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WO1994017965A1 - Mecanisme articule modulaire miniaturise pouvant pivoter de maniere symetrique dans un plan, destine a des applications medicales - Google Patents

Mecanisme articule modulaire miniaturise pouvant pivoter de maniere symetrique dans un plan, destine a des applications medicales Download PDF

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Publication number
WO1994017965A1
WO1994017965A1 PCT/EP1994/000170 EP9400170W WO9417965A1 WO 1994017965 A1 WO1994017965 A1 WO 1994017965A1 EP 9400170 W EP9400170 W EP 9400170W WO 9417965 A1 WO9417965 A1 WO 9417965A1
Authority
WO
WIPO (PCT)
Prior art keywords
transmission
partial
mechanism according
articulated
carrier device
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.)
Ceased
Application number
PCT/EP1994/000170
Other languages
German (de)
English (en)
Inventor
Jörg MÜGLITZ
Günter KUNAD
Peter Dautzenberg
Bernhard Neisius
Rainer Trapp
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.)
Karlsruher Institut fuer Technologie KIT
Original Assignee
Kernforschungszentrum Karlsruhe GmbH
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 Kernforschungszentrum Karlsruhe GmbH filed Critical Kernforschungszentrum Karlsruhe GmbH
Publication of WO1994017965A1 publication Critical patent/WO1994017965A1/fr
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J18/00—Arms
    • B25J18/06—Arms flexible
    • 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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/06—Programme-controlled manipulators characterised by multi-articulated arms
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/08—Programme-controlled manipulators characterised by modular constructions

Definitions

  • Modular, miniaturized articulated mechanism that can be pivoted symmetrically in one plane for use in medicine
  • the invention relates to a multi-link articulated mechanism which is coupled to a carrier device and which can be pivoted symmetrically in one plane and which consists of a plurality of partial transmissions coupled one behind the other.
  • the first of these is mounted on the carrier device.
  • a tool can be placed on the last, far sub-transmission, which can be operated via a drive device passing through the sub-transmission.
  • the articulated mechanism is intended for working in rooms that are not directly or difficult to access, in which obstacles have to be avoided or may not be touched and in which a certain amount of force has to be used.
  • the attached tool is driven through the carrier device and the joint mechanism.
  • a cantilever arm for a handling device which consists of more than three links articulated to one another to form a link chain.
  • a single drive element is used to change the shape of the cantilever arm, by means of which movement is initiated into the cantilever arm by a base body.
  • the adjusting elements are rods, each of which overlaps the link after the link in the link chain.
  • the adjusting elements are gearwheels and / or gearwheel segments, via which the link chain is pivoted.
  • the object on which the invention is based is to provide an articulated mechanism seated on a carrier device which can be pivoted symmetrically back and forth in a plane and about an elongated orientation, which can be held sufficiently stiffly in any pivoted-in position and over which it can be pivoted can be manipulated at its distal end while maintaining the position with a certain amount of force.
  • the outer mechanism of the joint mechanism and the carrier device carrying it should also be sufficiently small and slim so that they can be used as an instrument or instrument carrier in minimally invasive surgery.
  • the two components of a partial transmission can be manufactured so small and true to size using modern manufacturing methods that the joint mechanism can be pivoted with little play in one plane.
  • the swivel range lies in this plane symmetrical to the straight alignment of the joint mechanism.
  • the partial transmissions are mutually interchangeable. Their constructive design is such that costly adjustment work is no longer necessary when opposing each other. Furthermore, in the coupling areas of the joints, the structural design eliminates the need for pivot pins, which minimizes play remains reduced.
  • the swiveling range can easily be expanded or reduced by the number of coupled partial transmissions.
  • Figure 1 the coupled at the end of the carrier device
  • Figure 2 two successive, disassembled sub-transmission
  • Figure 3 Representation of the symmetrical pivoting range of the joint mechanism
  • Figure 4 pivoting a partial joint and an immediately adjacent one in the coordinate system.
  • FIG. 1 shows the articulated mechanism 2 coupled to the carrier device 1 together with the attached instrument 3, which is indicated as a gripper.
  • the perspective view shows the inevitability of the partial transmissions coupled in series.
  • the rocker 5 of the first subgear 4 is rigidly attached to the distal end of the carrier device 1 in its articulation point Ao and the coupling 6 of the first subgearbox in its articulation point Bo.
  • the rocker 5 of the first partial transmission is designed as an angle lever and is deflected by a drive device which leads through the carrier device.
  • the carrier device 1, the coupling 6 and the instrument 3 have a largest common diameter or transverse dimensions, which in any case is below or below.
  • FIG. 2 Two successive partial joints from another exemplary embodiment are shown in a disassembled representation in FIG. 2.
  • the two sub-transmissions 4 have a cylindrical envelope surface.
  • the partial transmission 4, as shown in Figure 1, consist of two functional parts, namely the rocker 5 and the coupling 6.
  • the rocker consists of two mirror-image halves 5a and 5b with the blind holes Bo and B, in the conical outgrowths 12 of the Coupling 6 engage or snap in and thus make additional pivot pins superfluous.
  • Each coupling 6 has a passage 8, which here is a cylindrical bore and passes between the axes Bo and B. Through this, additional devices necessary for surgical work at the immediate operating site can lead.
  • This passage 8 or also channel 8 has at least a clear width of 20% of the diameter of the cylindrical envelope surface.
  • the halves 5a, 5b of the rocker 5 are kept at a distance via the four elevations 7 in the assembled state.
  • the halves 5a, 5b each have a peninsular bulge A which, when the rocker 5 is assembled, is snapped into the immediately adjacent rocker 5 in an indentation Ao provided therefor.
  • the bulge A forms a bearing block, around which the subsequent partial gearbox pivots. The pivoting movement of the partial gearbox is inevitable and the same here too.
  • FIG. 3 shows an abstract representation of the symmetrical swivel range of the joint mechanism 2, which here consists of four there are coupled sub-transmissions.
  • a partial transmission 4 consists of two parts:
  • the first partial transmission 4 can be pivoted about its hinge axis Ao or the pivoting root 11 on the carrier device 1. This is not indicated here.
  • the neutral fiber in the form of the polygon Ao-A, Ao-A, Ao-A, ... starts from the swivel root 11. In the stretched orientation, it becomes a straight line 10, which maintains its entire length in any pivot position.
  • FIGS. 2 and 3 illustrate the modular structure of the individual partial transmissions 4, which are identical in their constructive design and in their kinematic dimensions.
  • the inevitability is achieved by designing the structure as a series connection of closed, four-part meshes Ao-Bo -B- A reached. With a drive, starting at the root or the most distant sub-transmission 4, the pivoting is carried out in the plane.
  • the number of coupled partial transmissions 4 determines the swivel range.
  • FIG. 4 The abstracted structure of a partial transmission 4 is shown in FIG. 4.
  • An associated coordinate system has its origin at point Ao.
  • the neutral fiber Ao-A is deflected counterclockwise by the angle phi against the abscissa.
  • the pivoting is effected by acting on the coupling 6 at point Bo or by acting on the rocker 5 at point Ao. This results in the angular relationship between two immediately adjacent sub-transmissions:
  • a joint mechanism 2 can be realized which, in the stretched orientation, has a cylindrical envelope contour which can be kept small enough so that it can be used in minimally invasive surgery (MIC) is.
  • the structure is modular, i.e. with little effort, the number of sub-transmissions of the mechanism by the user, e.g. B. by the surgeon, quickly and arbitrarily enlarge or reduce.
  • the pivoting range of the articulated mechanism is easily predeterminable and in any case symmetrical to the stretched orientation.
  • the articulation mechanism can be driven in two different ways:
  • the drive movement takes place by articulating a pull rod on a transmission link connected to the carrier device (FIG. 1), whereby the pivoting is initiated on the first rocker arm or on the first coupling.
  • a cable or band or the like is attached to the farthest sub-transmission with its one end and is guided along the hinge mechanism to the carrier device, deflected around a drive device there and then returned along the hinge mechanism to the farthest sub-transmission, where it has its other end is also anchored.
  • the swiveling of the most distant sub-transmission is initiated.
  • the inevitability of the partial swivels of the partial transmissions is predetermined by their construction, which also results in the quotient of the respective swivel angles psi and phi.
  • Further drive devices for operating the instrument attached to the last partial transmission can run along the mutually coupling neutral fiber parts inside or laterally along the joint mechanism.
  • the area of application of the articulated mechanism placed on the carrier device is not restricted to surgery alone. Possible applications are in handling technology or robot technology. For this purpose, only a modification or a corresponding dimensioning would have to be made for the intended application.

Landscapes

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

Abstract

L'invention concerne un mécanisme articulé (2) modulaire miniaturisé pouvant pivoter de manière symétrique dans un plan, qui est destiné à des applications médicales. Ce mécanisme permet à la fois de contourner des obstacles et d'assurer une maniabilité permettant de développer une force conséquente. Ce mécanisme se compose de plusieurs articulations partielles (4) successives. Les articulations partielles se composent de deux éléments (5, 6): une partie oscillante (5) et un élément d'accouplement (6). Les articulations partielles du mécanisme articulé sont à accouplement forcé. La position de pivotement adoptée peut être maintenue sous une charge. Cette forme de construction très petite permet d'utiliser le mécanisme articulé dans une chirurgie très peu invasive.
PCT/EP1994/000170 1993-02-05 1994-01-22 Mecanisme articule modulaire miniaturise pouvant pivoter de maniere symetrique dans un plan, destine a des applications medicales Ceased WO1994017965A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE4303311A DE4303311A1 (de) 1993-02-05 1993-02-05 Modularer, in einer Ebene symmetrisch schwenkbarer, miniaturisierter Gelenkmechanismus für die Anwendung in der Medizin
DEP4303311.3 1993-02-05

Publications (1)

Publication Number Publication Date
WO1994017965A1 true WO1994017965A1 (fr) 1994-08-18

Family

ID=6479705

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/EP1994/000170 Ceased WO1994017965A1 (fr) 1993-02-05 1994-01-22 Mecanisme articule modulaire miniaturise pouvant pivoter de maniere symetrique dans un plan, destine a des applications medicales

Country Status (2)

Country Link
DE (1) DE4303311A1 (fr)
WO (1) WO1994017965A1 (fr)

Cited By (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US7147650B2 (en) 2003-10-30 2006-12-12 Woojin Lee Surgical instrument
US7338513B2 (en) 2003-10-30 2008-03-04 Cambridge Endoscopic Devices, Inc. Surgical instrument
US7615067B2 (en) 2006-06-05 2009-11-10 Cambridge Endoscopic Devices, Inc. Surgical instrument
US7842028B2 (en) 2005-04-14 2010-11-30 Cambridge Endoscopic Devices, Inc. Surgical instrument guide device
DE102011107510A1 (de) 2011-07-15 2013-01-17 Deutsches Zentrum für Luft- und Raumfahrt e.V. Modularer Mehrgelenkmechanismus
DE102012220666A1 (de) 2012-11-13 2014-05-15 Deutsches Zentrum für Luft- und Raumfahrt e.V. Modularer Mehrgelenkmechanismus
US8968355B2 (en) 2008-08-04 2015-03-03 Covidien Lp Articulating surgical device
US9005238B2 (en) 2007-08-23 2015-04-14 Covidien Lp Endoscopic surgical devices
US9168050B1 (en) 2011-03-24 2015-10-27 Cambridge Endoscopic Devices, Inc. End effector construction
DE102014224268A1 (de) 2014-11-27 2016-06-02 Deutsches Zentrum für Luft- und Raumfahrt e.V. Endoskopisches Instrument

Families Citing this family (25)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE19638801C2 (de) * 1996-09-20 2000-03-23 Joerg Mueglitz Führungsmechanismus auf der Grundlage eines Vielgelenkes, bevorzugt für die Minimal Invasive Chirugie
ES2360680B1 (es) * 2008-08-07 2012-04-19 Francisco Andres Pepiol Espallargas Brazo poliarticulado.
WO2012020386A1 (fr) 2010-08-11 2012-02-16 Ecole Polytechnique Federale De Lausanne (Epfl) Système de positionnement mécanique pour instruments chirurgicaux
US12402960B2 (en) 2010-10-11 2025-09-02 Ecole Polytechnique Federale De Lausanne (Epfl) Mechanical manipulator for surgical instruments
EP2627278B1 (fr) 2010-10-11 2015-03-25 Ecole Polytechnique Fédérale de Lausanne (EPFL) Manipulateur mécanique destiné à des instruments chirurgicaux
JP5715304B2 (ja) 2011-07-27 2015-05-07 エコール ポリテクニーク フェデラル デ ローザンヌ （イーピーエフエル） 遠隔操作のための機械的遠隔操作装置
WO2015113933A1 (fr) 2014-02-03 2015-08-06 Distalmotion Sa Dispositif télécommandé mécanique comprenant un instrument distal interchangeable
WO2016030767A1 (fr) 2014-08-27 2016-03-03 Distalmotion Sa Système chirurgical pour techniques de microchirurgie
ES2968221T3 (es) 2014-12-19 2024-05-08 Distalmotion Sa Instrumento quirúrgico con efector final articulado
WO2016097871A1 (fr) 2014-12-19 2016-06-23 Distalmotion Sa Système d'accueil pour télémanipulateur mécanique
EP3232974B1 (fr) 2014-12-19 2018-10-24 DistalMotion SA Poignée articulée pour télémanipulateur mécanique
WO2016097861A1 (fr) 2014-12-19 2016-06-23 Distalmotion Sa Interface stérile pour instruments chirurgicaux articulés
CN107205787B (zh) 2014-12-19 2020-03-20 迪斯透莫森公司 用于微创手术的可再用手术器械
EP4484082A3 (fr) 2015-04-09 2025-03-12 Distalmotion SA Dispositif mécanique télécommandé pour télémanipulation
US10363055B2 (en) 2015-04-09 2019-07-30 Distalmotion Sa Articulated hand-held instrument
EP3340897B1 (fr) 2015-08-28 2024-10-09 DistalMotion SA Instrument chirurgical doté d'une force d'actionnement accrue
US11058503B2 (en) 2017-05-11 2021-07-13 Distalmotion Sa Translational instrument interface for surgical robot and surgical robot systems comprising the same
US12376927B2 (en) 2018-02-07 2025-08-05 Distalmotion Sa Surgical robot systems comprising robotic telemanipulators and integrated laparoscopy
AU2019218707B2 (en) 2018-02-07 2024-10-24 Distalmotion Sa Surgical robot systems comprising robotic telemanipulators and integrated laparoscopy
CN110561388A (zh) * 2019-08-30 2019-12-13 东北大学 模块化网状机器人
DE102020204683B4 (de) 2020-04-14 2022-04-14 Festo Se & Co. Kg Gelenkstruktur
CN111618893B (zh) * 2020-06-08 2021-09-28 鹏城实验室 变曲率缠绕型仿生臂和捕获设备
WO2023037273A1 (fr) 2021-09-13 2023-03-16 Distalmotion Sa Instruments pour système robotique chirurgical et interfaces pour ceux-ci
US11844585B1 (en) 2023-02-10 2023-12-19 Distalmotion Sa Surgical robotics systems and devices having a sterile restart, and methods thereof
CN118848947B (zh) * 2024-07-16 2025-09-02 中国人民解放军海军工程大学 一种适用于水下狭窄空间作业的多关节机械臂结构

Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US3580099A (en) * 1969-09-24 1971-05-25 Gen Electric Articulating mechanism
DE3135088A1 (de) * 1981-09-01 1983-03-17 Fraunhofer-Gesellschaft zur Förderung der angewandten Forschung e.V., 8000 München Auslegerarm, insbesondere fuer handhabungsgeraete
EP0116897A1 (fr) * 1983-02-12 1984-08-29 Sumitomo Electric Industries Limited Dispositif d'orientation pour gaine flexible
US4511305A (en) * 1982-01-16 1985-04-16 Meidensha Electric Mfg. Co., Ltd. Manipulator

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US3580099A (en) * 1969-09-24 1971-05-25 Gen Electric Articulating mechanism
DE3135088A1 (de) * 1981-09-01 1983-03-17 Fraunhofer-Gesellschaft zur Förderung der angewandten Forschung e.V., 8000 München Auslegerarm, insbesondere fuer handhabungsgeraete
US4511305A (en) * 1982-01-16 1985-04-16 Meidensha Electric Mfg. Co., Ltd. Manipulator
EP0116897A1 (fr) * 1983-02-12 1984-08-29 Sumitomo Electric Industries Limited Dispositif d'orientation pour gaine flexible

Cited By (18)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US7338513B2 (en) 2003-10-30 2008-03-04 Cambridge Endoscopic Devices, Inc. Surgical instrument
US7364582B2 (en) 2003-10-30 2008-04-29 Cambridge Endoscopic Devices, Inc. Surgical instrument
US7147650B2 (en) 2003-10-30 2006-12-12 Woojin Lee Surgical instrument
US7842028B2 (en) 2005-04-14 2010-11-30 Cambridge Endoscopic Devices, Inc. Surgical instrument guide device
US9427256B2 (en) 2005-07-20 2016-08-30 Cambridge Endoscopic Devices, Inc. Surgical instrument guide device
US10188372B2 (en) 2005-07-20 2019-01-29 Cambridge Endoscopic Devices, Inc. Surgical instrument guide device
US8926597B2 (en) 2005-07-20 2015-01-06 Cambridge Endoscopic Devices, Inc. Surgical instrument guide device
US7615067B2 (en) 2006-06-05 2009-11-10 Cambridge Endoscopic Devices, Inc. Surgical instrument
US9005238B2 (en) 2007-08-23 2015-04-14 Covidien Lp Endoscopic surgical devices
US8968355B2 (en) 2008-08-04 2015-03-03 Covidien Lp Articulating surgical device
US9883880B2 (en) 2008-08-04 2018-02-06 Covidien Lp Articulating surgical device
US9168050B1 (en) 2011-03-24 2015-10-27 Cambridge Endoscopic Devices, Inc. End effector construction
DE102011107510A1 (de) 2011-07-15 2013-01-17 Deutsches Zentrum für Luft- und Raumfahrt e.V. Modularer Mehrgelenkmechanismus
DE102011107510B4 (de) 2011-07-15 2022-07-14 Deutsches Zentrum für Luft- und Raumfahrt e.V. Modularer Mehrgelenkmechanismus
DE102012220666A1 (de) 2012-11-13 2014-05-15 Deutsches Zentrum für Luft- und Raumfahrt e.V. Modularer Mehrgelenkmechanismus
DE102012220666B4 (de) 2012-11-13 2021-09-02 Deutsches Zentrum für Luft- und Raumfahrt e.V. Modularer Mehrgelenkmechanismus
DE102014224268A1 (de) 2014-11-27 2016-06-02 Deutsches Zentrum für Luft- und Raumfahrt e.V. Endoskopisches Instrument
DE102014224268B4 (de) 2014-11-27 2019-05-16 Deutsches Zentrum für Luft- und Raumfahrt e.V. Endoskopisches Instrument sowie Verfahren zum Umgreifen von Strukturen

Also Published As

Publication number Publication date
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