US 12,465,449 B2
Articulated instrument with simple fabrication
Carl A. Nelson, Lincoln, NE (US); and Monica Bomze, Mooresville, NC (US)
Assigned to NUtech Ventures, Lincoln, NE (US)
Filed by NUtech Ventures, Lincoln, NE (US)
Filed on Apr. 13, 2022, as Appl. No. 17/719,585.
Claims priority of provisional application 63/174,172, filed on Apr. 13, 2021.
Prior Publication US 2022/0323091 A1, Oct. 13, 2022
Int. Cl. A61B 34/00 (2016.01); A61B 17/00 (2006.01); B25J 9/06 (2006.01); B25J 9/10 (2006.01)
CPC A61B 34/71 (2016.02) [B25J 9/065 (2013.01); B25J 9/104 (2013.01); A61B 2017/00314 (2013.01); A61B 2017/00323 (2013.01); A61B 2017/00526 (2013.01)] 15 Claims
OG exemplary drawing
 
1. An articulated instrument, comprising:
a plurality of segments, each of the plurality of segments having an elongate shape defining first and second ends, wherein the plurality of segments are connected to one another end-to-end along their respective first and second ends;
wherein each of the plurality of segments has a hollow tubular shape defined by a wall, the wall comprising three or more rigid subsections that are each planar rectangular panels connected along respective subsection fold lines;
a tendon extending at least partially through the plurality of segments, the tendon configured to apply tension that selectively causes two adjacent segments from the plurality of segments to bend relative to one another along a pivot joint disposed between the two adjacent segments;
wherein the plurality of segments is formed by a single sheet of stock material separated into the three or more rigid subsections by the respective subsection fold lines, each of three or more rigid subsections being folded about a respective subsection fold line to form the hollow tubular shape, and each of the plurality of segments being connected to an adjacent one of the plurality of segments by a kinematic fold line defining the respective pivot joint.