METHOD, APPARATUS, AND A SYSTEM FOR FACILITATING BENDING OF AN INSTRUMENT IN A SURGICAL OR MEDICAL ROBOTIC ENVIRONMENT

摘要

An instrument that facilitates bending with large degrees of articulation while maintaining ease of manufacturing for medical and surgical applications is discussed.

主权项

1. A bending section to carry a tool for use in noninvasive medical procedures, the bending section comprising:
a rod having an approximately cylindrical outer circumference; a top portion along a length of the rod; a bottom portion along the length of the rod, wherein material is removed from the cylindrical rod along the bottom portion; a non-cylindrical pathway through the entire rod; a plurality of first sections alternatingly adjacent to a plurality of second sections along the length of the rod, wherein material is removed from the plurality of first sections forming a plurality of partial voids next to the plurality of second sections, such that the partial voids permit bending of the rod along the top portion of rod; the non-cylindrical pathway capable of carrying at least one ancillary component in proximity to a neutral axis along the length of the cylindrical rod, and an off-axis actuation wire in proximity to the top portion along the length of the rod.