisms that convert a rotational input force into a translational force that articulates and / or actuates a component of an instrument, such as a medical or other remotely actuatable instrument. Background Art

[0003] Various tools, such as medical (including surgical) or industrial instruments, typically include a shaft having one or more movable structures along the length of the shaft, or having one or more movable structures coupled to the ends of the shaft. Such movable structures may include joints or end effectors that impart one or more degrees of freedom of movement to the instrument. Such movable structures are typically actuated and controlled via a translational actuation element that extends along the length of the shaft and is coupled to the movable structure at one end and to a force transfer mechanism at an opposite end. Such an actuation element may include, for example, a cable or other tension member that operates in a pull-pull manner to transfer tension (tension) acting on the member in order to actuate the movable structure, or a rod or other compression member that operates in a push-pull manner to transfer tension (tension) or pressure (thrust) acting on the member in order to actuate the movable structure.

[0004] The force transfer mechanism is typically located at the proximal portion of the instrument's shaft, with the instrument's end effector located at the distal portion. The force transfer mechanism can include various drive force transfer components, such as capstans, gears, linkages, levers, etc., coupled to drive inputs that can be manually operated or configured to interface with a computer-assisted teleoperated manipulator system.

[0005] In various applications, the force transfer mechanism includes a rotary input drive member (sometimes referred to as an input drive plate). The rotation of the rotary input drive member is then converted into translation of the actuating element by various components and structures configured to convert the rotary drive force into a translational force to translate the actuating element, thereby transferring the desired force to articulate the movable component of the instrument.

[0006] Due to various architectural factors and packaging constraints, some instrument force transfer mechanisms have limited space. Furthermore, some instrument force transfer mechanisms may have an input drive member and an actuating element driven by the input drive member that are laterally offset from the instrument axis. Furthermore, the amount of force and force conversion required in the space-constrained, relatively high-friction environments found in some instruments presents challenges for robust and durable force transfer mechanisms.

[0007] There is a need for force transfer mechanisms that are compact, mechanically robust, and adaptable to existing instrument shaft and manipulator designs. Additionally, there is a need for these systems that possess desirable characteristics, such as manufacturability and operational reliability. Summary of the Invention

[0008] 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.

[0009] According to at least one aspect of the present disclosure, a manipulable instrument includes: a shaft extending along a longitudinal axis from a proximal portion to a distal portion, the shaft including an articulable segment; a force transfer mechanism at the proximal portion of the shaft, the force transfer mechanism including one or more rotatable drive components, the one or more rotatable drive components having a rotation axis spaced apart from the longitudinal axis of the shaft, the one or more rotatable drive components being configured to be rotatably driven by a corresponding drive input torque; one or more push-pull actuating elements, the one or more push-pull actuating elements being coupled to the articulable segment and configured to translate to transfer a compressive force to the articulable segment, thereby causing the articulable segment to articulate; and a rotatable coupler mechanism coupling one of the one or more rotatable drive components to the one or more push-pull actuating elements, the rotatable coupler mechanism being configured to rotate about the longitudinal axis of the shaft in response to rotation of one of the one or more rotatable drive components to cause translation of the one or more push-pull actuating elements.

[0010] In another aspect of the present disclosure, a manipulable instrument includes: a shaft extending along a longitudinal axis from a proximal portion to a distal portion, the shaft including an articulatable segment; a force transfer mechanism at the proximal portion of the shaft, the force transfer mechanism including a rotatable drive component having a rotation axis spaced apart from the longitudinal axis of the shaft, the rotatable drive component being configured to be rotatably driven by a drive input torque; a pair of push-pull actuating elements coupled to the articulatable segment and configured to translate so as to transfer a compressive force to the articulatable segment to cause the articulatable segment to articulate; and a rotatable coupler mechanism coupling the rotatable drive component to the pair of push-pull actuating elements, the rotatable coupling mechanism being configured to rotate in response to rotation of the rotatable drive component to cause translation of the pair of push-pull elements in opposite directions.

[0011] In another aspect of the present disclosure, a manipulable instrument includes: a shaft extending from a proximal portion to a distal portion along a longitudinal axis, the shaft including an articulatable segment; a first actuating element operably coupled to the articulatable segment of the shaft and extending along the shaft from the articulatable segment to the proximal portion of the shaft; a second actuating element operably coupled to the articulatable segment of the shaft and extending along the shaft from the articulatable segment to the proximal portion of the shaft; and a rotatable coupler mechanism capable of rotating about the longitudinal axis of the shaft and including a cam surface capable of engaging with the first actuating element and the second actuating element, respectively, so as to drive the first actuating element and the second actuating element to translate in response to rotation of the rotatable coupler mechanism.

[0012] Yet another aspect of the present disclosure contemplates a method for articulating an articulatable segment of an instrument shaft, the method comprising: driving rotation of a rotatable coupler mechanism via a rotatable drive component having a rotation axis offset from the rotation axis of the rotatable coupler mechanism, wherein the rotatable coupler mechanism engages with a push-pull actuating element coupled to the articulatable segment; and driving translation of the push-pull actuating element in response to the rotation of the rotatable coupler mechanism so as to transmit a compressive force through the push-pull actuating element to cause articulation of the articulatable segment.

[0013] Additional objects, features and / or advantages will be set forth in part in the following description and in part will be apparent from the description, or may be learned by practice of the present disclosure and / or claims. At least some of these objects and advantages may be realized and obtained by the elements and combinations particularly pointed out in the appended claims.

[0014] It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the claims; rather, the claims are to be given their full breadth of scope (including equivalents). BRIEF DESCRIPTION OF THE DRAWINGS

[0015] The present disclosure can be read from the following detailed description alone or in conjunction with the accompanying Figure 1 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 embodiments of the present teachings and together with the description explain certain principles and operations. In the accompanying drawings, Figure 1 is a schematic side view of an embodiment of an instrument including a force transfer mechanism.

[0016] Figure 2 is a perspective view of an embodiment of a shaft of an instrument.

[0017] Figure 3 yes Figure 2 Magnified view of the proximal portion of the shaft.

[0018] Figure 4 is an internal view of a force transfer mechanism according to an embodiment.

[0019] Figure 5A yes Figure 4 A perspective view of an embodiment of a rotatable sleeve of a force transfer mechanism.

[0020] Figure 5B yes Figure 5A Projected view of the inner surface of the rotatable sleeve.

[0021] Figure 6 yes Figure 4 A perspective view of the drive input of the force transmission mechanism.

[0022] Figure 7 yes Figure 4 A perspective view of an embodiment of a crank arm of a force transfer mechanism.

[0023] Figure 8 is a perspective view of another embodiment of an instrument shaft.

[0024] Figure 9 is an internal perspective view of a force transfer mechanism according to another embodiment.

[0025] Figure 10 is a perspective view of an embodiment of a manipulator system.

[0026] Figure 11 is a partial schematic diagram of another embodiment of a manipulator system. DETAILED DESCRIPTION

[0027] Embodiments of the present disclosure relate to force transfer mechanisms configured to transfer a drive input received from a computer-assisted (e.g., teleoperated) manipulator or manually operated input device to a force to actuate an actuating element operably coupled to control movement of a movable component of an instrument (such as a joint along an instrument shaft or an end effector). Force transfer systems according to various embodiments of the present disclosure enable the drive input force to occur at a location that is laterally offset from the longitudinal axis of the instrument shaft. Furthermore, various embodiments of the force transfer mechanism can allow for force to be transferred to multiple actuating elements in a relatively confined and compact space. Furthermore, some embodiments of the force transfer mechanism according to the present disclosure include drive components configured to transfer drive forces from multiple drive inputs to actuating elements of a shaft, each drive input being configured to rotate about a corresponding axis, the actuating elements of the shaft being arranged about the longitudinal axis of the shaft, the longitudinal axis being offset from the axis of the drive input.

[0028] Embodiments of the delivery systems according to the present disclosure may have particular relevance to shafts that include non-cable actuating elements, such as push-pull actuating elements. For example, certain types of articulatable shafts include concentric longitudinal tubular members that may be formed from one or more layers of sheet metal. Articulatable shafts may also include push-pull actuating elements that are formed or cut from one or more layers of sheet metal. Unlike tension member (pull-pull) actuating elements, such as cables, such push-pull actuating elements generally cannot be routed around pulleys, capstans, etc. to easily change direction and follow a specific path dictated by the overall layout of the force transfer mechanism and the instrument shaft. However, push-pull actuating elements may have certain advantages over tension member (pull-pull) actuating elements, such as, but not limited to, greater resistance to buckling and, therefore, the ability to transfer push as well as pull forces to coupled components, and lower instrument manufacturing and / or assembly costs. Various embodiments of the delivery systems disclosed herein can facilitate adaptability of shaft designs, including those incorporating layered sheets of push-pull type actuation elements into manipulator system designs typically used in conjunction with tension member (pull-pull) actuation instruments.

[0029] The force transfer system of various embodiments may include a mechanical drive component arrangement that transfers a driving force in the form of a rotational force about an axis of a drive input to a common axis of the instrument shaft about which the actuating elements are arranged. In some arrangements of the instrument and associated manipulator, the axis of the drive input may be laterally offset from the common axis of the instrument shaft. In embodiments of the present disclosure in which a single degree of freedom of movement of the shaft is actuated via two actuating elements moving in opposite directions (such as using a pair of opposing cables to achieve pitch or yaw of the distal portion of the shaft), the force transfer mechanism of the present disclosure may provide simultaneous, opposite movement of each actuating element based on a single input (e.g., a rotational drive input). Embodiments of the present disclosure provide such a configuration within the spatial constraints imposed by certain manipulator designs.

[0030] Now refer to Figure 1 , shows a schematic side view of an elongated instrument 100 according to some embodiments. The instrument 100 can be or include an instrument for performing surgical, diagnostic, therapeutic, and other medical or non-medical procedures. The instrument 100 includes an end effector 104, a longitudinal axis A defined by a L The shaft 112 and the force transfer mechanism 110 are provided. The end effector 104 is positioned at the distal end portion 102 of the shaft 112. The end effector 104 can be configured to perform a medical or non-medical (such as industrial) procedure. For example, the end effector 104 can include one or more tools, such as a clamping tool, a stapler, scissors, a ligation clip applier, an electrosurgical tool, or other types of tools. Although Figure 1 The illustration depicts an end effector having an openable / closable jaw member, but this configuration is exemplary and non-limiting, and one of ordinary skill in the art will understand that the instrument 100 can have any of a variety of end effectors without departing from the scope of the present disclosure.

[0031] exist Figure 1 In some embodiments, the force transfer mechanism 110 is coupled to the proximal portion 111 of the shaft 112. In other embodiments, the force transfer mechanism 110 can be coupled to a mid-portion of the shaft 112, such as distal to the proximal end of the shaft 112. The force transfer mechanism 110 can be configured to be coupled to a computer-assisted (e.g., teleoperated) manipulator system (such as the one described below). Figure 10 and Figure 11 The force transfer mechanism 110 may be operably coupled (e.g., removably coupled) to a manipulator system described in more detail herein or a similar manipulator system familiar to those of ordinary skill in the art). In other embodiments, the force transfer mechanism 110 may be manually controlled using a manually operated (e.g., handheld) actuator (not shown) in addition to or in lieu of being configured to interface with and be driven by a computer-assisted manipulator system.

[0032] exist Figure 1 In the illustrated embodiment, the instrument 100 includes an articulatable segment 105 disposed along an axis 112 between an end effector 104 and a force transfer mechanism 110. Figure 1 As shown, the articulatable segment 105 can be positioned toward the distal portion 102 of the shaft 112. However, the present disclosure is not limited in this regard, and the articulatable segment 105 can be positioned at any position along the shaft 112 without limitation. In addition, the instrument 100 can include more than one articulatable segment 105, such as two, three, or more articulatable segments positioned at multiple positions along the length of the shaft 112. The articulatable segment 105 can be moved via an actuation element ( Figure 1 Not shown; above and combined Figure 2-Figure 9 The articulated segments 105 may be controlled and actuated by an actuator (e.g., actuating elements operatively coupled to the manipulator via a force transmission mechanism) as discussed in connection with various embodiments of the present invention. The articulated segments 105 may include one or more joints configured as flexible portions of the shaft 112 (e.g., segments of the shaft where the material of the shaft is deflectable), or configured as structural joints of the shaft 112 (e.g., hinged or other pivotable portions). The one or more articulated segments 105 may be articulated by actuating and controlling the actuator elements to provide pitch and / or yaw motion to the end effector 104.

[0033] In some embodiments as described herein, the shaft 112, one or more articulatable segments 105, and an actuating element housed in the shaft 112 are Figure 1 Not shown; combined Figure 2-Figure 9The various embodiments discussed herein may have at least the configuration disclosed in, for example, U.S. Patent No. 8,740,884 (issued June 3, 2014), entitled “INSTRUMENT FOR ENDOSCOPIC APPLICATIONS AND THE LIKE” (the '884 patent); U.S. Patent No. 8,986,317 (issued March 24, 2015), entitled “INSTRUMENT AND METHOD FOR MAKING THE SAME”; U.S. Patent Application Publication No. 2012 / 0245414 (filed March 23, 2011), entitled “HANDLE FOR CONTROLLING INSTRUMENTS, ENDOSCOPIC INSTRUMENT COMPRISING SUCH A HANDLE, AND AN ASSEMBLY” (the '414 publication); and U.S. Patent Application Publication No. 2012 / 0245414 (filed March 23, 2011), entitled “HANDLE FOR CONTROLLING INSTRUMENTS, ENDOSCOPIC INSTRUMENT COMPRISING SUCH A HANDLE, AND AN ASSEMBLY” (the '414 publication). INSTRUMENT" and U.S. Patent Application Publication No. 2018 / 0008805 (filed June 5, 2017) (the '805 publication), each of which is incorporated herein by reference in its entirety. For example, the longitudinal element 4 disclosed in the '805 application can correspond to an actuation element as described herein. Embodiments of the shafts disclosed in the above-identified patents and publications can include push-pull type actuation elements formed from one or more layers of metal or other material, such as the laminated sheet metal actuation elements described above. In addition, other embodiments of the shafts, such as those that include tension member (pull-pull type) actuation elements and that are not related to the above-identified patents and publications, are within the scope of the present disclosure.

[0034] Now refer to Figure 2 , an embodiment of a shaft 212 that can be used as the shaft 112 is shown in isolation to better illustrate various aspects of the shaft 212. The shaft 212 is generally along a longitudinal axis A L extrude and include one or more articulatable segments 205. Figure 2 As shown, the articulatable segment 205 may be positioned at the distal portion 202 of the shaft 212 . Figure 2 This is provided as exemplary in nature, and in other embodiments, one or more articulatable segments 205 may be positioned further proximally along the shaft, and any desired number and orientation of articulatable segments is considered within the scope of the present disclosure.

[0035] The distal end portion 202 of the shaft 212 may include an end effector (not shown), such as, but not limited to, a tool, such as a clamp, a stapler, scissors, a ligature clip applier, an electrosurgical tool, an imaging tool (e.g., an endoscope), or a device as described above with respect to Figure 1 . In some embodiments, the articulatable segment 205 can provide pitch and / or yaw degrees of freedom, and the movement of the articulatable segment 205 can be controlled to provide pitch and / or yaw motion to the end effector relative to the proximal portion of the shaft 212. The articulatable segment 205 can be actuated to impart a desired geometry to the shaft 212 to access a working site, such as a site of interest in a minimally invasive medical procedure. The shaft 212 can include a plurality of tubular elements or layers (including an inner layer 207, an intermediate layer 226, and an outer layer 228). The layers can have a tubular configuration, such as a hollow cylindrical configuration. The intermediate layer 226 is radially positioned between the inner layer 207 and the outer layer 228. The intermediate layer 226 includes ... Figure 1 The intermediate layer itself can be further subdivided into multiple thinner layers in a laminated structure, which can facilitate bending with less bending stress and force, with each of the multiple thinner layers having one or more actuating elements 226'. The inner layer 207 and outer layer 228 provide structure and shape to the shaft 212 and can include flexible segments throughout and / or only at the locations of the articulatable segments 205, with rigid segments in other areas of the shaft 212. In some embodiments, reliefs in the layers can be used to influence stiffness.

[0036] End effector ( Figure 2 Not shown; for example Figure 1 The end effector 104 shown in FIG may be coupled to the inner layer 207. The inner layer 207 is coupled to a force transfer mechanism (not shown) such as Figure 1 force transmission mechanism 110), and can be actuated by the force transmission mechanism to move about the longitudinal axis A L Roll, and thereby impart to the end effector a rotation about the longitudinal axis A L The roll degree of freedom is moved. An input from a manipulator to which the force transfer mechanism is coupled can be provided to move one or more drive components of the force transfer mechanism to actuate the roll degree of freedom. In various embodiments disclosed herein, the inner layer 207 is rotationally decoupled from the middle layer 226 and the outer layer 228 so that the inner layer 207 rotates about the longitudinal axis A. L26 ') does not result in a corresponding rotation of the middle layer 226 (or its actuation elements 226') or the outer layer 228. Thus, the roll orientation of the inner layer 207 (and therefore the orientation of the end effector) does not affect the overall configuration of the articulatable segments 205 of the shaft 212. The inner layer 207 can have one or more central lumens (not shown) through which one or more actuation elements (not shown and distinct from the actuation elements 226') (such as push-pull (e.g., compression members) and / or pull-pull (e.g., tension members) actuation elements) can be routed to actuate the end effector, as will be familiar to those of ordinary skill in the art.

[0037] Control of the articulatable segment 205 can be accomplished by applying a translational force to an actuating element within the shaft 212. As described above, the shaft 212 can include a push-pull type actuating element. Figure 2 In the embodiment of FIG. 2 , the actuating element 226 ′ is exposed at the proximal end portion 211 of the shaft 212 . Figure 3 An enlarged view of the proximal end portion 211 of the shaft 212 is shown, and a diagram illustrating the axis of rotation about the central longitudinal axis A of the shaft 212 is shown. L The actuating element 226' is arranged. The actuating element 226' may include, for example, an actuating element formed from a single layer or multiple laminated layers of sheet metal, such as described in the '884 patent. According to various embodiments, the force transfer mechanism may also be used to actuate other types of actuating elements, such as pull-pull tension actuating elements (e.g., cables), push-pull compression member actuating elements (e.g., rods), and other elements.

[0038] In various embodiments, the articulatable segments of the shaft can be articulated by actuation of push-pull actuation elements. Figure 2 In the embodiment of the present invention, each degree of freedom of the shaft 212 is associated with a pair of push-pull actuation elements 226' that are arranged relative to the axis A. L The use of such a pair of push-pull actuator elements 226' can allow one of the actuator elements 226' to transmit a push force while the other of the actuator elements 226' transmits a pull force, thereby reducing the load on the main shaft. For example, comprising two articulated segments 205 ( Figure 2 ) axis (wherein each articulatable segment 205 is arranged relative to the axis A L Actuable in two degrees of freedom (such as movement in pitch and yaw, respectively) may thus comprise eight actuating elements 226' positioned about an axis, as shown in FIG. Figure 3. A pair of actuating elements 226' generates movement in a single degree of freedom (such as pitch or yaw of one of the articulatable segments 205) in response to opposing forces applied to the pair of actuating elements 226'. In other words, for each pair of actuating elements 226 assigned to each degree of freedom, applying a distally directed force (push) to one actuating element 226 in the pair and applying a proximally directed force (pull) to the other actuating element 226 in the pair generates articulation of the articulatable segment of the axis in that degree of freedom. In some embodiments, movement in each degree of freedom is controlled by each pair of diametrically opposed actuating elements, but embodiments of the present disclosure are not limited thereto. For example, the actuating elements can be spaced apart about the axis 212 such that each degree of freedom is controlled by an actuating element spaced apart by a different distance than 180 degrees relative to the axis 212. Furthermore, as described above, any number of actuation elements from 1 to more than 2 may be used to actuate the articulatable segments, and the number may be selected based on factors such as, but not limited to, total load, space considerations, and complexity.

[0039] As described above, each actuation element 226' is part of the intermediate layer 226 positioned between the outer layer 228 and the inner layer 207. Each actuation element 226' is exposed from the outer layer 228 at the proximal end portion 211 of the shaft 212 (extends beyond the outer layer 228) and extends distally to the articulatable segment 205 associated with the particular actuation element 226'. Each actuation element 226' includes one or more features configured to interface with a force transfer mechanism to receive an application of a push or pull force, thereby causing the shaft 212 to articulate at the articulatable segment 205.

[0040] For example, in Figure 3 In FIG, each actuating element 226′ includes an engagement feature 230. Figure 3 As shown, the engagement features 230 of the different opposing pairs of actuating elements 226 ′ are aligned along the longitudinal axis A of the shaft 212 . L That is, with reference to a pair of engagement features 230a, 230b of an opposing pair of actuating elements 226', the engagement features 230a, 230b are aligned in the axial direction (i.e., positioned diametrically opposite one another), but are spaced apart (misaligned) in the axial direction from the engagement features 230 of the other opposing pair of actuating elements 226', and the same is true for the engagement features 230 of each opposing pair of actuating elements 226'. Each engagement feature 230 is configured to engage with a component of the force transfer mechanism to receive an actuation force from the transfer system, as discussed further below. Figure 3 As shown, the engagement feature 230 is in the form of a protrusion (eg, a protruding pin) that is configured to cooperate with a cam surface of a force transfer mechanism, as described further below.

[0041] Now refer to Figure 4 , an embodiment of a force transfer mechanism 410 is shown. The force transfer mechanism 410 includes a chassis 414 to which various components are coupled, and the chassis 414 is configured to couple to an instrument manipulator system (such as, but not limited to, as described herein in conjunction with Figure 10 and Figure 11 4. The disclosed manipulator system. In other embodiments (not shown), the force transfer mechanism can be configured with the internal drive components described for the force transfer mechanism 410, but modified to be driven via a manual input mechanism for use with manually operated instruments as would be familiar to one of ordinary skill in the art. The force transfer mechanism 410 includes a rotatable drive component in the form of a drive input shaft 416 that extends through an axle support 415 of a chassis 414 and is coupled to a rotational drive disk on the exterior of the chassis 414. In an installed state of the force transfer mechanism 410 on the manipulator system, the input rotational drive disk, and thereby the drive input shaft 416, are configured to be operably coupled to a drive output (e.g., an output drive disk or shaft) associated with the manipulator system. Rotation of the drive output of the manipulator system drives rotation of the input rotational drive disk and the drive input shaft 416 of the force transfer mechanism 410. Figure 4 Also shown is a series of gears 450 (shown without teeth) that transmit torque from the drive input shaft 416 to the inner layer 207 ( Figure 2 ) provides the roll degree of freedom, as described above.

[0042] As described above, the instrument shaft 412 is disposed along a central longitudinal axis A that is offset from the rotational axis of the corresponding drive input shaft 416. L Positioning. In order to impart motion to the instrument shaft 412 and the end effector coupled at its distal end portion ( Figure 4 (not shown), the movement of the drive input shaft 416 must be transferred from the drive input shaft 416 to the actuating element of the shaft 412. Figure 4 In the embodiment of the present invention, the mechanical linkage system is used to transmit the rotational motion of the drive input shaft 416 from the rotational axis of the drive input shaft 416 to the actuating element of the shaft 412, and the longitudinal axis A of the shaft 412 is the same as that of the drive input shaft 416. L Laterally spaced from the individual rotational axis of the drive input shaft 416 .

[0043] Figure 4 The mechanical linkage of the embodiment includes a corresponding crank arm 418 ( Figure 4 (two of which are labeled in the figure), each drive input shaft 416 is coupled to a corresponding crank arm 418. An embodiment of the crank arm 418 is shown in FIG. Figure 75 and further described below. Crank arm 418 is coupled to a first end of a connecting rod 420, wherein a second end of connecting rod 420 is operably coupled to instrument shaft 412 via a rotatable sleeve 422, which is shown separately in FIG5 and further described below. Crank arm 418 is configured to be rotationally fixed with drive input shaft 416 and is axially maintained in a proper orientation on shaft 416.

[0044] The interface between the crank arm and the shaft can have various arrangements, such as, but not limited to, a splined interface, a keyed interface, and any other suitable hub-axle type interface, to provide a fixed rotational relationship between the shaft 416 and the crank arm 418. Furthermore, in some embodiments, the crank arm 418 can be integrally formed with the drive input shaft 416, or provided in any manner familiar to those skilled in the art.

[0045] The mechanical linkage components of the force transfer mechanism 410 also include one or more rotatable coupler mechanisms that are coupled to a pair of actuating elements 226' ( Figure 2 and Figure 3 ), such that rotation of the rotatable coupler mechanism causes the pair of actuating elements 226' to translate in opposite directions relative to each other. For example, referring again to Figure 4 , a plurality of rotatable coupler mechanisms are provided in the form of rotatable sleeves 422 which are rotatable along the longitudinal axis A L 4 and 5. The drive input shafts 416 are arranged in series about the shaft 412. Each rotatable sleeve 422 cooperates with a different pair of opposing actuating elements 226', and the axial spacing of the engagement features 230 of the actuating elements are arranged to achieve corresponding cooperation with the rotatable sleeves 424, as further explained below. Each rotatable sleeve 422 includes a flange 424 extending radially from the exterior of the rotatable sleeve 422. Finally, the mechanical linkage of the force transfer mechanism 410 also includes a connecting rod 420 that couples the corresponding flange 424 and the corresponding crank arm 418. Thus, each drive input shaft 416 is operably coupled to a corresponding pair of opposing actuating elements (such as the actuating elements 226', Figure 4 not shown).

[0046] In various embodiments, the rotatable sleeve 422 can be coupled to fewer than or more than two actuating elements 226'. For example, a single rotatable sleeve can be coupled to one, two, three, or more actuating elements 226'. Furthermore, different rotatable sleeves can be coupled to different numbers of actuating elements 226'. For example, the first rotatable sleeve 416a can be coupled to two actuating elements 226', while the second rotatable sleeve 416b can be coupled to one actuating element 226'. The numbers and arrangements depicted in the various figures herein are exemplary and non-limiting.

[0047] Each rotatable sleeve 422 may include a housing configured to engage with an actuating element 226′ ( Figure 3 ) of the engagement feature 230 ( Figure 3 For example, each rotatable sleeve 422 can be configured to drive an opposing pair of actuating elements 226' to articulate the shaft 412 in degrees of freedom associated with the opposing pair of actuating elements 226'.

[0048] Now refer to Figure 5A and Figure 5B , Figure 5A shows a perspective view of the rotatable sleeve 422, Figure 5B The inner surface of the rotatable sleeve 422 is shown to Figure 5B 42 onto the plane of the drawing (i.e., the inner surface of the rotatable sleeve 422 is "unfolded" onto the plane of the drawing). Each rotatable sleeve 422 includes a first cam surface feature 532 and a second cam surface feature 534. Each of the first cam surface feature 532 and the second cam surface feature 534 can be configured as a groove on the inner wall (e.g., a hole) 536 of the rotatable sleeve 422, which is arranged and sized to receive and engage the individual engagement features 230 ( Figure 3 More specifically, the cam surface features 532 and 534 can be configured to respectively receive the engagement features 230 ( Figure 3 The cam surface features 532 and 534 are in the form of inclined recesses that are angled in opposite directions relative to the longitudinal axis (e.g., at least partially spiral (following a helical path)). That is, when the longitudinal axis A of the shaft 212 is L When viewed, as the sleeve 422 rotates, the cam surface features 532 and 534 rotate about the longitudinal axis A of the shaft 212. L Rotate in the opposite direction.

[0049] The pitch of the first and second cam surface features 532, 534 can be selected based on the overall desired translational movement of the actuating element 226', the range of motion of the drive input shaft 416, the force required to move the actuating element 226', any requirement that the actuating element 226' be backdrivable (i.e., whether an external force applied to the shaft 212 can cause the shaft 212 to articulate), and other factors. In some exemplary embodiments, the first and second cam surface features 532, 534 follow a helical path. In alternative embodiments, the rotatable sleeve 422 can have fewer than or more than two cam surface features. For example, the rotatable sleeve 422 can have a single cam surface feature to couple to a single actuating element 226', or the rotatable sleeve 422 can have three or more cam surface features to enable coupling to three or more corresponding actuating elements 226'. The angle of the helical pitch of the cam surface features relative to the sleeve axis can be selected based on various instrument specifications (such as torque, space constraints, and other design criteria familiar to those skilled in the art). Different pitches can affect the speed at which an actuating element coupled thereto moves, and cam surface features within a sleeve can have the same or different pitches, and likewise, cam surface features of different sleeves can have the same or different pitches.

[0050] Figure 6 and Figure 7 An isolated view of the drive input shaft 416 and crank arm 418 is shown. Figure 6 ) includes a drive input disc 413 that is configured to engage a drive output of a manipulator system as described above. Alternatively, the drive input shaft 416 can be configured to be driven by a manual input. The shaft 416 includes a resilient, radially inwardly deflectable clip 423 at a free end portion of the shaft 416. The shaft 416 has a cutout cross-section at its distal end portion that is configured to mate with a complementary cross-section of a hole 426 of the hub portion 421 of the crank arm 418. For example, the hole 426 and the shaft 416 can each have a flat surface portion that interfaces with each other to provide an anti-rotation interface (e.g., a D-shaped cross-section) between the two components. After the shaft 416 is inserted into the hole 426 of the crank arm 418, the surface of the hole 426 engages the protrusion 423' on the resilient clip 423, which has an angled surface that allows the hub portion 421 of the crank arm 418 to slide upward along the distal portion of the shaft 416, deflecting the clip 423. Once the hub portion 421 passes the protrusion 423, the resilient clip 423 deflects back into place, and the protrusion 423 provides a stop surface that prevents the crank arm 418 from sliding axially away from the distal portion of the shaft 416 and thereby retains the crank arm 418 on the shaft 419, as shown. Figure 4 shown.

[0051] The cross-sectional configuration of the bore 426 of the crank arm 418 and the distal portion of the shaft 416 provides an interface that orients the shaft 416 and crank arm 418 relative to each other and prevents relative rotation between the shaft 416 and crank arm 418. The above-described configuration of the drive input shaft 416 and crank arm 418 can contribute to a low part count and ease of assembly for the force transfer mechanism 410. As described above, no specific configuration of bore and shaft cross-section is required, and various other arrangements for coupling the drive input shaft and crank arm in a rotationally fixed relationship are within the scope of the present disclosure (e.g., a splined interface, a keyed interface, a pin interface (such as a roll pin), or other arrangements as would be familiar to one of ordinary skill in the art). Furthermore, while the drive input shaft 416 and crank arm 418 are shown and described as separate components, in other embodiments, the drive input shaft 416 and crank arm 418 can alternatively be integrally formed or formed in other configurations as would be apparent to one of ordinary skill in the art. Furthermore, as described above, additional or alternative connections may be used in conjunction with or in place of the spring clip 423 (such as, for example, fasteners, adhesives, press fits, or other connections).

[0052] In use, rotation of the drive input shaft 416 causes simultaneous rotation of the rotatable sleeve 422, to which the drive input shaft 416 is associated via a corresponding connecting rod 420. Rotation of the rotatable sleeve 422 causes the cam surface features 532, 534 to abut against corresponding engagement features 230 of the actuating elements 226', thereby causing translational movement of the pair of actuating elements 226' cooperating with the rotatable sleeve 422. For example, based on the orientation of the helical recesses and the direction of rotation of the drive input shaft 416, rotation of the rotatable sleeve 422 causes a first of the pair of actuating elements 226' to translate in a first direction (e.g., proximally) and causes a second of the pair of actuating elements 226' to translate in a second direction (e.g., distally) that is opposite the first direction, thereby causing articulation of the shaft 212 in a degree of freedom associated with the pair of actuating elements 226' (e.g., pitch or yaw). Articulation of the shaft 412 in the same degree of freedom but in the opposite direction may be achieved by reversing the direction of rotation of the drive input shaft 416 associated with that degree of freedom, thereby reversing the rotation of the rotatable sleeve 422 and the corresponding translational movement of the opposing pair of actuating elements 226'.

[0053] As will be understood by those of ordinary skill in the art, rotation of the rotatable sleeve 422 not only in the desired direction of movement of the actuating element 226' (ie, along the longitudinal axis A of the shaft 212) but also in the desired direction of movement of the actuating element 226'. L ) and perpendicular to the longitudinal axis A of the shaft 212 L The force transmission mechanism 410 ( Figure 4) may include additional structural features that are configured to support the actuating element 226' and reduce the deflection of the actuating element 226' caused by such side loads. For example, referring now to Figure 8 , the shaft 212 may be provided with a tubular support member 838. The tubular support member 838 is configured to surround the actuating element 226' ( Figure 3 ), and includes a slot 840 elongated in the axial direction of the shaft 212, and the engagement feature 230 passes through the slot 840. Figure 4 In the assembled state shown, the rotatable sleeve 422 surrounds the tubular support member 838, and the engagement features 230 protrude through the slots 840 and into the cam surface features 532 and 534 of each rotatable sleeve 422. The slots 840 restrict the movement of the engagement features 230 longitudinally (parallel to the axial direction A). L ), while supporting the engagement feature 230 and the actuation element 226 ′ from side loads caused by the rotation of the rotatable sleeve 422.

[0054] Due to the presence of the tubular support member 838 and the opposite helical directions of the cam surface features 532 and 534, the engagement feature 230 has constrained movement within the assembly. The various components of the force transfer mechanism 410 may include features configured to facilitate assembly of the components. For example, each rotatable sleeve 422 ( Figure 5A ) can include one or more assembly ports 542 through which the engagement feature 230 can be pushed and into the longitudinal slot 840 of the tubular support member 838, and then into one of the series of holes provided in the actuating element 226'. The engagement feature 230 can be separate from the actuating element 226' and pressed into one of the series of holes in the actuating element by a press fit, an interference fit, or other connection method with the actuating element 226'. In other embodiments, the engagement feature 230 can be integrally formed with the actuating element. Rotation of the sleeve 422 can then occur until the engagement feature is positioned in the corresponding cam surface features 532, 534.

[0055] exist Figure 4 5, the rotatable sleeve 422 is a rotatable member configured with the longitudinal axis A of the shaft 212 L Substantially Coaxial Common Rotational Axis. In other embodiments, the actuator assembly of the force transfer mechanism may include rotatable members that do not share a common rotational axis and do not rotate about an axis that is parallel to or coaxial with the longitudinal axis of shaft 212.

[0056] For example, now refer to Figure 9, shows another embodiment of a force transfer mechanism 910 according to the present disclosure. In this embodiment, a rotatable coupler mechanism including a gimbal is utilized to transfer the rotational movement of a rotary drive input to the translational movement of a push-pull actuating element. More specifically, a pair of actuating elements 926 working together to create opposing push / pull forces can be coupled to different positions of a rotatable gimbal 944. Figure 4-Figure 8 Similar to the embodiment, Figure 9 An embodiment may include eight actuation elements 926 to actuate four independent degrees of freedom of axis 912 via translational movement of each of a pair of actuation elements 926 working in a coordinated manner in response to rotation of the gimbal. However, as described above, for any particular degree of freedom, any number of actuation elements (including a single actuation element up to more than two) may be utilized to articulate in the degrees of freedom.

[0057] In this embodiment, translation of the pair of actuating elements 926' is accomplished by rotating the gimbal 944 about an axis that is parallel to the longitudinal axis A of the shaft. L intersects and is perpendicular to a line extending through the actuating element 926' that is desired to be actuated. Figure 9 In the embodiment of FIG. 1 , if it is desired to actuate the actuating element 926 ′ of the marker, the gimbal 944 is rotated about the axis A. G Rotation, thereby causing longitudinal movement of the actuating element 926 in the opposite direction. Figure 9 In the embodiment of the present invention, the gimbals 944 can be rotatable about two perpendicular axes defined by the locations at which the actuating elements 926' are attached to the respective gimbals 944. Similar to the arrangement of the rotatable sleeves in the above-described embodiments, multiple gimbals 944 can be used and engage and transmit forces to different ones of the actuating elements or groups of actuating elements at different locations along the longitudinal axis of the shaft. L At the position of the articulatable segment, articulation of the articulatable segment can take place in different directions and about different axes (degrees of freedom).

[0058] The gimbals 944 are rotated in a desired manner via yokes 946. Each gimbal 944 consists of two rotatable yokes 946 ( Figure 9 The yoke 946 (only one yoke 946 is shown) is rotated to actuate the two degrees of freedom associated with each gimbal 946. Each rotatable yoke 946 is coupled to a drive shaft 948, which in turn is operatively coupled to the drive input 916 through a bevel gear set 955. Rotation of the drive input 916 drives rotation of the drive shaft 948 and the yoke 946, thereby producing longitudinal movement of the actuating element 926 in opposite directions to articulate the shaft 212 ( Figure 2). In some embodiments, multiple drive shafts 948 may be provided in a nested coaxial configuration, depending on the number of degrees of freedom of the axis to be articulated. As with the other embodiments described above, Figure 9 The shaft 912 may include an inner layer 907 configured to impart a rolling motion to the shaft 912. More specifically, the inner layer 907 may be driven by a series of gears 950 (e.g., Figure 9 A planetary gear train and a stacked gear train in embodiments of the present invention are coupled to the drive input 916, and a rotational input can be transmitted from the roll drive input 916 through the gear train 950 to apply a roll motion to the inner layer 907 and thereby to the shaft 912.

[0059] The force transfer system according to embodiments of the present disclosure provides a compact and relatively simple system that can be adapted for use with a variety of existing manipulator and axis architectures. Features of the force transfer system according to the present disclosure can facilitate manufacturing, assembly, and contribute to a generally low number of parts and relatively high reliability. In addition, embodiments of the force transfer mechanism discussed herein can be used with actuating elements other than the actuating elements 226', 926' discussed herein. For example, embodiments of the force transfer mechanism as discussed herein can optionally be used with cable-type actuating elements (such as pull-pull type actuating elements), compression-type actuating elements (e.g., rod elements), or other types of actuating elements.

[0060] The embodiments described herein can be used, for example, with remotely operated computer-assisted systems (such as, for example, remotely operated surgical systems), such as those described, for example, in U.S. Patent No. 9,358,074 (filed May 31, 2013) to Schena et al., entitled “Multi-Port Surgical Robotic System Architecture”; and U.S. Patent No. 9,295,524 (filed May 31, 2013) to Schena et al., entitled “Redundant Axis and Degree of Freedom for Hardware-Constrained Remote Center Robotic Manipulator,” each of which is hereby incorporated by reference in its entirety. In addition, the embodiments described herein can be used, for example, with any of the da Vinci® surgical systems commercialized by Intuitive Surgical, Inc. of Sunnyvale, California.

[0061] The embodiments described herein are not limited to the surgical systems described above, and various other teleoperated, computer-assisted surgical system configurations can be used with the embodiments described herein. Furthermore, although the various embodiments described herein are discussed in conjunction with a manipulation system for a teleoperated surgical system, the present disclosure is not limited to use with a teleoperated surgical system. The various embodiments described herein can optionally be used in conjunction with handheld manual instruments.

[0062] As described above, according to various embodiments, the delivery system of the present disclosure is configured for use in a teleoperated, computer-assisted surgical system (sometimes referred to as a robotic surgical system) employing robotics. Figure 10 , shows an embodiment of a manipulator system 1000 of a computer-assisted surgical system to which surgical instruments are configured to be mounted for use. Such a surgical system may also include a user control system, such as a surgeon's console (not shown), for receiving input from a user to control instruments coupled to the manipulator system 1000, and an auxiliary system, such as the auxiliary system associated with the da Vinci® surgical system described above.

[0063] like Figure 10 As shown in the embodiment of FIG. 1 , the manipulator system 1000 includes a base 1020, a main column 1040, and a main boom 1060 connected to the main column 1040. The manipulator system 1000 also includes a plurality of manipulator arms 1010, 1011, 1012, 1013, each of which is connected to the main boom 1060. The manipulator arms 1010, 1011, 1012, 1013 each include an instrument mounting portion 1022 to which an instrument 1030 can be mounted, and the instrument 1030 is shown as being attached to the manipulator arm 1010. Although Figure 10 The manipulator system 1000 is shown and described as having a main boom 1060 to which the multiple manipulator arms are coupled and supported, but in other embodiments, the multiple manipulator arms may be coupled and supported by other structures (such as an operating table, ceiling, wall, or floor of an operating room).

[0064] According to one embodiment, the instrument mounting portion 1022 includes a drive assembly 1023 and a cannula mount 1024, wherein the transmission mechanism 1034 of the instrument 1030 (which may generally correspond to a combination of Figure 1 、 Figure 4 and Figure 9The force transfer mechanisms discussed above (110, 410, 910) are connected to the drive assembly 1023. The cannula mount 1024 is configured to hold a cannula 1036 through which the shaft 1032 of the instrument 1030 can extend to the surgical site during a surgical procedure. The drive assembly 1023 contains various drive and other mechanisms that are controlled in response to input commands at the surgeon's console and transfer force to the transfer mechanism 1034 to actuate the instrument 1030. Although for ease of viewing, Figure 10 The embodiment of FIG. 1 shows the instrument 1030 attached only to the manipulator arm 1010 , but the instrument may be attached to any and each of the manipulator arms 1010 , 1011 , 1012 , 1013 .

[0065] Other configurations of surgical systems are also contemplated, such as surgical systems configured for single-port surgery. For example, referring now to Figure 11 , shows a portion of an embodiment of a manipulator arm 2140 of a manipulator system having two surgical instruments 2300, 2310 in an installed position. The surgical instruments 2300, 2310 may generally correspond to the instruments described above, such as in conjunction with Figure 1 The disclosed apparatus 100. For simplicity, Figure 11 The schematic illustration depicts only two surgical instruments, but as one of ordinary skill in the art will appreciate, more than two surgical instruments may be mounted in a mounting position at the manipulator system. Each surgical instrument 2300, 2310 includes a shaft 2320, 2330 having a movable end effector or endoscope, camera, or other sensing device at a distal end, and may or may not include a wrist mechanism (not shown) to control movement of the distal end.

[0066] exist Figure 11 In the embodiment of the present invention, the distal ends of surgical instruments 2300 and 2310 are received by a single port structure 2380 for introduction into the patient's body. As shown, the port structure includes a cannula and an instrument entry guide inserted into the cannula. Individual instruments are inserted into the entry guide to reach the surgical site.

[0067] Other configurations of manipulator systems that can be used in conjunction with the present disclosure may utilize several individual manipulator arms. Furthermore, an individual manipulator arm may include a single instrument or multiple instruments. Furthermore, as described above, the instrument may be a surgical instrument having an end effector, or may be a camera instrument or other sensing instrument used to provide information (e.g., visualization, electrophysiological activity, pressure, fluid flow, and / or other sensory data) of a remote surgical site during a surgical procedure.

[0068] Force transfer mechanisms 2385, 2390 (which may generally correspond to the combination Figure 1 The disclosed force transmission mechanism 110, combined with Figure 4 The disclosed force transmission mechanism 410 and the combination Figure 9 A force transfer mechanism 910 (disclosed) is disposed at the proximal end of each shaft 2320, 2330 and is connected to the drive assembly 2420, 2430 via a sterile adapter 2400, 2410. The drive assembly 2420, 2430 includes various internal mechanisms (not shown) that are controlled by a controller (e.g., at a control cart of the surgical system) to transmit force to the force transfer mechanism 2385, 2390 in response to input commands at a surgeon-side console of the surgical system to actuate the surgical instruments 2309, 2310.

[0069] The embodiments described herein are not limited to Figure 10 and Figure 11 Embodiments of the present invention and various other teleoperated, computer-assisted surgical system configurations can be used with the embodiments described herein. The diameter or diameters of the instrument shaft and end effector are typically selected based on the size of the cannula with which the instrument will be used and based on the surgical procedure being performed.

[0070] This specification and the drawings showing various embodiments should not be considered restrictive. Various mechanical, compositional, structural, electrical and operational changes may be made without departing from the scope of this specification and the claimed invention (including equivalents). In some cases, well-known structures and techniques are not shown or described in detail to avoid obscuring the present disclosure. Similar numbers in two or more figures represent the same or similar elements. In addition, whenever feasible, elements and their associated features described in detail with reference to one embodiment may be included in other embodiments in which they are not specifically shown or described. For example, if an element is described in detail with reference to one embodiment and is not described with reference to another embodiment, the element may still be claimed to be included in the other embodiment.

[0071] For the purposes of this specification and the appended claims, unless otherwise indicated, all numbers expressing quantities, percentages, or ratios, as well as other numerical values ​​used in the specification and claims, are to be understood in all instances as modified by the term "about" to the extent that they have not been so modified. Accordingly, unless indicated to the contrary, the numerical parameters set forth in the following specification and the appended claims are approximate values ​​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.

[0072] It should be noted that, as used in this specification and the appended claims, the singular forms "a," "an," and "the," as well as any use of any word in the singular, include plural referents unless expressly and unequivocally limited to one referent. As used herein, the term "include" and its grammatical variations are intended to be non-limiting, such that recitation of items in a list is not to the exclusion of other like items that can be substituted for or added to the listed items.

[0073] In addition, the terms of this specification are not intended to limit the present invention. For example, spatially relative terms (such as "beneath," "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 figures. In addition to the positions and orientations shown in the figures, these spatially relative terms are intended to also include different positions (i.e., positions) and orientations (i.e., rotational placement) of the device during use or operation. For example, if the device in the figure is flipped, an element described as "below" or "below" other elements or features will be "above" or "above" other elements or features. Therefore, the exemplary term "below" can include both the positions and orientations of "above" and "below." The device can be oriented in other ways (rotated 90 degrees or in other orientations), and the spatially relative descriptors used herein are interpreted accordingly.

[0074] In view of the disclosure herein, further modifications and alternative embodiments will be apparent to those skilled in the art. For example, the devices and methods may include additional components or steps that are omitted from the figures and description for clarity of operation. Therefore, this description is to be interpreted as illustrative only and is intended to teach those skilled in the art the general manner of performing the present teachings. It should be understood that the various embodiments shown and described herein are to be considered exemplary. Elements and materials, as well as the arrangement of these elements and materials, may be substituted for those shown and described herein, parts and processes may be reversed, and certain features of the present teachings may be utilized independently, all of which will be apparent to those skilled in the art (after having the benefit of the description herein). Changes may be made to the elements described herein without departing from the spirit and scope of the present teachings and the appended claims.

[0075] 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.

[0076] Other embodiments of the present disclosure will be apparent to those skilled in the art from consideration of the specification and practice of the invention disclosed herein. It is intended that the specification and examples be considered exemplary only, with the appended claims being entitled to their fullest breadth (including equivalents) under applicable law.

[0077] In addition, this application also includes the following examples.

[0078] Example 1. A steerable instrument comprising: a shaft extending along a longitudinal axis from a proximal portion to a distal portion, the shaft including articulatable segments; a force transfer mechanism at the proximal end portion of the shaft, the force transfer mechanism comprising one or more rotatable drive components having an axis of rotation spaced from the longitudinal axis of the shaft, the one or more rotatable drive components configured to be rotatably driven by a corresponding drive input torque; one or more push-pull actuation elements coupled to the articulatable segment and configured to translate to impart a compressive force to the articulatable segment to articulate the articulatable segment; and a rotatable coupler mechanism coupling one of the one or more rotatable drive components to the one or more push-pull actuation elements, the rotatable coupler mechanism being configured to rotate about the longitudinal axis of the shaft in response to rotation of the one of the one or more rotatable drive components to cause translation of the one or more push-pull actuation elements.

[0079] Example 2. The steerable instrument of Example 1, wherein the rotatable coupler mechanism comprises a cam surface that drives the one or more push-pull actuation elements to translate the one or more push-pull actuation elements.

[0080] Example 3. A steerable instrument according to any of Examples 1 or 2, wherein the rotatable coupler mechanism comprises an inclined recess on an inner wall of the rotatable coupler mechanism.

[0081] Example 4. The steerable instrument of any one of Examples 1 or 2 further comprises a plurality of push-pull actuating elements.

[0082] Example 5. The steerable instrument of Example 4 further comprising a plurality of cam surfaces driving the plurality of push-pull actuation elements.

[0083] Example 6. The steerable instrument of Example 5, wherein the plurality of cam surfaces are configured to drive at least some of the plurality of push-pull actuation elements at different rates from one another.

[0084] Example 7. The steerable instrument of Example 5, wherein the rotatable coupler mechanism comprises: A first rotatable sleeve includes the plurality of cam surfaces engageable with the first pair of push-pull actuation elements and configured to drive translation of the first pair of push-pull actuation elements in opposite directions in response to rotation of the first rotatable sleeve.

[0085] Example 8. A manipulable instrument according to Example 7, wherein the rotatable coupler mechanism includes a second rotatable sleeve, the second rotatable sleeve including a second plurality of cam surfaces, the second plurality of cam surfaces being capable of engaging with a second pair of push-pull actuating elements to drive the second pair of push-pull actuating elements to translate in opposite directions in response to rotation of the second rotatable sleeve, the second rotatable sleeve being coupled to another of the one or more rotatable drive components.

[0086] Example 9. The steerable instrument of Example 8, wherein the first rotatable sleeve and the second rotatable sleeve are each coaxial with the longitudinal axis of the shaft, the first rotatable sleeve being distal to the second rotatable sleeve.

[0087] Example 10. The steerable instrument of Example 7, wherein the first pair of push-pull actuation elements is housed within the first rotatable sleeve.

[0088] Example 11. The steerable instrument of Example 10, wherein the plurality of cam surfaces comprises angled recesses on an inner wall of the first rotatable sleeve.

[0089] Example 12. A steerable instrument according to Example 11, wherein the inclined recess follows a helical path.

[0090] Example 13. The steerable instrument of Example 11, wherein the inclined recesses follow helical paths that are oriented oppositely to one another.

[0091] Example 14. The steerable instrument of Example 11, wherein each of the push-pull actuation elements comprises a protrusion configured to be received within a corresponding one of the inclined recesses.

[0092] Example 15. The steerable instrument of any of Examples 1 or 2, wherein the rotatable coupler mechanism comprises a gimbal coupled to a plurality of the push-pull actuation elements.

[0093] Example 16. The steerable instrument of Example 15, wherein the gimbal is capable of rotating about two axes.

[0094] Example 17. The steerable instrument of Example 16, wherein: The one or more push-pull actuation elements include a first pair of push-pull actuation elements; The steerable instrument includes a second pair of push-pull actuation elements; the first pair of push-pull actuation elements being coupled to the gimbal at a first pair of locations on the gimbal such that rotation of the gimbal about one of the two axes actuates the first pair of push-pull actuation elements; and The second pair of push-pull actuation elements are coupled to the gimbal at a second pair of locations on the gimbal such that rotation of the gimbal about the other of the two axes actuates the second pair of push-pull actuation elements.

[0095] Example 18. The steerable instrument of Example 15, wherein: The rotatable coupler mechanism further includes a yoke engaged with the gimbal, Wherein the yoke is operably coupled to the rotatable drive member.

[0096] Example 19. The steerable instrument of Example 18, further comprising a gear train operably coupling the yoke to the rotatable drive member.

[0097] Example 20. A steerable instrument according to any of Examples 1 or 2, wherein the force transfer mechanism is configured to be removably coupled to a drive interface of a teleoperated manipulator system.

[0098] Example 21. A steerable instrument comprising: a shaft extending along a longitudinal axis from a proximal portion to a distal portion, the shaft including articulatable segments; a force transfer mechanism at a proximal end portion of the shaft, the force transfer mechanism comprising a rotatable drive member having an axis of rotation spaced from the longitudinal axis of the shaft, the rotatable drive member configured to be rotatably driven by a drive input torque; a pair of push-pull actuation elements coupled to the articulatable segment and configured to translate to impart a compressive force to the articulatable segment to articulate the articulatable segment; and A rotatable coupler mechanism couples the rotatable drive member to the pair of push-pull actuation elements, the rotatable coupling mechanism being configured to rotate in response to rotation of the rotatable drive member to cause translation of the pair of push-pull elements in opposite directions.

[0099] Example 22. A manipulable instrument according to Example 21, wherein the rotatable coupler mechanism includes a first rotatable sleeve, the first rotatable sleeve including a plurality of cam surfaces, the plurality of cam surfaces being capable of engaging with the pair of push-pull actuating elements and being configured to drive translation of the pair of push-pull actuating elements in response to rotation of the first rotatable sleeve.

[0100] Example 23. A manipulable instrument according to Example 22, wherein the rotatable coupler mechanism includes a second rotatable sleeve, the second rotatable sleeve including a second plurality of cam surfaces, the second plurality of cam surfaces being capable of engaging with a second pair of push-pull actuating elements and being configured to drive the second pair of push-pull actuating elements to translate in opposite directions in response to rotation of the second rotatable drive component.

[0101] Example 24. The steerable instrument of Example 23, wherein the first rotatable sleeve and the second rotatable sleeve are each coaxial with the longitudinal axis of the shaft and are at different axial positions along the shaft.

[0102] Example 25. The steerable instrument of Example 22, wherein the pair of push-pull actuation elements are housed within the first rotatable sleeve.

[0103] Example 26. The steerable instrument of Example 25, wherein the plurality of cam surfaces comprises angled recesses on an inner wall of the first rotatable sleeve.

[0104] Example 27. A steerable instrument according to Example 26, wherein the inclined recess follows a helical path.

[0105] Example 28. A steerable instrument according to Example 26, wherein the inclined recesses follow helical paths that are oriented oppositely to each other.

[0106] Example 29. The steerable instrument of Example 26, wherein each of the push-pull actuation elements comprises a protrusion configured to be received within a corresponding one of the inclined recesses.

[0107] Example 30. A steerable instrument comprising: a shaft extending along a longitudinal axis from a proximal portion to a distal portion, the shaft including articulatable segments; a first actuation element operably coupled to the articulatable segment of the shaft and extending along the shaft from the articulatable segment to the proximal portion of the shaft; a second actuation element operably coupled to the articulatable segment of the shaft and extending along the shaft from the articulatable segment to the proximal portion of the shaft; and a rotatable coupler mechanism rotatable about the longitudinal axis of the shaft and including cam surfaces respectively engageable with the first and second actuating elements to drive translation of the first and second actuating elements in response to rotation of the rotatable coupler mechanism.

[0108] Example 31. The steerable instrument of Example 30, wherein the articulatable segment is capable of articulating in response to translation of the first and second actuation elements in opposite directions relative to each other.

[0109] Example 32. The steerable instrument of any of Examples 30 or 31 further comprising a third actuation element and a fourth actuation element coupled to the articulatable segment of the shaft.

[0110] Example 33. The steerable instrument of Example 32, wherein: The rotatable coupler mechanism includes a first rotatable sleeve including a first cam surface engageable with the first actuating element and the second actuating element, and a second rotatable sleeve including a second cam surface engageable with the third actuating element and the fourth actuating element.

[0111] Example 34. The steerable instrument of Example 33, wherein: The articulatable segment is capable of articulating in a first degree of freedom based on translation of the first actuation element and the second actuation element in opposite directions to each other; and Upon translation of the third actuation element and the fourth actuation element in opposite directions, the articulatable segment is articulatable in a second degree of freedom different from the first degree of freedom.

[0112] Example 35. The manipulable instrument of any one of Examples 30 or 31 further includes a rotatable drive member having a rotation axis offset from the longitudinal axis of the shaft, wherein the rotatable coupler mechanism is operably coupled to be driven to rotate in response to rotation of the rotatable drive member.

[0113] Example 36. The steerable instrument of Example 35, wherein the rotatable coupler mechanism comprises a rotatable sleeve comprising the cam surface and operably coupled to the rotatable drive member.

[0114] Example 37. A manipulable instrument according to Example 35, wherein the rotatable drive component is a first rotatable drive component and the rotation axis is a first rotation axis, and wherein the manipulable instrument further comprises a second rotatable drive component having a second rotation axis offset from the first rotation axis and the longitudinal axis.

[0115] Example 38. The steerable instrument of Example 37, wherein the rotatable coupler mechanism comprises: a first rotatable sleeve operatively coupled for rotation by the first rotatable drive member and including a cam surface engageable with the first actuating element, and A second rotatable sleeve is operably coupled for rotation by the second rotatable drive component and includes another cam surface engageable with the second actuating element.

[0116] Example 39. The steerable instrument of Example 38, wherein: The first cam surface of the rotatable coupler mechanism is operably coupled to the first actuating element and is configured to be driven in rotation by the first rotatable drive component, and The second cam surface of the rotatable coupler mechanism is operably coupled to the second actuating element and is configured to be driven in rotation by the second rotatable drive component.

[0117] Example 40. The steerable instrument of Example 35, wherein the cam surface comprises a first recess and a second recess, the first recess and the second recess being capable of engaging with respective first and second protrusions of the first and second actuating elements.

[0118] Example 41. A steerable instrument according to Example 40, wherein the first and recessed portions follow a helical path.

[0119] Example 42. A steerable instrument according to Example 41, wherein the first recess and the second recess follow helical paths that are oriented opposite to each other.

[0120] Example 43. A method of articulating an articulatable segment of an instrument shaft, the method comprising: driving rotation of a rotatable coupler mechanism via a rotatable drive member having an axis of rotation offset from the axis of rotation of the rotatable coupler mechanism, wherein the rotatable coupler mechanism engages a push-pull actuation element coupled to the articulatable segment; and In response to rotation of the rotatable coupler mechanism, translation of the push-pull actuation element is driven to transmit a compressive force through the push-pull actuation element to cause articulation of the articulatable segment.

[0121] Example 44. The method of Example 43, wherein: Driving rotation of the rotatable coupler mechanism includes rotating a cam surface that engages the actuating element.

[0122] Example 45. The method of Example 44, wherein the cam surface is a recess that follows a helical path, and the actuating element includes a protrusion received by the recess.

[0123] Example 46. The method of any one of Examples 43 or 44, wherein: driving rotation of the rotatable coupler mechanism to drive rotation of a gimbal operably coupled to the actuating element; and Driving translation of the actuation element includes rotating the gimbal about an axis transverse to the longitudinal axis of the instrument shaft.

Claims

1. A manipulable instrument comprising: a shaft extending along a longitudinal axis from a proximal portion to a distal portion, the shaft including articulatable segments; a force transfer mechanism at the proximal end portion of the shaft, the force transfer mechanism comprising one or more rotatable drive components having an axis of rotation spaced from the longitudinal axis of the shaft, the one or more rotatable drive components configured to be rotatably driven by a corresponding drive input torque; one or more push-pull actuation elements coupled to the articulatable segment and configured to translate to impart a compressive force to the articulatable segment, thereby causing the articulatable segment to articulate; as well as a rotatable coupler mechanism coupling one of the one or more rotatable drive components to the one or more push-pull actuation elements, the rotatable coupler mechanism being configured to rotate about the longitudinal axis of the shaft in response to rotation of the one of the one or more rotatable drive components to cause translation of the one or more push-pull actuation elements. 2 . The steerable instrument of claim 1 , wherein the rotatable coupler mechanism comprises a cam surface that drives the one or more push-pull actuation elements to translate the one or more push-pull actuation elements.

3. The steerable instrument according to any one of claims 1 or 2, wherein the rotatable coupler mechanism comprises an inclined recess on an inner wall of the rotatable coupler mechanism.

4. The steerable instrument according to any one of claims 1 or 2, further comprising a plurality of push-pull actuation elements.

5. The steerable instrument of claim 4, further comprising a plurality of cam surfaces driving the plurality of push-pull actuation elements.

6. The steerable instrument of claim 5, wherein the plurality of cam surfaces are configured to drive at least some of the plurality of push-pull actuation elements at different rates from one another.

7. The steerable instrument of claim 5, wherein the rotatable coupler mechanism comprises: A first rotatable sleeve includes the plurality of cam surfaces engageable with the first pair of push-pull actuation elements and configured to drive translation of the first pair of push-pull actuation elements in opposite directions in response to rotation of the first rotatable sleeve.

8. A manipulable instrument according to claim 7, wherein the rotatable coupler mechanism includes a second rotatable sleeve, the second rotatable sleeve including a second plurality of cam surfaces, the second plurality of cam surfaces being capable of engaging with a second pair of push-pull actuating elements to drive the second pair of push-pull actuating elements to translate in opposite directions in response to rotation of the second rotatable sleeve, the second rotatable sleeve being coupled to another one of the one or more rotatable drive components.

9. The steerable instrument of claim 8, wherein the first rotatable sleeve and the second rotatable sleeve are each coaxial with the longitudinal axis of the shaft, the first rotatable sleeve being distal to the second rotatable sleeve.

10. The steerable instrument of claim 7, wherein the first pair of push-pull actuation elements are housed within the first rotatable sleeve.

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