Side looking minimally invasive surgery instrument assembly

Abstract

A surgical instrument may comprise an elongated shaft extending between a proximal end and a distal end and defining a longitudinal axis. The surgical instrument may also comprise a plurality of cables extending along the longitudinal axis and a first bending section positioned between the proximal end and the distal end of the elongated shaft. The first bending section may comprise links having pairs of articulation holes extending longitudinally through the links to permit the plurality of pull wires to pass therethrough. Each pair of articulation holes may comprise first and second articulation holes that are spaced apart from the longitudinal axis (i) at different radii and (ii) at a same rotation angle.

1 - 20 . (canceled) 
     
     
         21 . A surgical instrument, comprising:
 an elongated shaft extending between a proximal end and a distal end and defining a longitudinal axis;   a plurality of cables extending along the longitudinal axis; and   a first bending section positioned between the proximal end and the distal end of the elongated shaft, the first bending section comprising links having pairs of articulation holes extending longitudinally through the links to permit the plurality of pull wires to pass therethrough, wherein each pair of articulation holes comprises first and second articulation holes that are spaced apart from the longitudinal axis (i) at different radii and (ii) at a same rotation angle.   
     
     
         22 . The surgical instrument of  claim 21 , wherein the first bending section comprises a multi-link wrist comprising two or more links, each pair of consecutive links including one or more joints therebetween. 
     
     
         23 . The surgical instrument of  claim 22 , wherein each of the one or more joints comprise a rolling joint. 
     
     
         24 . The surgical instrument of  claim 21 , wherein:
 the first bending section comprises a proximal pitch joint and a distal pitch joint configured to allow articulation of the first bending section in a pitch direction.   
     
     
         25 . The surgical instrument of  claim 24 , wherein:
 the first bending section comprises a proximal yaw joint and a distal yaw joint configured to allow articulation of the first bending section in a yaw direction.   
     
     
         26 . The surgical instrument of  claim 21 , wherein the each of the links of the first bending section comprises four pairs of articulation holes configured to receive the plurality of cables extending therethrough. 
     
     
         27 . The surgical instrument of  claim 26 , wherein:
 the four pairs of articulation holes are each spaced apart from each other by 90 degrees and wherein for each of the four pairs, the first articulation hole and the second articulation hole are formed at a same angle relative to a central axis through the links and comprise different radii measured from the central axis.   
     
     
         28 . The surgical instrument of  claim 21 , wherein the first bending section comprises a proximal pitch joint, a proximal yaw joint, a distal pitch joint, and a distal yaw joint. 
     
     
         29 . The surgical instrument of  claim 21 , wherein the surgical instrument comprises a second bending section distal to the first bending section. 
     
     
         30 . The surgical instrument of  claim 29 , wherein a pair of cables extends from a proximal portion of the surgical instrument, through the first bending section, and to the second bending section. 
     
     
         31 . The surgical instrument of  claim 21 , wherein the links each have four pairs of articulation holes extending therethrough, and wherein the first and second articulation holes of each pair are located at a same radial position and each of the four pairs of articulation holes are radially spaced apart from each other. 
     
     
         32 . A surgical instrument assembly, comprising:
 a surgical instrument comprising an elongated shaft extending between a proximal end and a distal end and defining a longitudinal axis;   a plurality of cables extending along the longitudinal axis;   a first bending section positioned between the proximal end and the distal end of the elongated shaft, the first bending section comprising links having pairs of articulation holes extending longitudinally through the links to permit the plurality of pull wires to pass therethrough, wherein each pair of articulation holes comprises first and second articulation holes that are spaced apart from the longitudinal axis (i) at different radii and (ii) at a same rotation angle;   an actuator mechanism positioned at the proximal end of the surgical instrument; and   one or more motors positioned within the actuator mechanism and configured to articulate the first bending section.   
     
     
         33 . The surgical instrument assembly of  claim 32 , further comprising a linear actuator coupled to the surgical instrument, wherein the linear actuator is configured to cause translation of the surgical instrument. 
     
     
         34 . The surgical instrument assembly of  claim 32 , wherein the first bending section comprises a multi-link wrist comprising two or more links, each pair of consecutive links including one or more joints therebetween. 
     
     
         35 . The surgical instrument assembly of  claim 34 , wherein each of the one or more joints comprise a rolling joint. 
     
     
         36 . The surgical instrument assembly of  claim 32 , wherein:
 the first bending section comprises a proximal pitch joint and a distal pitch joint configured to allow articulation of the first bending section in a pitch direction.   
     
     
         37 . The surgical instrument assembly of  claim 32 , wherein the each of the links of the first bending section comprises four pairs of articulation holes configured to receive the plurality of cables extending therethrough. 
     
     
         38 . The surgical instrument assembly of  claim 37 , wherein:
 the four pairs of articulation holes are each spaced apart from each other by 90 degrees and wherein for each of the four pairs, the first articulation hole and the second articulation hole are formed at a same angle relative to a central axis through the links and comprise different radii measured from the central axis.   
     
     
         39 . The surgical instrument assembly of  claim 32 , wherein the first bending section comprises a proximal pitch joint, a proximal yaw joint, a distal pitch joint, and a distal yaw joint. 
     
     
         40 . The surgical instrument assembly of  claim 32 , wherein the surgical instrument comprises a second bending section distal to the first bending section. 
     
     
         41 . The surgical instrument assembly of  claim 40 , wherein a pair of cables extends from a proximal portion of the surgical instrument, through the first bending section, and to the second bending section. 
     
     
         42 . The surgical instrument assembly of  claim 32 , wherein the links each have four pairs of articulation holes extending therethrough, and wherein the first and second articulation holes of each pair are located at a same radial position and each of the four pairs of articulation holes are radially spaced apart from each other.