Zipper Tube Reinforcement to Mitigate Flexible Shaft Buckling

The Zipper Tube Reinforcement (ZTR) is a novel support system developed to mitigate buckling in thin flexible devices used in robotic surgery. The ZTR was inspired by a construction technique called a Buckling Restrained Braced Frame (BRBF) and deployable booms for space applications. It utilizes a zipper function to allow a rolled sheet to deploy into a variable-length tube and stow in a small volume spooled on a mandrel. The tube envelops the device and allows it to support a much higher compressive load before buckling failure through the insertion stroke. The ZTR also enables the possibility of smaller, more flexible devices due to its design for continuous support and could find application in other fields.