Surgical instrument shaft

Abstract

A surgical instrument may include a shaft, a force transmission mechanism, and an end effector. The shaft may have a proximal end and a distal end. The force transmission mechanism may be coupled to the proximal end of the shaft. The end effector may be coupled to the distal end of the shaft. The shaft may include a body having an outer surface and an inner surface. The inner surface may surround a lumen configured to receive a drive member that extends through the lumen. The outer surface of the body may form an outer surface of the shaft. The body may be made of a single material from the inner surface of the body to the outer surface of the body.

What is claimed is: 
     
         1 . A surgical instrument, comprising:
 a shaft having a proximal end and a distal end;   a force transmission mechanism coupled to the proximal end of the shaft; and   an end effector coupled to the distal end of the shaft;   wherein the shaft includes a body having an outer surface and an inner surface, the inner surface surrounding a lumen configured to receive a drive member that extends through the lumen;   wherein the outer surface of the body forms an outer surface of the shaft;   wherein the body is made of a single material from the inner surface of the body to the outer surface of the body.   
     
     
         2 . The instrument of  claim 1 , wherein the body comprises an inner tube and an outer tube. 
     
     
         3 . The instrument of  claim 2 , wherein the body further comprises a plurality of ribs connecting the inner tube and the outer tube. 
     
     
         4 . The instrument of  claim 3 , wherein the body further comprises a second lumen and a conduit extending through the second lumen. 
     
     
         5 . The instrument of  claim 2 , wherein the inner tube and the outer tube are in contact with one another and are configured to slide relative to one another along an axial direction of the shaft. 
     
     
         6 . The instrument of  claim 2 , wherein the body is continuously solid between the outer surface and inner surface of the body. 
     
     
         7 . The instrument of  claim 2 , wherein the outer surface of the body is exposed to a surrounding environment. 
     
     
         8 . The instrument of  claim 2 , wherein an inner surface of the outer tube and an outer surface of the inner tube have substantially the same radius of curvature. 
     
     
         9 . The instrument of  claim 2 , further comprising a sheath located on the outer surface of the shaft. 
     
     
         10 . The instrument of  claim 1 , wherein the body consists of a single tube. 
     
     
         11 . The instrument of  claim 1 , wherein the single tube is a solid tube between the inner surface and the outer surface. 
     
     
         12 . The instrument of  claim 1 , further comprising a sheath located on the outer surface of the shaft. 
     
     
         13 . The instrument of  claim 1 , wherein the outer surface of the body has a substantially circular cross-section. 
     
     
         14 . The instrument of  claim 1 , further comprising a plurality of projections on the outer surface. 
     
     
         15 . The instrument of  claim 1 , further comprising the drive member, which extends through the lumen from the force transmission mechanism to the end effector, wherein the inner surface of the body contacts the drive member. 
     
     
         16 . The instrument of  claim 1 , wherein the lumen formed by the inner surface of the body has a diameter ranging from about 0.030″ to about 0.050″. 
     
     
         17 . The instrument of  claim 1 , wherein the instrument is a surgical instrument for a teleoperated surgical system. 
     
     
         18 . A surgical instrument, comprising:
 a shaft having a proximal end and a distal end;   a force transmission mechanism coupled to the proximal end of the shaft; and   an end effector coupled to the distal end of the shaft;   wherein the shaft includes a body having an outer surface that forms an outer surface of the shaft and an inner surface that defines a lumen that a drive member extends through;   wherein the body has a single piece construction.   
     
     
         19 . A method of manufacturing a shaft for a surgical instrument, comprising:
 extruding a material to form a body of a shaft, wherein the body has an outer surface and an inner surface that forms a lumen configured to receive a drive member that extends through the lumen;   wherein the outer surface of the body forms an outer surface of the shaft; and   wherein the body is made of a single material from the inner surface of the body to the outer surface of the body.   
     
     
         20 . The method of  claim 19 , wherein the body is continuously solid from the inner surface of the body to the outer surface of the body. 
     
     
         21 . The method of  claim 19 , wherein the body comprises an inner tube and an outer tube. 
     
     
         22 . The method of  claim 21 , wherein the body further comprises a plurality of ribs connecting the inner tube and the outer tube.