US 12,185,974 B2
Surgical tool with nested shaft tubes
David I. Moreira Ridsdale, Saratoga, CA (US); Harsukhdeep S. Ratia, Los Altos Hills, CA (US); Craig Tsuji, San Jose, CA (US); and Zhou Ye, Santa Clara, CA (US)
Assigned to Intuitive Surgical Operations, Inc., Sunnyvale, CA (US)
Appl. No. 17/768,298
Filed by Intuitive Surgical Operations, Inc., Sunnyvale, CA (US)
PCT Filed Oct. 15, 2020, PCT No. PCT/US2020/055794
§ 371(c)(1), (2) Date Apr. 12, 2022,
PCT Pub. No. WO2021/076765, PCT Pub. Date Apr. 22, 2021.
Claims priority of provisional application 62/916,712, filed on Oct. 17, 2019.
Claims priority of provisional application 62/916,716, filed on Oct. 17, 2019.
Prior Publication US 2024/0148405 A1, May 9, 2024
Int. Cl. A61B 17/34 (2006.01); A61B 17/00 (2006.01); A61B 90/00 (2016.01)
CPC A61B 17/3415 (2013.01) [A61B 17/00234 (2013.01); A61B 2017/00477 (2013.01); A61B 17/3474 (2013.01); A61B 2090/064 (2016.02)] 20 Claims
OG exemplary drawing
 
1. A surgical instrument, comprising:
a chassis;
an outer tube comprising an outer tube proximal portion and an outer tube distal portion;
an inner tube extending within the outer tube and comprising an inner tube proximal portion and an inner tube distal portion;
a cantilever portion extending distally from the inner tube distal portion; and
one or more force sensors coupled to the cantilever portion;
wherein a center axis is defined through the outer tube proximal portion and the outer tube distal portion;
wherein the outer tube proximal portion is coupled to the chassis such that the outer tube is moveable along the center axis with reference to the chassis between a proximally retracted position and a distally extended position;
wherein the inner tube proximal portion is coupled to the chassis such that the inner tube is movable along the center axis with reference to the chassis and to the outer tube;
wherein the outer tube surrounds at least a first length of the cantilever portion in the distally extended position of the outer tube; and
wherein the outer tube surrounds less than the first length of the cantilever portion in the proximally retracted position of the outer tube.