公开(公告)号：US20230039267A1

公开(公告)日：2023-02-09

申请号：US17784317

申请日：2020-12-11

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Thomas G. COOPER ,  Isabelle Tonnesen HEYE ,  Thomas Welch BROWN

IPC: A61B17/29

Abstract: An instrument includes a tubular shaft, an end effector coupled to a distal end portion of the tubular shaft, and a relief feature extending circumferentially along a wall of the shaft and along at least a portion of a length of the shaft. The relief feature defines flexural members on opposing sides of the relief feature. The flexural members can move relative to one another in response to bending the shaft. The flexural members can engage one another on one or both of tension and compression sides of the shaft on the condition the shaft is bent to an angle within a predetermined range of bend angles. Systems and methods relate to instruments including such shafts.