CPC A61B 34/71 (2016.02) [A61B 34/30 (2016.02); B25J 9/1075 (2013.01); F16C 11/04 (2013.01); A61B 2034/301 (2016.02); A61B 2034/306 (2016.02)] | 21 Claims |
1. A surgical instrument, comprising:
a proximal end;
a distal end; and
a shaft, the shaft comprising a plurality of joint components connected in series, each joint component comprising first and second connectors, which connectors are axially spaced apart from one another at first and second ends of a respective joint component,
wherein the first connector comprises a first rolling surface, and the second connector comprises a second rolling surface, and wherein each joint component comprises a first spur gear extending from the first rolling surface, and a second spur gear extending from the second rolling surface,
wherein a first rolling surface of a first joint component is engageable with a second rolling surface of a second joint component to form a rolling joint, and a second rolling surface of the first joint component is engageable with a first rolling surface of a third joint component, and
wherein each joint component comprises a wall defining a hollow interior and an inner channel extending axially through the joint component, wherein the inner channel of each joint component comprises a central channel portion and a peripheral channel extending from the central channel portion to an inner surface of the outer wall.
|