US 12,329,401 B2
Instrument shafts with relief features, and related devices, systems, and methods
Thomas G. Cooper, Menlo Park, CA (US); Isabelle Tonnesen Heye, San Francisco, CA (US); and Thomas Welch Brown, Santa Clara, CA (US)
Assigned to INTUITIVE SURGICAL OPERATIONS, INC., Sunnyvale, CA (US)
Appl. No. 17/784,317
Filed by INTUITIVE SURGICAL OPERATIONS, INC., Sunnyvale, CA (US)
PCT Filed Dec. 11, 2020, PCT No. PCT/US2020/064538
§ 371(c)(1), (2) Date Jun. 10, 2022,
PCT Pub. No. WO2021/119444, PCT Pub. Date Jun. 17, 2021.
Claims priority of provisional application 62/947,079, filed on Dec. 12, 2019.
Prior Publication US 2023/0039267 A1, Feb. 9, 2023
Int. Cl. A61B 17/29 (2006.01)
CPC A61B 17/29 (2013.01) [A61B 2017/2901 (2013.01); A61B 2017/2905 (2013.01); A61B 2017/2908 (2013.01)] 19 Claims
OG exemplary drawing
 
1. An instrument, comprising:
a tubular shaft;
an end effector coupled to a distal end portion of the tubular shaft; and
relief features in a wall of the shaft and extending circumferentially and along at least a portion of a length of the shaft, the relief features having a pattern defining complementary engagement features on opposing sides of the relief features, each of the complementary engagement features comprising a base portion having a first width, a neck portion having a second width less than the first width, and a head portion having a third width greater than the second width;
wherein
the complementary engagement features each comprise a first angled portion tapering in a straight line between and connecting the base portion and the neck portion and a second angled portion flaring in a straight line between and connecting the neck portion and the head portion,
the complementary engagement features move relative to one another in response to bending of the shaft, and
the complementary engagement features engage one another on one or both of tension and compression sides of the shaft on a condition that the shaft is bent to an angle within a predetermined range of bend angles.