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EP4376751A1 - Unité d'entrée pour un instrument médical et système médical équipé d'une unité d'entrée - Google Patents

Unité d'entrée pour un instrument médical et système médical équipé d'une unité d'entrée

Info

Publication number
EP4376751A1
EP4376751A1 EP22758153.5A EP22758153A EP4376751A1 EP 4376751 A1 EP4376751 A1 EP 4376751A1 EP 22758153 A EP22758153 A EP 22758153A EP 4376751 A1 EP4376751 A1 EP 4376751A1
Authority
EP
European Patent Office
Prior art keywords
tool
rotating element
input unit
control unit
input
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
EP22758153.5A
Other languages
German (de)
English (en)
Inventor
Dominik Längle
Janosz SCHNEIDER
Sven Axel Grüner
Jochen Stefan
Thorsten Ahrens
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.)
Karl Storz SE and Co KG
Original Assignee
Karl Storz SE and Co KG
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 Karl Storz SE and Co KG filed Critical Karl Storz SE and Co KG
Publication of EP4376751A1 publication Critical patent/EP4376751A1/fr
Pending legal-status Critical Current

Links

Classifications

    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/70—Manipulators specially adapted for use in surgery
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/70—Manipulators specially adapted for use in surgery
    • A61B34/71—Manipulators operated by drive cable mechanisms
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods
    • A61B2017/00973—Surgical instruments, devices or methods pedal-operated

Definitions

  • Input unit for a medical instrument and medical system with an input unit
  • the present invention relates to an input unit for operating a medical instrument according to the preamble of claim 1.
  • the present invention also relates to a medical system with at least one input unit according to the invention and at least one medical instrument.
  • a generic input unit for operating a medical instrument is known from US Pat. No. 5,454,827 A, for example.
  • the known medical instrument comprises a hollow shaft extending along a longitudinal axis for receiving steering wires, the shaft having a tool formed along an axis of extension on the distal side and a control unit on the proximal side, which is designed to manipulate the tool by means of the steering wires. That is.
  • the control unit has a spatially adjustable disc which is coupled to four steering wires and can pivot the tool relative to the longitudinal axis via pivoting members arranged on the distal side.
  • a generic input unit with first input means is provided, which can be operated by an operator's hand. Ergonomic user inputs from the operator are thus implemented continuously, that is to say true to pan and/or rotation, in the manipulation of the tool.
  • the tool can also be manipulated using operating means interacting with the index finger of the operator, for example to adjust a tool designed as a jaw part between an open and a closed state.
  • a limited rotation of the tool can be implemented by rotating the gripped input unit, with the rotation being represented by the natural freedom of movement of the hand and/or arm of the operator.
  • the adjustment movements of the tool always follow the natural movements of the operator's hand or arm, specifically in an uninterrupted and/or absolute manner.
  • the mechanically coupled tool continuously follows the operator's ergonomically limited user inputs so that the operator is always in control of the tool and precise work is thus made possible during operational use.
  • the generic input units enable the precise implementation of minimally invasive medical operations, for example in order to take tissue samples, sew up tissue or carry out other operational actions in a sensitive environment.
  • a disadvantage of the known input unit is the limited and/or restricted manipulation of the tool, since the natural user movement is reproduced with pan and rotation accuracy, which is why, in addition to the mechanical and/or structural limitation of the tool, there is a limitation due to the degree of natural freedom of movement of the operator.
  • medical instruments are also known which, by means of a spindle, enable the tool to be rotated in a mechanically limited manner for a limited range of rotation.
  • Input units are used for the control, which allow the tool to be controlled in a rotationally accurate manner, with the operator breaking the restricted freedom of movement to overcome the operator’s restricted freedom of movement, in that the operator grasps the first input means, or there is a brief interruption and/or Decoupling between the input unit and the tool for resetting and/or returning the first input means, which is always associated with a brief loss of control over the tool.
  • the operator should always retain control of the tool, so that there is always an uninterrupted coupling between the first input means and the tool, independently of the control of the endless rotational movement of the tool, in order to allow the user movements to be pivoted and/or rotationally true to map the tool.
  • the object of the present invention is therefore to propose an input unit which overcomes the disadvantages known from the prior art.
  • the task consists in specifying a medical system with at least one input unit according to the invention and at least one medical instrument. This task is solved by an input unit with the features of claim 1 . Furthermore, the object is achieved by a medical system according to the invention.
  • the input unit is designed to operate a medical instrument with a hollow shaft extending along a longitudinal axis for receiving guide wires, with a tool being arranged at a first or distal soapy end of the shaft and extending along an axis of extension . Furthermore, a control unit for manipulating the tool by means of the steering wires is provided on a second or proximal end of the shaft.
  • the first input means according to the invention are designed for the continuous, pivoting and/or rotationally accurate conversion of an ergonomically limited user input from an operator into an adjustment movement of the tool in a first handling mode, in order to move the tool relative to the longitudinal axis by the first input means using the steering wires via the control unit to swivel and/or to rotate around the extension axis. Due to the structural design of the shank, which is designed to be rigid in some areas, the tool can only be pivoted over a limited pivoting range in relation to the longitudinal extension of the shank.
  • the rotation of the tool is only possible over a limited range of rotation, which is due to the natural mobility of the operator, in particular a hand of the operator gripping the first operating means, which then in relation to the continuous, i.e. absolute introduction of a rotation due to the structure of the human arm is limited in terms of range of rotation.
  • First operating means for manipulating the tool are preferably provided as the first input means, which continuously, i.e. without interruption in the coupling between the first operating means and the tool, translate, implement and/or transform the ergonomically limited user input into the manipulation of the work - map stuff.
  • the first operating means is preferably a joystick, a gimbal, a gimballed control element, a gimbaled pressure element or an equivalent input unit for detecting natural spatial movements of the operator in all spatial directions.
  • the first input means, in particular the first operating means are designed in such a way that movements can be detected in all degrees of freedom and in the first handling mode are pan and/or rotation-true, preferably pan and/or rotation-like, but in any case can be continuously transferred to the tool.
  • the second input means which are designed for the at least partial, non-absolute activation of at least one further user input into an endless rotational movement of the tool in the second handling mode, are designed according to the invention by a foot control unit, which can be operated and/or operated with the foot of the operator has a controllable rotating element for detecting and setting the further user input.
  • the second input means as a foot control unit
  • generic input units for operating medical instruments in the first handling mode can be retrofitted with the additional control of the tool in the second handling mode and thus expanded. It is thus advantageously possible that after the medical instrument has been exchanged and the included tool has been expanded to include the capability of endless rotation, the previous first input means can be supplemented with the foot control unit according to the invention.
  • this also leads to a broader acceptance of corresponding systems, since the trained operating personnel can switch from controlling the tool only in the first handling mode to controlling the tool in the first handling mode and in the second Handling mode is perceived as easy.
  • the rotating element can be rotated in the left direction to control a rotational movement of the tool directed to the left and in the right direction to control a rotational movement of the tool directed to the right.
  • the rotating element is designed as a cylindrical rolling element and has a longitudinal extent of between 5 cm and 30 cm, preferably between 5 cm and 25 cm, more preferably between 5 cm and 20 cm.
  • the configuration of the rotating element as a cylindrical rolling element enables simple and safe operation and/or control of the rolling element with the foot, since the longitudinal extension of the rolling element allows a Ergonomic operation or control of the rolling element to be rotated is made possible.
  • the rotating element moves from a rest position along a right or first direction of rotation into a right end stop and/or a first setting position and/or along a left or second direction of rotation into a left end stop and/or second setting position rotatable, in such a way that in the right end stop and/or the first setting position, an endless rotational movement of the tool directed to the right can be activated and that in the left end stop or second setting position, an endless rotational movement of the tool directed to the left can be activated can be activated.
  • a matching direction of rotation between the rotating element and the tool enables intuitive control of the tool in the second handling mode. Furthermore, by activating the endless or permanent rotational movement of the tool by rotating the rotating element to the right or left end stop, the operation of the rotating element is made easier, since the rotating element does not have to be repeatedly used with the foot to introduce longer-lasting rotational movements has to be scraped off or put into a rotational movement.
  • the rotating element includes at least one first pressure switch, with the rotating element being designed in such a way that when the right end stop or the first setting position is reached, the first pressure switch can be actuated by the rotating element and / or can be activated and that when the left end stop or the second setting position is reached, the first pressure Switch or another pressure switch can be actuated and/or activated by the rotating element.
  • the first pressure switch and/or the further pressure switch is designed as a button in order to simply implement the activation of the endless or permanent rotational movement of the tool.
  • the rotating element when rotating in the right direction, can not only be rotated into a first setting position, but can also be gradually adjusted into further setting positions in the same direction.
  • this advantageously also allows the rotational speed of the tool or an angular range to be rotated to be specified in a standardized manner in the second handling mode.
  • a selection of the rotational speed and/or the angular range should then also be implementable through further adjustment positions.
  • the foot control unit comprises a wedge-shaped housing unit with a slanted upper side, with the foot control unit being set down and/or arranged on a surface, in particular on the floor of the room, in an operating state of the foot control unit in such a way that the slanted upper side is aligned in the direction of the operator is.
  • a corresponding configuration and/or alignment advantageously enables ergonomic operation of the rotating element by the operator's foot placed on the ground, in which case the heel of the foot can be placed on the ground and the foot control unit can be operated with the ball of the foot in order to Introduce rotational movement into the rotating element.
  • the rotating element comprises a rotation axis which is arranged in a plane which is aligned parallel to the sloping upper side, with the rotating element protruding in the radial direction in sections from the upper side in such a way that the operator, in particular a seated operator the heel of the foot can be placed on the ground to control the foot control unit and a rotational movement can be introduced into the rotating element by pivoting movements of the ball of the foot can be brought in order to introduce the further user input for controlling the endless rotational movement into the rotating element.
  • the rotating element in particular the cylindrical rolling element, has a roughened and/or structured, in particular corrugated, outer layer on the casing side, which is preferably made of an elastic material, it being further preferred when the outer surface has a high frictional resistance.
  • the additional, outer layer can advantageously simplify operation, ie rotating the rotating element with the foot, since the rotating element can be carried along by the pivoting ball of the foot without applying a large force in the radial direction.
  • a material with a high frictional resistance that adheres to the shoe and thus facilitates the operation of the rotating element when the rotational movement is introduced is particularly suitable for this purpose.
  • the foot control unit in particular the housing unit and/or the cylindrical roller element, has an imprint and/or an identification to indicate the direction of rotation of the rotating element for determining the direction of rotation of the tool for symbolically represent an inexperienced operator.
  • the control of the tool in the second handling mode can thus advantageously be simplified, since the direction of rotation of the tool is displayed directly on the foot control unit when the rotating element is rotating.
  • a medical system in particular an end effector and/or a surgical robot, which has at least one input unit according to the invention and a medical instrument.
  • the medical instrument includes a hollow shaft extending along a longitudinal axis, a control unit, and a tool for surgical use.
  • the shank is designed to receive steering wires for mechanically steering the tool, the tool being arranged at a distal end of the shank and extending along an axis of extension.
  • the control unit is arranged on the proximal end of the shaft and is operatively connected to the tool via the steering wires in order to pivot the tool in a first handling mode, in particular to pivot it to a limited extent and to rotate it in a limited manner, the tool being Control unit can also be rotated endlessly in a second handling mode.
  • the medical instrument preferably has a spatially adjustable disk in order to pivot the steering wires along the longitudinal axis of the shaft, the disk being rotatable about the longitudinal axis together with the shaft and the steering wires, and the control unit preferably being designed to pivot the disk .
  • the tool is preferably designed as a jaw part, in particular a jaw clamp, forceps, intestinal forceps, scissors, a needle holder, a probe hook or a similar surgical tool.
  • FIG. 2a to FIG. 2c a perspective view of a tool of the medical instrument according to FIG.
  • FIG. 3a to FIG. 3c a perspective view of the known tool from FIG.
  • FIG. 4 shows a preferred embodiment of the foot control unit according to the invention.
  • FIG. 1 shows a medical system 1000 with a medical instrument 12 which can be operated using an input unit 10 according to the invention designed as a black box.
  • the medical instrument 12 has a hollow shaft 14, which on the proximal side or on a proximal end 30 includes a control unit 18, also shown only as a black box, and on the distal side or on a distal end 32, a tool 16, the tool 16 is in operative connection with the control unit 18 via steering wires 20 .
  • the control unit 18 enables an endless rotational drive of the tool 16 shown in the figure, which is pivoted by 90°.
  • the tool 16 is a tool 16 provided with jaw elements 34, in particular a jaw part 17, the jaw elements 34 also being adjustable via the control unit 18 in the manner of pliers between an open state and a closed state.
  • the tool 16 can be swiveled relative to the longitudinal axis L of the shank 14 via a joint mechanism 36, the joint mechanism 36 being formed by swivel members 38 arranged at the distal end 32 of the shank 14, which are connected via steering wires 20 running in the longitudinal direction L of the shank 14 are connected to a drive 40 (not shown in the figure) arranged at the proximal end 30 of the shaft 14, such that a movement of the drive 40 on the proximal side and a corresponding relative movement of the pivoting members 38 on the distal side cause the tool 16 to pivot.
  • a corresponding drive 40 is known, for example, from the already mentioned DE 102019 121 092 A1 of the applicant.
  • the steering wires 20 are connected on the proximal side to a disk, not shown in the figure, which can be spatially pivoted and rotated by means of the drives 40 .
  • the pivoting of the disc causes the steering wires 20 to partially stretch along the longitudinal axis L of the shaft 14 and that the tool 16, which extends in a z-direction of a Cartesian coordinate system, pivots proportionately about the spatial axes x, y of the Cartesian coordinate system by means of the joint mechanism 36 permit.
  • the pivoting movements ⁇ x , ⁇ about the spatial axes x, y thus allow the tool 16 to be spatially aligned.
  • the tool 16 can also be rotated permanently or endlessly relative to the control unit 18 .
  • the tool 16 can also be adjusted along the longitudinal axis L by the steering wires 20 at the same time for permanent rotation about the longitudinal axis L.
  • the spatial orientation of the tool 16 can be compensated for during the permanent rotation of the shank 14, with the tool 16 rotating about its axis of extension E with a rotational movement ⁇ E. If the tool 16 is in a non-pivoted state, the axis of extension E of the tool 16 corresponds to the longitudinal axis L of the shaft 14, ie it extends in the z-direction of the Cartesian coordinate system.
  • FIG. 2a to FIG. 2c to illustrate the functioning of the first input means 22 of the input unit 10 according to the invention, the active principle when converting an ergonomic user input by an operator into a manipulation of the tool 16 designed as a jaw part 17 is shown schematically.
  • FIG. 2a the input unit 10 and the jaw part 17 are shown in a rest position or a basic position, each with markings 42 to clarify the alignment.
  • the first input means 22 are designed as a tangible cylinder which is in operative contact with the control unit 18 (not shown) by means of a cardanic suspension (not shown).
  • the ergonomic user input is limited to a rotation of the jaw part 17 about its axis of extension E in the first handling mode.
  • the rotational movement w z of the first input means 22 and the rotational movement ⁇ E of the tool 16 are designed to be rotationally accurate to one another, ie they have the same angular speeds in terms of amount.
  • the first input means 22 were rotated counterclockwise by a first angular range XI, with this rotational movement being transmitted to the jaw part 17 at the correct angle. Furthermore, the first input means 22 were then rotated clockwise from the position shown in FIG. 2b by a second angular range X2 with reference to FIG.
  • the operator's hand always remains in contact with the first input means 22, so there should be no changing of the grip or brief interruption in the first handling mode, since continuous and preferably uninterrupted imaging of the data entered in the first input means 22 introduced rotational movement w z - is to be realized in the rotational movement ⁇ E of the jaw part 17.
  • An operator thus has continuous and uninterrupted control over the adjustment movement of the tool 16, in particular in order to carry out precisely complex minimally inva- to be able to carry out sive interventions and / or medical operations in a sensitive environment.
  • the range of rotation is limited to a maximum angle of rotation of about ⁇ 90° around the resting position and thus a total of about 180° around the resting or basic position.
  • the tool 16 in addition to the control of the tool 16 in the first handling mode, the tool 16 is also controlled via the second input means 24 in the second handling mode.
  • the second input means 24 are formed by the identical tangible cylinder in order to realize the control of the tool 16 both in the first handling mode and in the second handling mode.
  • FIG. 3a as in FIG. 2b, the first input means 22 and thus also the second input means 24 are shown rotated counterclockwise from the basic position of FIG 17 was displayed true to rotation and caused a corresponding rotation. The tool was thus controlled in the first handling mode.
  • the cylinder was rotated by a further user movement around the third angular range X3, which is larger than the first angular range XI, as a result of which the second input means 24 were guided to an end stop 44, in which an endless rotational movement of the jaw part was activated 17 is coming.
  • the jaw part 17 thus rotates endlessly about its axis of extension E as a result of the additional user input 21.
  • the endless rotation of the tool 16 is interrupted again by returning the second input means 24 to the basic position according to FIG. 3c.
  • the tool 16 does not follow the movement of the second input means 24 back into the basic position, so that the position of the markings 42 of the tool 16 and the input unit 10 can be adjusted relative to one another.
  • the further user input is, however, still uninterruptedly linked to the rotational movement ⁇ E of the tool 16 in order to always ensure complete control over the tool movement.
  • the ergonomically operable range of rotation is expanded as desired from approximately ⁇ 90° to the rest position or basic position by the second input means 24 without the operator losing control of the jaw part 17 in the process.
  • FIG. 4 shows a preferred embodiment of the second input means 24 planned within the scope of the present input unit 10 according to the invention, which are formed by a foot control unit 400 according to the invention.
  • the foot control unit 400 comprises a rotating element 402 mounted so as to be rotatable about a rotation axis RI, which can be operated by a foot of the operator, i.e. can be rotated, in order to enable the further user input to be detected and thus to rotate the tool 16 (not shown in the figures) endlessly about its axis of extension .
  • the rotating element 402 is in the form of a cylindrical rolling element 403 which has a length of approximately 15 cm.
  • the outer surface of the cylindrical rolling element 403 is covered with an outer layer 420 made of an elastomer material, which has a corrugated or roughened surface 424 .
  • the foot control unit 400 comprises a wedge-shaped housing unit 414 which has a slanted upper side 416, the slanted upper side 416 enclosing an opening from which the cylindrical rolling element 403 protrudes in some areas in the radial direction RadR.
  • the foot control unit 400 is advantageously set down on a surface in an operating state 418 of the foot control unit 400, with the cylindrical rolling element 403 being aligned in such a way that it can be operated by an operator with the ball of foot pivoting about the parked heel of the foot in order to start the rotational movements in the Introduce rolling element 403.
  • the slanted top 416 includes a designation 422 formed from directional arrows and letters, which symbolizes the direction of rotation of the rolling element 403 for the selection of the direction of rotation of the tool 16 .
  • the rolling element 403 When operating the foot control unit 400, the rolling element 403 must be rotated according to the marking 422 to the left to control a left rotary movement of the tool 16 and to the right to control a right rotary movement of the tool 16. In order to control several full revolutions, the roller-like rolling element 403 has to be passed over several times.
  • a technical implementation can also be implemented in which the rolling element 403 can be rotated from a rest position 404 shown in the figure into a right or first setting position 406, with a permanent rotational movement of the tool 16 in the right direction in this setting position 406 can be activated.
  • a purely schematic first pressure switch 410 is provided for this purpose, which can be activated by the rolling element 403 in the right setting position 406 . To end the rotational movement of the tool 16, the rolling element 403 must be moved back into the rest position 404 shown in the figure.
  • the rolling element 403 can also be rotated from the rest position 404 into a left or second setting position 408 in order to actuate a further pressure switch 412 (not shown in detail) in order to activate a corresponding direction of rotation in the left direction.
  • the control of the second handling mode can thus be implemented intuitively, with the proposed foot control unit 400 also being optimally retrofittable in order to retrofit generic input units 10 for controlling the tool 16 in the first handling mode for the additional control of the tool 16 in the second handling mode.
  • the invention relates to an input unit 10 for operating a medical instrument 12 with a hollow shaft 14 extending along a longitudinal axis L for receiving guide wires 20, with a tool 16 arranged on the distal side of the shaft 14 and formed along an axis E and a control unit 18 arranged proximally on the shaft 14 for manipulating the tool 16 by means of the steering wires 20, comprising first input means 22 for the continuous, pivoting and/or rotation-accurate, preferably uninterrupted and/or absolute, implementation of an ergono - mixed limited user input 25, in particular a natural user movement of movable first operating means, in an adjustment movement of the tool 16 in a A first handling mode 26 in order to pivot the tool 16 by means of the control unit 18 relative to the longitudinal axis L to a limited extent and/or to rotate it about the axis of extension E to a limited extent.

Landscapes

  • Health & Medical Sciences (AREA)
  • Surgery (AREA)
  • Engineering & Computer Science (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Biomedical Technology (AREA)
  • Robotics (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Medical Informatics (AREA)
  • Molecular Biology (AREA)
  • Animal Behavior & Ethology (AREA)
  • General Health & Medical Sciences (AREA)
  • Public Health (AREA)
  • Veterinary Medicine (AREA)
  • Manipulator (AREA)

Abstract

L'invention concerne une unité d'entrée (10) pour actionner un instrument médical (12) comprenant une tige (14) creuse s'étendant le long d'un axe longitudinal (L) et destinée à recevoir des fils de guidage (20), un outil (16) placé côté distal sur la tige (14) et s'étendant le long d'un axe d'extension (E), ainsi qu'une unité de commande (18) placée côté proximal sur la tige (14) et destinée à manipuler l'outil (16) au moyen des fils de guidage (20). L'unité d'entrée (10) comprend des premiers moyens d'entrée (22) permettant de convertir de manière continue, conformément à un pivotement et/ou une rotation, de préférence de façon ininterrompue et/ou absolue une entrée d'utilisateur (25) limitée ergonomiquement, en particulier un mouvement naturel de l'utilisateur au niveau de premiers moyens de commande mobiles, en un mouvement de réglage de l'outil (16) dans un premier mode de manipulation (26) afin de faire pivoter l'outil (16) de manière limitée par rapport à l'axe longitudinal (L) et/ou de le faire tourner de manière limitée autour de l'axe d'extension (E) au moyen de l'unité de commande (18).
EP22758153.5A 2021-07-28 2022-07-25 Unité d'entrée pour un instrument médical et système médical équipé d'une unité d'entrée Pending EP4376751A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102021119629.9A DE102021119629B3 (de) 2021-07-28 2021-07-28 Eingabeeinheit für ein medizinisches Instrument sowie medizinisches System mit einer Eingabeeinheit
PCT/EP2022/070829 WO2023006682A1 (fr) 2021-07-28 2022-07-25 Unité d'entrée pour un instrument médical et système médical équipé d'une unité d'entrée

Publications (1)

Publication Number Publication Date
EP4376751A1 true EP4376751A1 (fr) 2024-06-05

Family

ID=83049790

Family Applications (1)

Application Number Title Priority Date Filing Date
EP22758153.5A Pending EP4376751A1 (fr) 2021-07-28 2022-07-25 Unité d'entrée pour un instrument médical et système médical équipé d'une unité d'entrée

Country Status (3)

Country Link
EP (1) EP4376751A1 (fr)
DE (1) DE102021119629B3 (fr)
WO (1) WO2023006682A1 (fr)

Families Citing this family (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102021119613A1 (de) * 2021-07-28 2023-02-02 Karl Storz Se & Co. Kg Eingabeeinheit für ein medizinisches Instrument sowie medizinisches System mit einer Eingabeeinheit

Family Cites Families (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5454827A (en) 1994-05-24 1995-10-03 Aust; Gilbert M. Surgical instrument
DE102004010205B3 (de) 2004-03-02 2005-10-20 Siemens Ag Bedienelement, insbesondere zur Steuerung eines medizinischen Systems
JP5258284B2 (ja) * 2007-12-28 2013-08-07 テルモ株式会社 医療用マニピュレータ及び医療用ロボットシステム
US8423182B2 (en) * 2009-03-09 2013-04-16 Intuitive Surgical Operations, Inc. Adaptable integrated energy control system for electrosurgical tools in robotic surgical systems
DE102013004692B4 (de) 2013-03-19 2024-02-01 Abb Schweiz Ag 3D-Eingabegerät mit einem zusätzlichen Drehregler
US10368955B2 (en) * 2017-03-31 2019-08-06 Johnson & Johnson Innovation-Jjdc, Inc. Multi-functional foot pedal assembly for controlling a robotic surgical system
US11191596B2 (en) 2017-11-15 2021-12-07 Intuitive Surgical Operations, Inc. Foot controller
US10835334B2 (en) * 2018-02-05 2020-11-17 Meerecompany Inc. Master console for surgical robot
DE102019121092A1 (de) 2019-08-05 2021-02-11 Karl Storz Se & Co. Kg Medizinisches instrument

Also Published As

Publication number Publication date
DE102021119629B3 (de) 2023-02-02
WO2023006682A1 (fr) 2023-02-02

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