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WO2024201453A1 - Structures articulées pliables et éléments annulaires associés - Google Patents

Structures articulées pliables et éléments annulaires associés Download PDF

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Publication number
WO2024201453A1
WO2024201453A1 PCT/IL2024/050301 IL2024050301W WO2024201453A1 WO 2024201453 A1 WO2024201453 A1 WO 2024201453A1 IL 2024050301 W IL2024050301 W IL 2024050301W WO 2024201453 A1 WO2024201453 A1 WO 2024201453A1
Authority
WO
WIPO (PCT)
Prior art keywords
pivot
projections
recesses
annular member
articulated arm
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
PCT/IL2024/050301
Other languages
English (en)
Inventor
Yiftah NETA
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Momentis Surgical Ltd
Original Assignee
Momentis Surgical Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Momentis Surgical Ltd filed Critical Momentis Surgical Ltd
Priority to AU2024242465A priority Critical patent/AU2024242465A1/en
Publication of WO2024201453A1 publication Critical patent/WO2024201453A1/fr
Priority to IL323165A priority patent/IL323165A/en
Anticipated expiration legal-status Critical
Pending legal-status Critical Current

Links

Classifications

    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
    • A61B1/00147—Holding or positioning arrangements
    • A61B1/00149—Holding or positioning arrangements using articulated arms
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
    • A61B1/005—Flexible endoscopes
    • A61B1/0051—Flexible endoscopes with controlled bending of insertion part
    • A61B1/0055—Constructional details of insertion parts, e.g. vertebral elements
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods
    • A61B17/00234—Surgical instruments, devices or methods for minimally invasive surgery
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods
    • A61B17/00234—Surgical instruments, devices or methods for minimally invasive surgery
    • A61B2017/00292—Surgical instruments, devices or methods for minimally invasive surgery mounted on or guided by flexible, e.g. catheter-like, means
    • A61B2017/003—Steerable
    • A61B2017/00305—Constructional details of the flexible means
    • A61B2017/00314—Separate linked members
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods
    • A61B17/00234—Surgical instruments, devices or methods for minimally invasive surgery
    • A61B2017/00292—Surgical instruments, devices or methods for minimally invasive surgery mounted on or guided by flexible, e.g. catheter-like, means
    • A61B2017/003—Steerable
    • A61B2017/00318—Steering mechanisms
    • A61B2017/00323—Cables or rods
    • A61B2017/00327—Cables or rods with actuating members moving in opposite directions

Definitions

  • the present invention relates to articulated arms comprising tubular structures that include bendable sections comprising concatenated annular members.
  • Articulated arms comprising tubular structures having longitudinal, i.e., axially- oriented, channels for passage therethrough of cables and wires have been introduced.
  • the tubular structures include concatenated annular members formed with corresponding projections and recesses to facilitate pivoting of the annular members and bending of bendable portions of the tubular structures.
  • the projections and recesses have used naive, symmetrical designs that cause the interaction between them to suffer from backlash and/or slippage, and to be hindered by excessive friction between neighboring members, all of these potentially affecting the pivoting precision of the articulated arms.
  • annular members that reduce or eliminate or reduce the impacts of the drawbacks of the known designs.
  • an articulated arm comprises a tubular structure that includes a bendable section comprising a plurality of concatenated annular members.
  • Each annular member comprises a first pair of axial projections and a corresponding first pair of recesses axially aligned therewith; each projection is shaped to include an apex point defining a vertex of a convex-angle portion of the projection, and each corresponding recess is shaped to surround a volume having an apex point defining a vertex of a concave-angle portion of the recess.
  • the plurality of annular members is arranged in the bendable section such that for each pair of consecutive annular members, the projections of a first annular member are pivotably engaged with corresponding recesses of a second annular member.
  • a pivoting of the first and second annular members relative to each other so as to bend the bendable section includes a pivoting of the respective concave-angle portions of the corresponding recesses of the second annular member about the respective apex points of the projections of the first annular member.
  • the apex points of the projections of the first annular member can be in direct contact with the respective vertices of the concave-angle portions of the corresponding recesses of the second annular member when the articulated arm is in an assembled and operative state.
  • the apex points of the projections can be in direct contact with the respective vertices of the concave-angle portions when the respective concaveangle portions pivot about the respective apex points of the projections.
  • the convex angles of the convex-angle portions of the projections can be smaller than respective conjugate angles of the concave angles of the concave-angle portions of the corresponding recesses.
  • the axial projections of the first pair of axial projections can be diametrically opposed from each other.
  • the projections can be respectively devoid of axes of symmetry. In some embodiments, the recesses can be respectively devoid of axes of symmetry.
  • the pivoting of the first and second annular members relative to each other can be substantially without backlash. In some embodiments, the pivoting of the first and second annular members relative to each other can be substantially without friction in the recesses.
  • each annular member can comprise a second pair of axial projections and a corresponding second pair of recesses axially aligned therewith, wherein, for each pair of consecutive annular members, the second-pair projections of the first annular member are slidably engaged with corresponding second-pair recesses of the second annular member to form respective guiding arrangements, a first guiding arrangement being effective to define a pivot limit of the first and second annular members in a direction of the flexing.
  • the pivoting of the first and second annular members relative to each other is not limited by a pivot limit of the pivoting of the concave-angle portions of the corresponding recesses of the second annular member about the respective apex points of the projections of the first annular member.
  • the axial projections of the second pair of axial projections can be diametrically opposed from each other.
  • the axial projections of the first and second pairs of axial projections can be distributed evenly around the respective circumferences of each annular member.
  • the articulated arm can comprise a first bendable section comprising a respective plurality of concatenated annular members having a first diameter, and a second bendable section comprising a respective plurality of concatenated annular members having a second diameter that is different than the first diameter.
  • the pivoting of the first and second annular members relative to each other can include a maximum relative pivoting of at least 5°, or at least 6°, or at least 7°. In some such embodiments, it can be that the maximum relative pivoting is no more than 12°, or no more than 10°, or no more than 8°.
  • bending either one of the first or second bendable sections can include bending the respective bendable section by at least 150°, or at least 180°. In some embodiments, bending at least one of the first and second bendable sections can include bending the respective bendable section by at least 210°.
  • an articulated arm comprises a tubular structure that includes a bendable section comprising a plurality of concatenated annular members.
  • Each annular member comprises one or more axial pivot-projections and one or more corresponding pivot-recesses axially aligned therewith, each of the one or more pivot-projections being shaped to include an apex point defining a vertex of a convex- angle portion of the pivot- projection, each one of the one or more corresponding pivotrecesses being shaped to surround a volume having an apex point defining a vertex of a concave-angle portion of the pivot-recess.
  • the plurality of annular members is arranged in the bendable section such that for each pair of consecutive annular members, the one or more pivot-projections of a first annular member are pivotably engaged with the one or more corresponding pivot-recesses of a second annular member.
  • a pivoting of the first and second annular members relative to each other so as to bend the bendable section includes a pivoting of the respective concave-angle portions of the one or more corresponding pivotrecesses of the second annular member about the respective apex points of the one or more pivot-projections of the first annular member.
  • the one or more axial pivot-projections can include exactly one pivot-projection, and/or the one or more corresponding recesses can include exactly one corresponding pivot- recess, and/or the exactly one pivot-projection of the first annular member can be pivotably engaged with the exactly one corresponding pivot-recess of the second annular member.
  • the one or more axial pivot-projections can include exactly one pivot-projection, and/or the one or more corresponding pivot-recesses can include exactly two pivot-recesses diametrically opposed from each other, and/or the exactly one pivot-projection of the first annular member can be pivotably engaged with one of the two pivot-recesses of the second annular member.
  • the respective apex is in direct contact with the respective vertex of the concaveangle portion of the pivot-recess when the articulated arm is in an assembled and operative state.
  • the apex points of the pivot-projections can be in direct contact with the respective vertices of the concave-angle portions when the respective concave-angle portions pivot about the respective apex points of the pivot-projections.
  • the convex angles of the convex-angle portions of the pivotprojections can be smaller than respective conjugate angles of the concave angles of the concave-angle portions of the corresponding pivot-recesses.
  • the one or more axial pivot-projections can include exactly two pivot-projections that are diametrically opposed from each other, and/or the one or more corresponding pivot-recesses can include exactly two pivot-recesses that are diametrically opposed from each other.
  • the pivot-projections can be respectively devoid of axes of symmetry. In some embodiments, the pivot-recesses can be respectively devoid of axes of symmetry.
  • the pivoting of the first and second annular members relative to each other can be substantially without backlash. In some embodiments, the pivoting of the first and second annular members relative to each other can be substantially without friction in the pivot-recesses.
  • each annular member can comprise one or more axial guideprojections and one or more corresponding guide-recesses axially aligned therewith, wherein the one or more guide-projections of the first annular member are slidably engaged with corresponding one or more guide-recesses of the second annular member to form one or more respective guiding arrangements, a first guiding arrangement being effective to define a pivot limit of the first and second annular members in a direction of the flexing.
  • the pivoting of the first and second annular members relative to each other is not limited by a pivot limit of the pivoting of the concaveangle portions of the corresponding one or more pivot-recesses of the second annular member about the respective apex points of the one or more pivot-projections of the first annular member.
  • the one or more axial guide-projections can include exactly two pivot-projections that are diametrically opposed from each other, and the one or more corresponding guide-recesses include exactly two pivot-recesses that are diametrically opposed from each other.
  • the articulated arm can comprise a first bendable section comprising a respective plurality of concatenated annular members having a first diameter, and a second bendable section comprising a respective plurality of concatenated annular members having a second diameter that is different than the first diameter.
  • the pivoting of the first and second annular members relative to each other can include a maximum relative pivoting of at least 5°, or at least 6°, or at least 7°. In some such embodiments, the maximum relative pivoting can be no more than 12°, or no more than 10°, or no more than 8°.
  • bending either one of the first and second bendable sections can include bending the respective bendable section by at least 150°, or at least 180°. In some such embodiments, bending at least one of the first and second bendable sections can include bending the respective bendable section by at least 210°.
  • an annular constituent element for a bendable section of a tubular structure comprises one or more axial projections and one or more corresponding recesses axially aligned therewith.
  • Each of the one or more projections is shaped to include an apex point defining a vertex of a convex-angle portion of the projection.
  • Each one of the one or more corresponding recesses is shaped to surround a volume having an apex point defining a vertex of a concave-angle portion of the recess.
  • the one or more axial projections comprise respective corresponding inner and outer surfaces, and/or that each respective outer surface has an area smaller than an area of a corresponding axially-aligned-therewith recess.
  • the convex angles of the respective convex-angle portions of the one or more projections can be smaller than respective conjugate angles of the concave angles of the respective concave-angle portions of the one or more corresponding recesses.
  • the one or more axial projections can include exactly two projections that are diametrically opposed from each other, and/or the one or more corresponding recesses can include exactly two recesses that are diametrically opposed from each other.
  • the one or more axial projections can be respectively devoid of axes of symmetry. In some embodiments, the one or more corresponding recesses can be respectively devoid of axes of symmetry.
  • a method is disclosed, according to embodiments of the present invention, for producing a bendable section for a tubular structure. The method comprises at least one of cutting, carving and sculpting a lengthwise portion of the tubular structure to form a plurality of concatenated annular members.
  • Each annular member is shaped by the at least one of cutting, carving and sculpting to comprise one or more axial pivot-projections and one or more corresponding pivot-recesses axially aligned therewith, each of the one or more pivot-projections being shaped to include an apex point defining a vertex of a convex- angle portion of the pivot- projection, each one of the one or more corresponding pivotrecesses being shaped to surround a volume having an apex point defining a vertex of a concave-angle portion of the pivot-recess.
  • the one or more pivot-projections of a first annular member are pivotably engaged with the one or more corresponding pivot-recesses of a second annular member.
  • a pivoting of the first and second annular members relative to each other so as to bend the bendable section can include a pivoting of the respective concave-angle portions of the one or more corresponding pivot-recesses of the second annular member about the respective apex points of the one or more pivot-projections of the first annular member.
  • the one or more axial pivot-projections include exactly one pivot-projection, and/or that the one or more corresponding recesses include exactly one corresponding pivot-recess, and/or that the exactly one pivot-projection of the first annular member is pivotably engaged with the exactly one corresponding pivot-recess of the second annular member.
  • the one or more axial pivot-projections include exactly two pivot-projections that are diametrically opposed from each other, and/or that the one or more corresponding recesses include exactly two corresponding pivot-recesses that are diametrically opposed from each other, and/or that the exactly two pivotprojections of the first annular member are respectively pivotably engaged with the exactly two corresponding pivot-recesses of the second annular member.
  • the convex angles of the convex-angle portions of the pivotprojections can be smaller than respective conjugate angles of the concave angles of the concave-angle portions of the corresponding pivot-recesses.
  • the at least one of cutting, carving and sculpting can include laser-cutting.
  • Fig- 1 is a schematic plan view of a portion of an articulated arm comprising a tubular structure, according to embodiments of the present invention
  • Fig. 2A shows a bendable portion of a tubular structure of an articulated arm, according to embodiments of the present invention
  • Fig. 2B shows details of a plurality of annular members of the bendable portion of Fig. 2A, according to embodiments of the present invention
  • Fig. 2C shows a bendable portion of a tubular structure in a bent state, according to embodiments of the present invention.
  • Fig. 2D is a schematic perspective view of annular members of a bendable portion, according to embodiments of the present invention.
  • Figs. 3A and 3B are schematic illustrations of an annular member, respectively showing the side having axial projections and the side having axial recesses, according to embodiments of the present invention
  • Figs. 4, 5 and 6 are schematic illustrations showing features of axial projections and corresponding recesses of annular members, according to embodiments of the present invention
  • Figs. 7A, 7B and 7C are schematic illustrations showing features and components of annular members at successive stages of pivoting, according to embodiments of the present invention
  • Fig. 8 is a schematic perspective view of annular members of a bendable portion, according to embodiments of the present invention.
  • Figs. 9A and 9B are schematic illustrations of axial projections and corresponding recesses of annular members of a bendable portion, wherein each axial projection comprises a projection-recess surrounding a volume having an apex, and each axial recess comprises a recess-projection having an apex, according to embodiments of the present invention
  • Figs. 10A, 10B and 11 are schematic illustrations showing features of axial projections and corresponding recesses of annular members of a bendable portion, according to embodiments of the present invention.
  • Fig. 12 is a schematic perspective view of a plurality of annular members of a bendable portion, according to embodiments of the present invention.
  • Fig. 13 illustrates a pivot limit of annular members of a bendable portion, according to embodiments of the present invention
  • Fig. 14 shows a flowchart of a method for producing a bendable section for a tubular structure
  • Fig. 15 is a schematic perspective view of a plurality of annular members of a bendable portion produced by the method of claim 14, according to embodiments of the present invention.
  • subscripted reference numbers may be used to designate multiple separate appearances of elements of a single species, whether in a drawing or not; for example: 10i is a single appearance (out of a plurality of appearances) of element 10.
  • 10i is a single appearance (out of a plurality of appearances) of element 10.
  • the same elements can alternatively be referred to without subscript (e.g., 10 and not 10i) when not referring to a specific one of the multiple separate appearances, i.e., to the species in general.
  • an articulated arm 100 is provided according to embodiments.
  • the arm 100 includes a tubular structure 40 comprising, in a non-limiting example, two bendable portions 99 of differing diameters.
  • Each bendable portion 99 comprises a concatenated plurality of annular members 10.
  • the different-diameter annular members 10 of the two bendable portions 99 have the same thickness as each other, i.e., the same dimension in the axial direction.
  • the different-diameter annular members 10 of the two bendable portions 99 are proportionally dimensioned, i.e., the smaller-diameter member 10 of the different-diameter annular members 10 is a proportionately ‘shrunken’ version of the larger-diameter member 10 of the two.
  • Fig. 2A shows an example of a bendable portion 99 according to embodiments.
  • the bendable portion 99 comprises n annular members 10 and two end elements 150A, 150B and arranged .
  • the number n can be any integer according to the length requirements of the bendable portion 99, of the tubular section 40, or of the articulated arm 100. In some embodiments, the number n is based on or related to the maximum bend required for a bendable portion 99 divided by the maximum pivot angle of one annular member 10 relative to another. For example, if a bendable portion 99 will be required to double back on itself, i.e., bend through at least 180°, and the maximum pivot angle of adjacent or consecutive annular members 10 is 7.8°, then n can be made equal to 23, 24, 25 or more.
  • the maximum pivot angle of adjacent or consecutive annular members 10 is at least 5°, or at least 6°, or at least 7°, and the maximum pivoting angle is not more than 12°, or not more than 10°, or not more than 8°.
  • any bendable section can be flexed by at least 150°, or at least 180°.
  • the two bending portions 99 can have different minimum aggregate bending angles, e.g., where a first bending portion 99 can be flexed by at least 180° and a second bending portion 99 can be flexed by at least 210°
  • the different-diameter annular members 10 of the two bendable portions 99 of Fig. 1 are configured to flex the respective bendable portions 99 to have a central longitudinal axis with a radius of not more than 20 mm, or not more than 15 mm, or not more than 13 mm.
  • the respective axes of the two bending portions 99 have the same minimum radius when flexed to a respective maximum extent as in, for example, Fig. 2C.
  • Fig. 2B shows a side view of multiple annular members 10 of a bendable portion 99 in greater detail.
  • the annular members 10 are concatenated and serve as ‘links’ making up the bendable portion 99, or at least making up an annular part of the bendable portion 99.
  • Each annular member 10 includes an axially-extending projection 15 and a corresponding axial recess 16.
  • the projections 15 and recesses 16 are designed so that projections 15 fit within, and can pivot within, corresponding recesses 10 of consecutive annular members 10.
  • projection 15i of the first annular member 101 fits within the volume of the recess I62 of the second annular member IO2 so as link the consecutive annular members 101, IO2 to each other.
  • the first annular member 101 is thus linked with the second annular member IO2.
  • the annular members 10 are shaped to enable pivoting of annular members 10 relative to each other. As can be seen in Fig. 2B, the annular members 10 are narrower on one side (the ‘upper side’ in the view shown in Fig. 2B), i.e., around a first portion of the circumference, than on the other side (the Tower side’ in Fig. 2B). The shape of the annular members 10 leaves a large gap 51 when the bendable portion is not bent, e.g., gap 511-2 between annular member 101 and annular member IO2, or gap 512-3 between annular member IO2 and annular member IO3 on the ‘upper side’.
  • gap 52 e.g., gap 521-2 between annular member 101 and annular member IO2, or gap 522-3 between annular member IO2 and annular member IO3, is substantially smaller in the unbent state of the bendable portion 99.
  • Fig. 2C shows a bendable portion 99 in a fully bent (flexed) state, such that every pair of consecutive annular members 10/, 10;+/ out of the plurality of annular members 101 .. 10 « can be pivoted relative to each other in the direction(s) shown by arrows 975 and 976 in Fig. 2C, to at least partly close the gaps 51, and open up the gaps 52.
  • the annular members 10/, 10;+/ pivot the projection of annular member 10; pivots within the corresponding recess of the annular members 10;+/.
  • all of the annular members 10 of the bendable portion 99 are shown as being pivoted so as to achieve a total bend of more than 210°.
  • Fig. 2D shows a side view of multiple annular members 10 of a bendable portion 99 in perspective view, in which it can be seen that each annular member 10 is shaped to include a pair of axially extending projections 15, and a corresponding pair of axially oriented recesses 16.
  • the first annular member 101 in Fig. 2D includes projections 15IA and 15IB
  • the second annular member IO2 includes projections 152A and 152B.
  • the projections 15;A and 15;A of an annular member 10 are diametrically opposed from each other, and the corresponding recesses 16;A and 156;A are diametrically opposed from each other.
  • respective projections 15;A are axially aligned with and pivotably engaged with corresponding recesses 16;A, while respective projections 15® are axially aligned with and pivotably engaged with corresponding recesses 16®.
  • individual concatenated annular members 10 cannot be non- destructively separated from each other.
  • the respective shapes of the projections 15 and recesses 16, e.g., in combination with . selection of a construction material of sufficient rigidity are selected so as to be effective to prevent non- destructive separation of concatenated annular members 10 with a longitudinal force or twisting force.
  • the process of selecting a suitable design of axial projections 15 and recesses 16, along with selecting a suitable construction material for the annular members 10, can consist of a separation analysis and/or physical test to check whether the design of the axial projections 15 and recesses 16 is sufficiently robust, and whether the material is not overly pliable, so as not to allow forced but non-destructive separation of concatenated annular members 10. Further, the protrusions axial projections 15 and recesses 16 are shaped so as not to allow separation of concatenated annular members 10 by lateral sliding.
  • Figs. 3A and 3B show elevation views of an annular member 10, with Fig. 3 A showing the side having axial projections 15 and Fig,. 3B showing the side having axial recesses 16.
  • the axial projections 15 and recesses 16 have substantially the same radial thickness of the annular member 10, which means that each of the projections 15 and recesses 16 is wider, i.e., circumferentially longer, on the outside of the annular member 10 than on the inside.
  • the left-side projection 15L of Fig. 3A would not be able to slide laterally out of the left-side recess 16L of Fig. 3B, and separation of the annular members 10 would be prevented by the narrowing of the left-side recess 16L at point ®.
  • Figs. 4, 5 and 6, disclose certain structural and functional attributes of the axial projections 15 and corresponding recesses 16 of annular members 10 according to embodiments.
  • the projection 15 of the annular member 10 is shaped to include an apex point 45.
  • the apex point 45 defines a vertex of a convex-angle portion 19 of the projection 15 defined at the apex point 45 by convex angle a.
  • the convex- angle portion 19 can have a different shape, i.e., include a differently shaped portion of the projection 15 including the apex point 45 and the rays extending therefrom (e.g., Ais and Bis in Fig. 5).
  • the corresponding recess 16 is shaped to surround a volume having an apex point 46.
  • the apex point 46 defines both a vertex of a convex-angle volume defined at the apex point 46 by convex angle P, and a vertex of a concave-angle portion 18 partly circumscribing the recess 16 that subsumes the convex-angle volume and that is defined at the apex point 46 by concave angle P’.
  • the concave-angle portion 18 ‘of the recess 16’ meaning ‘partly circumscribing the recess 16’, that is shown in Fig.
  • the concave-angle portion 18 can have a different shape, i.e., include a differently shaped portion of the annular member 10 partly circumscribing the recess 16 and including the apex point 46 and the rays extending therefrom (e.g., A and B in Fig. 5).
  • the convex angle a of the convex-angle portion of the projection is the convex angle a of the convex-angle portion of the projection
  • end members 150 of a bendable portion 99 may include projections 15 and/or recesses 16 to link to, i.e., be pivotably engaged with, the first or last annular member 10 in a concatenated plurality annular members 10.
  • Fig. 5 schematically illustrates the lack of symmetry in projections 15 and recesses
  • Axes 20015 that could serve as axes of symmetry are shown as attempting to bisect the projection 15.
  • One axis 200is passes through the apex point 45 and is parallel to a longitudinal axis (not shown) of the bendable portion 99 and of the linked annular members 10.
  • a second axis 20015 passes through the apex point 45 and the center of the narrow (‘stem’) portion of the projection 15.
  • the line segments and chords Ais, Bis, Cis, and Dis making up the profile of the convex-angle portion of the projection 15 on both sides of the ‘bisecting’ axes do not exhibit any symmetry -Ais, for example, is longer than Bis, and Dis is longer and more curved than Cis.
  • Axes 20016 that could serve as axes of symmetry are shown as attempting to bisect the recess 15.
  • One axis 20016 passes through the apex point 46 and is parallel to a longitudinal axis (not shown) of the bendable portion 99 and of the linked annular members 10.
  • a second axis 20016 passes through the apex point 46 and the center of the narrow portion of the recess 16.
  • the line segments and chords Ai6, Bi6, Ci6, and Dn> making up the profile of the concave-angle portion circumscribing the recess 16 on both sides of the ‘bisecting’ axes do not exhibit any symmetry - Ai6, for example, is longer than Bn, and Dn> is longer and more curved than Ci6.
  • the pivoting of the one of more recesses 16 of a given annular member 10 about corresponding projections 15 of a neighboring annular member 10 optimally takes place when the apex points 45 of the convex-angle portions 19 are in direct contact with the corresponding concave-angle portions 18 at their respective apex points 46.
  • slack is removed between the annular members 10 in order to produce direct contact between consecutive annular members 10.
  • such direct contact ensures that the apex points 45, 46 combine to form a pivot point.
  • the concave-angle portion 18 of the recess 16 thus pivots precisely about the apex point 45 of the convex-angle portion 19 of the projection 15.
  • an axial force can be applied, e.g., a force indicated by arrow 205 in Fig. 6.
  • pivoting of the first and second annular members 101, IO2 relative to each other is substantially without backlash or slippage that might be induced in design where pivoting occurs with slack between projection 15 and recess 16, i.e., at the apex points 45, 46.
  • the force 205 is effective to drive the apex point 45 of the convex-angle portion 19 of the projection 15 to come into contact with the apex point 46 of the corresponding concave-angle portions 18 of the recess 16.
  • a cable (not shown) passes through each of one or more axially-oriented and axially-aligned holes 43 in the annular members 10 of a bendable portion 99.
  • Fig. 7A shows the first and second annular members 101, IO2 of Fig. 6, with the apex point 45i of the convex-angle portion 19 of the projection 15i of the first annular member 101 being in contact with the apex point 46i of the concave-angle portion I82 of the recess I62 of the second annular member IO2 (reference numbers 46i and I81 are not shown in Fig. 7A due to lack of space).
  • Figs. 7B and 7C illustrate the pivoting of the respective concave-angle portion I82 of the corresponding recess I62 of the second annular member IO2 about the respective apex point 45i of the projection 15 of the first annular member 101.
  • expressing that recesses 16 and respective 46 of respective concave-angle portion 18 pivot about apexes 45 of projections 15 is equivalent to expressing that apexes 45 of projections 15 pivot within recesses 16, as all ‘pivoting’ is relative, and neither the projections 15 nor the recesses 16 are fixed in space.
  • the pivoting comprises about 5° of pivot.
  • the pivoting comprises about 11 0 of pivot.
  • the maximum pivot range can be larger or smaller than 11 0 of pivot.
  • the maximum pivot range is determined by other design elements, such as the design of guiding projections and recesses as discussed hereinbelow with respect to Figs. 10A, 10B, 11, 12 and 13.
  • the pivoting range shown in Fig. 7C can be constrained and the projection line segment B15 (see Fig. 5) does not contact the recess line segment n> to fully close the gap 53 between Bis and Bi6.
  • Fig. 8 shows an exemplary pair of holes 43IA, 43IB in the annular member 101.
  • the cable is operable as an ‘actuator cable’ to transmit a mechanical force through the bendable portion 99 to an end effector 48 (shown in Fig. 1).
  • Making the cable taut before operating the articulated arm 100 can serve to remove the slack between consecutive annular members 10 in a bendable portion 99 so as to put the apex points 45 of the convex-angle portions 19 in direct contact with the corresponding concave-angle portions 18 of the recesses 16 at their respective apex points 46.
  • the one or more cables are operable to apply different forces to different portions of the annular members 10 so as to cause pivoting of annular members 10 relative to each other and bending of the bendable portion 99.
  • the cable transmits electrical power.
  • s cable functions primarily to remove the intermember slack in the bendable portion 99 and the articulated arm 100.
  • multiple cables can be passed through the holes 43 such that a first cable performs a first function, e.g., eliminating slack in the bendable portion 99 and/or bending the bendable portion 99, and a second cable performs a second function, e.g., operating an end effector.
  • the articulated arm 100 is configured such that when the respective concave-angle portions 18 pivot about the respective apex points 45 of the projections 15, the apex points 45 of the projections 18 are in direct contact with the respective vertices 46 of the concave-angle portions 18.
  • Figs. 9A and 9B are schematic illustrations of concatenated annular members 1101, IIO2 comprising respective axial projections 115 and corresponding recesses 116 according to some embodiments.
  • the axial projections 115 and corresponding recesses 116 of Figs. 9A and 9B differ from axial projections 15 and corresponding recesses 16 of, e.g., Figs. 2B and 2D, in that each axial projection 115 comprises a projection-recess surrounding a volume having an apex 145, and each axial recess 116 comprises a recessprojection having an apex 146. Nonetheless, as indicated in by arrow 902 in Fig.
  • the two concatenated annular members 1101, IIO2 are configured to pivot relative to each other as the projection-recess of the axial projection 1152 of the first annular member 1101 pivots about the recess-projection of the corresponding recess II62 of the second annular member IIO2.
  • the pivoting can be when the apex 145i of projection 115i of the first annular member 1101 contacts the apex 1462 of the empty volume of the recessprojection of the recess II62 of the second annular member IIO2.
  • concatenated annular members 10 comprising respective axial projections 15 and corresponding recesses 16 apply, mutatis mutandis, to concatenated annular members 110 comprising respective axial projections 115 and corresponding recesses 116.
  • annular members 10 can be formed to include guiding projections for controlling the pivoting of annular members 10 relative to each other when a bendable portion 99 is flexed.
  • each member 10 includes a pair of guiding projections that are diametrically opposed to each other, i.e., on radially-opposite sides of the annular member. It can be desirable for the opposing pair of guiding projections to differentially control bending of the bendable portion 99 such that the bendable portion bends more in a first direction than in a second direction.
  • the differential control can be at least partly facilitated by providing pair of guiding projections including a first guiding projection that facilitates more pivoting in its direction, and a different, second guiding projection that facilitates less pivoting in its direction, or that even inhibits pivoting in its direction.
  • Figs. 10A and 10B both show the same side view of a plurality of linked annular members 10 similar to Fig. 2B, with the members 10 in the figure rotated 90° to show a first type of axially-oriented guiding projections 35 and corresponding guiding recesses 36.
  • Fig. 10A highlights the first guiding projections 35i, 352 of respective annular members 101, IO2 and Fig. 10B highlights the corresponding first guiding recesses 36i, 362.
  • the guiding projections 35 are shown as generally trapezoidal (with rounded corners) but this is a specific design choice; in some examples the shape can be more rectangular or hemispherical or any other shape that serves the function and/or manufacturing process.
  • each guiding projection 35 is optional and can be present for any one of a number of design and/or optimization reasons.
  • the valley can be useful for making two contact points out of one guiding projection 35 when the members 10 are pivoted to contact the guiding recess 36 of the adjacent member 10 e.g., in order to make the contact more stable and/or more balanced; and/or for saving mass and material; and/or for optimizing the axial disposition of a hole 43 through which a cable is passed.
  • the guiding recesses 35 are also shown in Fig. 10B as generally trapezoidal as well.
  • Fig. 11 shows a second side view of a plurality of linked annular members 10, the members 10 in the figure rotated 180° from Figs. 10A and 10B to show a second type of axially- oriented guiding projections 25 and corresponding guiding recesses 26, which have complementary shapes that contribute to creating a second guiding arrangement.
  • Fig. 12 shows a top perspective view of a plurality of linked members 10 to show both types of guiding projections 35, 25 and both types of the guiding recesses 36, 26, along with both respective types of gaps 51, 52.
  • the skilled artisan will understand that the larger projection-recess gaps 51 in the first guiding arrangements (relative to the much smaller gaps 52 of the second guiding arrangements) facilitate the bending of the bendable portion 99 and the pivoting of the annular members 10 relative to each other particularly in the direction of the larger gaps 51.
  • the larger projection-recess gaps 51 in the first guiding arrangements facilitate the bending of the bendable portion 99 and the pivoting of the annular members 10 relative to each other particularly in the direction of the larger gaps 51.
  • flexing is favored, from a structural perspective, in the direction of the first guiding arrangements which comprise the first types of guiding projections 35 and the first type of guiding recesses 36, in contrast to the second guiding arrangements.
  • the design tends to limit flexing in the direction of the second guiding arrangements, which comprise the second types of guiding projections 25 and the second type of guiding recesses 26, to de minimis pivoting, and even tends to inhibit flexing in that direction.
  • Fig. 2C which shows a bending portion 99 at full flex
  • the bending portion is flexed in the direction of the larger gaps 51, which are substantially closed by the pivoting evidenced in Fig. 2C, while the small gaps 52 are ‘opened up’ by the flexing in the direction of the first guiding arrangements.
  • Fig. 13 illustrates, in greater detail, the structure and function of the first guiding arrangements between the annular members 101, IO2, comprising guiding projection 35 and guiding recess 36 (specifically projection 35i of first annular member 101 and recess 362 of second annular member IO2).
  • guiding projection 35 and guiding recess 36 specifically projection 35i of first annular member 101 and recess 362 of second annular member IO2.
  • the pivot limit (in the favored direction of flexing) is defined by the structure of the first guiding arrangement, and by the closing of gap 511-2 and the guiding projection 35 contacts the guiding recess 36.
  • the annular members are shaped such that the first guiding arrangement provides the pivot limit of the bending portion 99, while the pivoting of the concave-angle portions 18 of the pivot-recesses 16 about the respective apex points 45 of the pivot-projections 15 do not provide the pivot limit of the bending portion 99.
  • the guiding projection 35 contacts the guiding recess 36 before projection line segment Bis (see Fig. 5) contacts the recess line segment Bi6 and fully closes the gap 53 between Bis and Bn>.
  • the annular members 10 are shaped such that projection line segment Bis cannot contact the recess line segment Bi6 because the pivoting is first stopped by the pivot- limiting design of the first guiding arrangement of Fig. 13.
  • a method is disclosed, according to embodiments, for producing a bendable section 99 for a tubular structure 40. As shown in the flowchart of Fig. 14, the method comprises:
  • each annular member 10 is shaped by the at least one of cutting, carving and sculpting to comprise one or more axial pivot-projections 15 and one or more corresponding pivotrecesses 16 axially aligned therewith.
  • Each of the one or more pivot-projections 15 is shaped to include an apex point 45 defining a vertex of a convex-angle portion 19 of the pivot-projection 15, each one of the one or more corresponding pivot-recesses 16 being shaped to surround a volume having an apex point 46 defining a vertex of a concave-angle portion 18 of the pivot-recess 16.
  • the one or more pivotprojections 15i of a first annular member 101 are pivotably engaged with the one or more corresponding pivot-recesses I62 of a second annular member IO2.
  • a pivoting of the first and second annular members 101, IO2 relative to each other so as to bend the bendable section 99 includes a pivoting of the respective concave-angle portions 18 of the one or more corresponding pivot-recesses I62 of the second annular member IO2 about the respective apex points 45 of the one or more pivot-projections 15i of the first annular member 101.
  • the one or more axial pivot-projections 15 include exactly one pivot-projection 15, the one or more corresponding recesses 16 include exactly one corresponding pivot-recess 16, and the exactly one pivot-projection 15i of the first annular member 101 is pivotably engaged with the exactly one corresponding pivot-recess I62 of the second annular member IO2.
  • the exactly one pivot-projection 15i of the first annular member 101 is pivotably engaged with the exactly one corresponding pivot-recess I62 of the second annular member IO2.
  • the one or more axial pivot-projections 15 include exactly two pivot-projections 15 that are diametrically opposed from each other
  • the one or more corresponding recesses 16 include exactly two corresponding pivot-recesses 16 that are diametrically opposed from each other
  • the exactly two pivot-projections 15IA, 15IB of the first annular member 101 are respectively pivotably engaged with the exactly two corresponding pivot-recesses I62A, I62B of the second annular member IO2.
  • the convex angles a of the convex-angle portions 19 of the pivot-projections 15 are smaller than respective conjugate angles p of the concave angles ' of the concave-angle portions 18 of the corresponding pivot-recesses 16.
  • the at least one of cutting, carving and sculpting includes laser-cutting.

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Abstract

L'invention concerne un bras articulé comprenant une structure tubulaire qui inclut une section pliable composée d'éléments annulaires concaténés. Chaque élément annulaire comprend une première paire de saillies axiales et une première paire correspondante d'évidements alignés de façon axiale avec celles-ci. Chaque saillie est formée pour présenter un point culminant au sommet d'un angle convexe, et chaque évidement correspondant est formé pour entourer un volume dont le point culminant se trouve au sommet d'un angle concave à l'intérieur de l'évidement. Les éléments annulaires sont disposés dans la section pliable de telle sorte que, pour chaque paire d'éléments annulaires consécutifs, les saillies d'un premier élément annulaire sont mises en prise de manière pivotante avec des évidements correspondants d'un second élément annulaire. La courbure de la section pliable consiste à faire pivoter les angles concaves respectifs des évidements du second élément annulaire autour des points culminants des saillies du premier élément annulaire.
PCT/IL2024/050301 2023-03-26 2024-03-25 Structures articulées pliables et éléments annulaires associés Pending WO2024201453A1 (fr)

Priority Applications (2)

Application Number Priority Date Filing Date Title
AU2024242465A AU2024242465A1 (en) 2023-03-26 2024-03-25 Bendable articulated structures and annular members therefor
IL323165A IL323165A (en) 2023-03-26 2025-09-04 Bendable articulated structure and ring elements for it

Applications Claiming Priority (2)

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US202363454695P 2023-03-26 2023-03-26
US63/454,695 2023-03-26

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Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20080262480A1 (en) * 2007-02-15 2008-10-23 Stahler Gregory J Instrument assembly for robotic instrument system
US20150359417A1 (en) * 2007-05-18 2015-12-17 Boston Scientific Scimed, Inc. Articulating torqueable hollow device
US20170071687A1 (en) * 2014-09-04 2017-03-16 Memic Innovative Surgery Ltd. Device and system including mechanical arms
US20200107898A1 (en) * 2017-06-29 2020-04-09 The Board Of Regents Of The University Of Texas System Surgical apparatus
WO2022125550A1 (fr) * 2020-12-07 2022-06-16 Adaptivendo Llc Systèmes et ensembles d'endoscope

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20080262480A1 (en) * 2007-02-15 2008-10-23 Stahler Gregory J Instrument assembly for robotic instrument system
US20150359417A1 (en) * 2007-05-18 2015-12-17 Boston Scientific Scimed, Inc. Articulating torqueable hollow device
US20170071687A1 (en) * 2014-09-04 2017-03-16 Memic Innovative Surgery Ltd. Device and system including mechanical arms
US20200107898A1 (en) * 2017-06-29 2020-04-09 The Board Of Regents Of The University Of Texas System Surgical apparatus
WO2022125550A1 (fr) * 2020-12-07 2022-06-16 Adaptivendo Llc Systèmes et ensembles d'endoscope

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