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WO2003017858A1 - Unité de support et de transport d'endoscope - Google Patents

Unité de support et de transport d'endoscope Download PDF

Info

Publication number
WO2003017858A1
WO2003017858A1 PCT/EP2002/007809 EP0207809W WO03017858A1 WO 2003017858 A1 WO2003017858 A1 WO 2003017858A1 EP 0207809 W EP0207809 W EP 0207809W WO 03017858 A1 WO03017858 A1 WO 03017858A1
Authority
WO
WIPO (PCT)
Prior art keywords
endoscope
drive sleeve
shaft
transport unit
housing
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/EP2002/007809
Other languages
German (de)
English (en)
Inventor
Manfred Selig
Rudolf Ullrich
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
Forschungszentrum 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 Forschungszentrum Karlsruhe GmbH filed Critical Forschungszentrum Karlsruhe GmbH
Publication of WO2003017858A1 publication Critical patent/WO2003017858A1/fr
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

Links

Classifications

    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
    • A61B1/00147—Holding or positioning arrangements
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
    • A61B90/50—Supports for surgical instruments, e.g. articulated arms
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
    • A61B1/00147—Holding or positioning arrangements
    • A61B1/0016—Holding or positioning arrangements using motor drive units

Definitions

  • the present invention relates to an endoscope holding and transport unit as a component of an endoscope guide system for holding, guiding and for rotating and transversely and transversely moving a shaft of an endoscope or surgical instrument, preferably for use in minimally invasive surgery according to the first claim.
  • the surgeon visually monitors the intervention using endoscopes, which are introduced into the patient's body via an incision.
  • endoscopes which are introduced into the patient's body via an incision.
  • the endoscopes inserted into the patient's body, as well as other instruments, are held by a surgical assistant and positioned and moved at the request of the interventional surgeon.
  • One component of such an endoscope guide system is the endoscope holding and transport unit.
  • the endoscope is held, guided and, depending on the concept, moved together with certain components of the endoscope holding and transport unit.
  • DE 196 09 034 C2 describes, by way of example, a possible endoscope guide concept in which the endoscope is firmly clamped in a holder and, together with it, in a ner slide guide is moved laterally around the endoscope axis by motor or manually.
  • the endoscope guide only serves as a passive holder for the endoscope, the required movements on the part of the endoscope guide system, in the exemplary embodiment cited, being able to be implemented by a robot arm.
  • motor-driven endoscope holding and transport units in which an endoscope inserted into the endoscope holding and transport unit can be moved transversely and rotationally about its longitudinal axis without a holder that moves with the endoscope and without a separate slide guide or guideway, are not known.
  • the object of the present invention is therefore to propose an endoscope holding and transport unit described in the introduction, in which the drive units act frictionally directly on the cylindrical endoscope shaft when the endoscope is moved in the endoscope holding and transport unit.
  • the endoscope is moved laterally or rotated without moving the endoscope holding and transport unit in the endoscope holding system. Only the endoscope is thus moved, while the endoscope holding and transport unit and the endoscope holding system remain stationary. This means that all movements take place in a particularly advantageous manner in the immediate field of vision of the intervening surgeon, which not only keeps his working area intact, but also does not distract the surgeon from movements in the entire endoscope holding system during the procedure.
  • the endoscope holding and transport unit can also be used for all surgical instruments that have an instrument shaft that is suitable as a guide.
  • the invention proposes the features set out in claim 1. Further advantageous features which further develop the invention can be seen in the characterizing parts of the subclaims.
  • FIGS. 1 to 7 represent a possible embodiment of the endoscope holding and transport unit. Show it:
  • the endoscope holding and transport unit consists of a tubular housing 1 with the separately attached upper and lower end pieces 2 and 3, in which a split (see FIG. 1) or undivided drive sleeve 4 that can be rotated coaxially in the housing with two bolts 5 and 6 protruding into the interior of the drive sleeve, the two bolts 5 positively engaging in one groove 7 of the upper feed sleeve 8 and the two bolts 6 positively engaging in one groove 9 of the lower feed sleeve 10.
  • the two feed sleeves 8 and 10 are each inserted coaxially to the housing 1 in the drive sleeve, each have a central bore as a bearing for the endoscope shaft 11.
  • the upper and lower feed sleeves 8 and 10 are also coupled to one another with a connecting pin 12 in such a way that they can be moved away from or towards one another on the endoscope shaft 11, but cannot rotate relative to one another about the endoscope shaft 11.
  • the upper feed sleeve 8 and also the lower feed sleeve 10 can also be secured against an undesired rotational movement in the housing 1 by one or more inserted coupling pins 13, which are firmly inserted into a ring gear 18 and can be positively inserted into the upper end piece 2.
  • the rotary movement of the drive sleeve 4 is motor-controlled by a drive unit, not shown in FIG. 1 (see FIG. 4), namely driven by a gear 21 for the undivided drive sleeve 4 or, as shown in FIGS. 1 to 3, by two gear wheels 21 when using a split drive sleeve 4.
  • the gears engage from outside through recesses in the housing 1 in a corresponding end toothing on the outer surface of the drive sleeve 4.
  • the coupling pin 13 is firmly inserted into a plate gear 18 which, with reference to FIG. 1, can be moved up or down by means of a circumferential groove 19 with a fork (not shown). If the ring gear 18 is pushed downward, the ring gear 18 engages positively via a toothing 20 in the end face of the drive sleeve 4 and couples the rotary rotary movements of the feed sleeves 8 and 10 with the drive sleeve 4 via pins 12 and 13 pushed the ring gear 18 upwards, the positive connection between ring gear 18 and drive sleeve 4 is released. On the other hand, the coupling pin 13 is positively inserted by the ring gear 18 into a recess in the upper cover 2, whereby the feed sleeves 8 and 10 via the pins 12 and 13 is arranged against rotation in the housing.
  • the groove 7 is always arranged opposite to the curve of the groove 9, which is always guaranteed by the coupling of the feed sleeves 8 and 10 via the connecting pin 12.
  • the feed sleeves 8 and 10 are cyclically pushed back and forth on the end occipital shaft 11 in the event of a blocking of the rotational movements by the pins 12 and 13, ie cyclically pushed against and pushed against each other.
  • each of these clamping devices consists of a clamping jaw, which is pushed over elevations on the inner surface of the drive sleeve by a relative rotation of the drive sleeve 4 to the clamping device 16 or 17. In this way, the clamping jaw is pressed onto the O-ring underneath and onto the endoscope shaft 11, with which it is secured against slipping in the respective feed sleeve.
  • the elevations on the inner surface of the drive sleeve 4 are arranged such that exactly one of the two clamping devices 16 and 17 is always pressed in in any relative angular position of the drive sleeve relative to the feed sleeves 8 and 10.
  • a transition of the activation from one to the other clamping device 16 or 17 takes place when the bolts 5 and 6 engage in horizontal regions of the grooves 7 and 9 with reference to FIG. 1.
  • Each clamp is active over half a phase of the cyclically running grooves 7 and 9, ie in each case via a transition from the top and bottom dead center of the cyclic course.
  • the endoscope or surgical instrument is always replaced by pulling out the endoscope shaft against the friction of an O-ring pressed onto the endoscope shaft via a clamping device.
  • the two drive sleeve parts can be rotated relative to one another with the purpose of deactivating both clamping devices 16 and 17, so that the endoscope shaft 11 can be pulled out of the feed sleeves 8 and 10 with little friction.
  • the upper and lower end pieces can each be provided with a wiper ring, through which the endoscope shaft is pushed and cleaned with the O-rings before reaching the feed sleeves (not shown in the figures).
  • FIG. 2 a to d show the movement sequence in the endoscope holding and transport unit during a lateral displacement of the endoscope shaft 11 in the endoscope holding and transport unit on the basis of sectional drawings, which correspond in the detail shown in FIG. 1. They also show the same components mentioned above.
  • FIG. 2 a specifies the point in time at which the two feed sleeves 8 and 10 were just pushed apart by the bolts 5 and 6 running in the grooves 7 and 9, while the endoscope shaft 11 was carried along by the clamping device 17 with the feed sleeve 10.
  • the associated directions of movement are highlighted in FIG. 2a, as in the following figures, by arrows.
  • FIG. 2 d The fourth sub-cycle of the translatory feed movement of the endoscope shaft 11 is shown in FIG. 2 d.
  • Feed sleeves and the endoscope shaft do not move and the bolts 5 and 6 are located in the region of the dead center of the cyclical curve profile of the grooves 7 and 9, so that the two feed sleeves are pushed together.
  • the upper clamping device 16 is released again and the lower clamping device 17 is tightened again.
  • the elevations on the inner surface of the drive sleeve 4 are also coordinated here in such a way that the clamping device 16 is released simultaneously with the clamping of the clamping device 17. From this position, the feed sleeves 8 and 10 are separated again by turning the drive sleeve 4 further. pushed as already explained with reference to FIG. 2a.
  • FIGS. 1 and 2 a to d show, using sectional drawings, which correspond to FIGS. 1 and 2 a to d in the detail shown, the endoscope holding and transport unit during a rotational rotary movement of the endoscope shaft 11 in the endoscope holding and transport unit.
  • the disk gear wheel 18 is shifted downward with reference to FIGS. 3 a and b, so that the pin 13 is pulled out of the recess in the upper end piece 2 and that Plate gear 18 is pushed onto the upper end face of the drive sleeve 4 and connected in a form-fitting manner via the toothing 20.
  • drive sleeve 4 and the feed sleeves 8 and 10 are now coupled to one another, whereby, as described above, it is always ensured by construction that one of the two clamping devices 16 and 17 is tensioned and the endoscope shaft 11 is frictionally fixed in one of the two feed sleeves 8 and 10 , This switching can take place in any relative angular position of the drive sleeve 4 to the feed sleeves 8 and 10, both with feed sleeves pushed together (FIG. 3 a) and with feed sleeves pushed apart (FIG. 3 b).
  • FIG. 4 shows the side view of the endoscope holding and transport unit installed in a holder 22 and passively mounted via the bearings 23.
  • the preferably electric or pneumatic drives 24 for the drive sleeve 4 as well as the pneumatic switch 28, which has two pressure bellows acting against each other, are firmly attached to the housing 1 and pivot with the endoscope holding and transport unit.
  • a fork 25 is controlled via the pneumatic switch 28, which is controlled via two flexible control lines 29.
  • the fork 25 is rotatably mounted on a fixed bearing 27 and transmits the movements of the switch 28 via an engagement 26 through a recess in the housing 1 to the ring gear 18.
  • electromagnetic or mechanical switching devices are also suitable.

Landscapes

  • Health & Medical Sciences (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Surgery (AREA)
  • General Health & Medical Sciences (AREA)
  • Public Health (AREA)
  • Veterinary Medicine (AREA)
  • Pathology (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
  • Animal Behavior & Ethology (AREA)
  • Engineering & Computer Science (AREA)
  • Biomedical Technology (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Medical Informatics (AREA)
  • Molecular Biology (AREA)
  • Biophysics (AREA)
  • Physics & Mathematics (AREA)
  • Radiology & Medical Imaging (AREA)
  • Optics & Photonics (AREA)
  • Oral & Maxillofacial Surgery (AREA)
  • Endoscopes (AREA)

Abstract

L'invention concerne une unité de support et de transport d'endoscope servant à soutenir, à guider et à appliquer des mouvements rotatifs et transversaux au tube d'un endoscope ou d'un instrument chirurgical. Cette unité est constituée des éléments suivants : un boîtier ; une tige d'entraînement à commande, montée pivotante dans le boîtier et dotée d'axes internes, d'élévations et d'une denture frontale; deux tiges d'avance insérées l'une derrière l'autre dans la tige d'entraînement, chacune d'elles comportant une gorge pour guider les axes. Cette gorge, à révolution externe par cycles, décrit un mouvement opposé et synchronisé avec celui de la gorge de l'autre tige d'avance et elle est reliée à cette dernière par une broche d'entraînement et à une roue dentée circulaire par une broche d'accouplement. Cette roue dentée circulaire est mobile entre une position d'engrenage avec la tige d'entraînement et une position où la broche d'accouplement est poussée dans le boîtier. Ladite unité comporte également, par tige d'avance, un dispositif de serrage agissant sur le tube de l'endoscope, ces dispositifs étant activés par les élévations de la tige d'entraînement et un de ces dispositifs étant toujours activé dans chaque position.
PCT/EP2002/007809 2001-08-23 2002-07-13 Unité de support et de transport d'endoscope Ceased WO2003017858A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE10141226A DE10141226C1 (de) 2001-08-23 2001-08-23 Endoskophalte-und Transporteinheit
DE10141226.6 2001-08-23

Publications (1)

Publication Number Publication Date
WO2003017858A1 true WO2003017858A1 (fr) 2003-03-06

Family

ID=7696297

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/EP2002/007809 Ceased WO2003017858A1 (fr) 2001-08-23 2002-07-13 Unité de support et de transport d'endoscope

Country Status (2)

Country Link
DE (1) DE10141226C1 (fr)
WO (1) WO2003017858A1 (fr)

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2009130444A1 (fr) * 2008-04-22 2009-10-29 Oliver Crispin Robotics Limited Robot avec appareil de déploiement pour un bras comprenant une pluralité de liaisons
CN106943662A (zh) * 2017-04-28 2017-07-14 合肥美亚光电技术股份有限公司 一种用于介入手术的微型驱动装置
CN115251799A (zh) * 2021-04-29 2022-11-01 苏州欧畅医疗科技有限公司 一种内窥镜用介入装置

Families Citing this family (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102012206413A1 (de) 2012-04-18 2013-10-24 Karl Storz Gmbh & Co. Kg Rotationsvorrichtung und Verfahren zum Rotieren eines Endoskops

Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE19609034A1 (de) * 1995-03-10 1996-09-12 Karlsruhe Forschzent Vorrichtung zur Führung chirurgischer Instrumente für die endoskopische Chirurgie
US5779623A (en) * 1993-10-08 1998-07-14 Leonard Medical, Inc. Positioner for medical instruments

Family Cites Families (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5524180A (en) * 1992-08-10 1996-06-04 Computer Motion, Inc. Automated endoscope system for optimal positioning
US5623582A (en) * 1994-07-14 1997-04-22 Immersion Human Interface Corporation Computer interface or control input device for laparoscopic surgical instrument and other elongated mechanical objects
DE19926423B4 (de) * 1999-06-10 2004-07-29 Aesculap Ag & Co. Kg Verstellbare Halterung für ein chirurgisches Instrument

Patent Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5779623A (en) * 1993-10-08 1998-07-14 Leonard Medical, Inc. Positioner for medical instruments
DE19609034A1 (de) * 1995-03-10 1996-09-12 Karlsruhe Forschzent Vorrichtung zur Führung chirurgischer Instrumente für die endoskopische Chirurgie

Cited By (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2009130444A1 (fr) * 2008-04-22 2009-10-29 Oliver Crispin Robotics Limited Robot avec appareil de déploiement pour un bras comprenant une pluralité de liaisons
US8635928B2 (en) 2008-04-22 2014-01-28 Oliver Crispin Robotics Limtied Robot with a deployment apparatus for an arm comprising a plurality of links
CN106943662A (zh) * 2017-04-28 2017-07-14 合肥美亚光电技术股份有限公司 一种用于介入手术的微型驱动装置
CN106943662B (zh) * 2017-04-28 2023-04-07 合肥美亚光电技术股份有限公司 一种用于介入手术的微型驱动装置
CN115251799A (zh) * 2021-04-29 2022-11-01 苏州欧畅医疗科技有限公司 一种内窥镜用介入装置

Also Published As

Publication number Publication date
DE10141226C1 (de) 2003-04-03

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