LUBRICATING TENDONS IN A TENDON-ACTUATED SURGICAL INSTRUMENT

摘要

A flexible surgical instrument employs sheaths around tendons that actuate an end effector or other mechanisms in the instrument. A liquid lubricant can be introduced in the sheaths to reduce friction. Disclosed combinations of tendon, sheath, and lubricant compositions reduce friction to suitable levels for operation of a minimally invasive instrument and are not harmful or toxic to a patient.