Classifications

• • A—HUMAN NECESSITIES
  • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
  • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
  • A61B17/00—Surgical instruments, devices or methods
  • A61B17/34—Trocars; Puncturing needles
  • A61B17/3403—Needle locating or guiding means
• • 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
  • A61B17/00—Surgical instruments, devices or methods
  • A61B17/00234—Surgical instruments, devices or methods for minimally invasive surgery
• • A—HUMAN NECESSITIES
  • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
  • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
  • A61B17/00—Surgical instruments, devices or methods
  • A61B17/34—Trocars; Puncturing needles
  • A61B17/3403—Needle locating or guiding means
  • A61B2017/3405—Needle locating or guiding means using mechanical guide means
• • A—HUMAN NECESSITIES
  • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
  • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
  • A61B17/00—Surgical instruments, devices or methods
  • A61B17/34—Trocars; Puncturing needles
  • A61B17/3403—Needle locating or guiding means
  • A61B2017/3405—Needle locating or guiding means using mechanical guide means
  • A61B2017/3409—Needle locating or guiding means using mechanical guide means including needle or instrument drives
• • 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
  • A61B90/10—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 for stereotaxic surgery, e.g. frame-based stereotaxis
  • A61B90/11—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 for stereotaxic surgery, e.g. frame-based stereotaxis with guides for needles or instruments, e.g. arcuate slides or ball joints

Definitions

• the invention relates to a manipulator for minimally invasive surgery with an instrument holder, which can carry a surgical instrument, and a first holding arm with two segments and a second holding arm with two segments, wherein each of the first segment is connected to the second segment via a uniaxial connecting joint ,
• the axes of rotation of the connecting joints extend through a pivot point which lies on the longitudinal axis of the instrument holder.
• the manipulator according to the invention has at least one drive, preferably two drives, with which the instrument holder can be moved in two angular degrees of freedom around the pivot point.
• MIS miniinvasive surgery
• small stabs of only a few millimeters are applied and a trocar is inserted through these abdominal incisions.
• the surgeon passes his instruments through the trocar and manipulates them inside the abdomen, passing them through the trocar. pushes in or out, or rotates about the trocar axis or about a center of rotation.
• the center of rotation is defined by the incisions in the muscles of the abdominal wall.
• the abdominal incisions do not provide a stable reference position, so no stable center of rotation.
• the manipulator should therefore be designed so that the instruments can be rotated by design only around this virtual fulcrum. As a result, the injury of the soft tissue in the event of a control disorder can be excluded.
• DE 694 17 229 T2 describes a positioning device for a remote center of spherical rotation based on two interconnected parallel kinematic chains.
• the device described here has very large dimensions, which can lead to a disability of the surgical area.
• the mass to be moved is very large, so that the device has poor dynamic characteristics.
• US 2002/0103476 A1 describes a surgical instrument for minimally invasive surgery, in which a double-parallel kinematics is driven by means of pull-pulls.
• the cable kinematics is very expensive and the device has very large dimensions and requires a large work space.
• DE 430 78 76 Cl describes a mechanical guide system based on two circular segment arches with guide rails.
• the large guide rails require a lot of space.
• a surgical robot must be able to use three such manipulators side by side, which is not possible with the device of DE 430 78 76 C1.
• Object of the present invention is to provide a manipulator for minimally invasive surgery, which is feasible with a small size, a secure fixation of the pivot point of a surgical instrument allows and thereby has a high stability.
• a manipulator for minimally invasive surgery which has an instrument holder which extends along a longitudinal axis.
• the longitudinal axis of the instrument holder will be referred to as the instrument axis.
• the instrument holder is straight. It may for example be formed as a tube through which a surgical instrument is pushed and handled.
• the manipulator according to the invention has a first holding arm and a second Haitearm.
• the first holding arm has a first and a second segment, wherein the first segment and the second segment are connected via a uniaxial first connecting joint.
• a uniaxial joint is generally understood to mean a joint which allows rotation of the parts connected by the joint by exactly one axis.
• a uniaxial element may, for example, be a cylindrical connection which allows only one rotation about the cylinder axis.
• the first connecting joint via which the first segment and the second segment of the first holding arm are connected, is rotatable about exactly one axis, namely the axis of the first connecting joint. This will be referred to in the following as the connection axis.
• the first connection joint is arranged so that this connection axis extends through the pivot point.
• the pivot point is the point about which the instrument holder is rotatable.
• the pivot point is therefore the center of rotation of each rotation of the instrument halters.
• the second support arm of the manipulator also has a first segment and a second segment, wherein the first segment and the second segment are interconnected via a uniaxial second connection joint.
• This second connecting joint is rotatable about a second connecting axis, which also extends through the pivot point.
• the first segment of the first holding arm is also arranged at its end facing away from the first connecting joint on a uniaxial first support joint, which is rotatable about an axis, which is referred to below as the first holding axis.
• This first holding axis also passes through the pivot point.
• the first segment of the second holding arm is also arranged at its end facing away from the second connecting joint at a uniaxial joint, which is referred to below as the second holding joint. This is rotatable about a second holding axis, which also extends through the pivot point.
• the second segment of the first holding arm is connected with its end remote from the first connection joint with the instrument holder via a uniaxial first joint of the instrument holder.
• the first joint of the instrument holder is arranged at a first location on the instrument holder. This first geniek of the instrument holder allows a rotation around the instrument axis. Its axis of rotation coincides with the instrument axis.
• the second segment of the second retaining arm is also connected at its end remote from the second connecting joint to the instrument holder at a second location of the instrument holder, preferably via a uniaxial second joint of the instrument holder, which is likewise rotatable about the instrument axis.
• the axis of rotation of the second joint thus coincides in this case with the instrument axis.
• the second segment may also be firmly connected to the instrument holder.
• the pivot point is stationary with respect to those locations where the first and second support links are located.
• the first and second support joints are arranged on a supporting structure. The pivot point is then stationary relative to this supporting structure.
• a supporting structure may for example be a housing.
• the manipulator according to the invention has at least one drive, preferably two drives, with which or with which a rotation of the instrument axis in two degrees of freedom of angle about the pivot point can be effected.
• the at least one drive is stationary relative to the first and the second support joint and also with respect to the pivot point. This means that the drive or drives are not moved when the instrument holder moves. As a result, the mass to be moved of
• Manipulator kept low, thereby increasing the stability.
• the manipulator may comprise two of the drives, wherein a first of the two drives is connected to the first segment of the first holding arm via a first shaft, and wherein a second of the two drives with the first segment of the second holding arm via a second shaft is connected.
• the first and the second shaft can each have two sections, which are connected to one another via a coupling. The sections each run coaxially one behind the other.
• the waves are straight.
• the two sections are therefore each advantageously also formed straight and each put the corresponding shaft together. It should be considered in this embodiment of the invention, the respective shaft as part of the corresponding support joint. The respective other part of the corresponding holding joint is then that part of the manipulator against which the shaft is rotatable.
• the first shaft is formed as a tube and the second Wel le arranged coaxially inside the first shaft or the second shaft is formed as a tube and the first shaft is coaxially disposed in the interior of the first Wel) e.
• the coupling can then be advantageously designed so that she connects the sections of both waves together.
• the coupling connects on the one hand the two sections of the first while to assemble the first while and on the other hand, the two sections of the second shaft to assemble the second shaft.
• the sections of both parts can advantageously be separated and connected together.
• ends of the segments are to be understood to be functional in the sense that the segment acts as an elongate connection between the two ends, the ends of which represent said ends. It is not absolutely necessary that the segments are actually elongated, but this is advantageous to keep the mass to be moved low.
• having a joint disposed at the end of a segment means that the joint is arranged so that the segment extends from the joint in only one direction except for the portions of the segment surrounding the joint which serve to fix the joint to the segment ,
• one or more of the segments may be formed as segments of a circle extending oblongly along a circular arc around the pivot point. It is also possible that one or more of the segments are formed straight and are bent at their joints having the end so that the axes of rotation of the joints intersect at the pivot point. Moreover, one or more of the segments may be composed of two straight sections, preferably of equal length, which are at an angle to one another such that the axes of rotation at the ends of this section intersect at the pivot point.
• the shape of the segments can basically be chosen arbitrarily, as long as the joints connected by the segment are arranged so that their axes cut in the pivot point.
• the described embodiment of the segments as circular segments is particularly advantageous, since here the circular segment moves in a spherical shell, whereby the collision with other circular segments can be avoided.
• the circle segment can be completely described by the angle of the corresponding axes of rotation, the radius and the thickness.
• the length of the segments is determined by the position of the connecting joints and the Haitegelenke. These can advantageously be arranged so that the instrument holder is movable in given by the intended application solid angle range with sufficiently great precision and moment of force.
• the first holding axis can advantageously coincide with the second axis of the axis, as described, but this is not absolutely necessary.
• the first Gargeienk has a different distance from the pivot point than the second Gargeienk.
• the holding arms can be designed so that a Koliision is excluded in all layers.
• this embodiment allows at least one Gargeienk, preferably both holding joints, by the at least one drive, preferably two drives to drive and thereby to move the instrument holder in two degrees of angular freedom.
• the first joint of the instrument holder, the first connection joint and the first Haitegelenk arranged on a common spherical surface and / or optionally arranged the second joint of the instrument holder, the second connecting joint and the second support joint on a common spherical surface, which particularly advantageously has a different radius than the spherical surface of the first joints.
• the spherical surfaces have the pivot point as
• the at least one drive can be a drive with which the first segment of the first holding arm can be driven around the first holding axis.
• a further drive can be provided, which is not identical to the first drive, with which the first segment of the second holding arm can be driven about the second holding axis.
• the movement of the instrument holder can be realized so that the one or more drives themselves are not moved, so shifted. As a result, the mass to be moved can be kept low.
• the instrument holder is connected to both holding arms via a respective joint of the instrument holder.
• the manipulator may have a linear connection, one side of which is stationary relative to the first and the second Gargelenkt, and the other side is connected to the instrument holder.
• the linear connection is thus arranged between a stationary to the holding structure and the instrument holder. Assuming the holding joints as stationary, for example, connected to a supporting structure, so is the corresponding end of the linear connection stationary, while the instrument holder connected to the end of the linear connection rotates about this end when the manipulator is moved.
• the linear connection may be connected to the instrument holder via a universal joint that allows rotation of the instrument holder in all angular degrees of freedom about a pivot point of the universal joint but prevents rotation of the instrument holder about the instrument axis.
• the linear connection can be designed so that it is movable in all other degrees of freedom of movement of the instrument holder, that limits no other degrees of freedom.
• the linear connection with its end fixed relative to the holding joints can be arranged on a gimbal or ball joint.
• the linear connection may advantageously have a variable length in this case.
• the linear connection can be formed by two parts running into one another, which are displaceable into one another along a longitudinal axis of the linear connection.
• the linear connection with the instrument holder may also be connected via a ball joint.
• the at least one drive can drive the linear connection.
• the driving force is exerted on the instrument holder via the linear connection.
• the drive is in this case advantageously arranged on the end of the linear connection which is stationary relative to the holding joints.
• the drive may advantageously rotate the linear link about one or two axes which are stationary with respect to the support bars.
• the linear connection can be driven by two drives about two mutually perpendicular axes. This allows movement of the instrument holder two angular degrees of freedom around the pivot point.
• the linear connection is connected to its stationary end via a universal joint with, for example, a structure carrying the retaining joints.
• one or two of the said drives can act on one or two of the axes of the universal joint.
• both elements of the universal joint can be driven.
• the linear connection is rotated about only one axis, advantageously only one element of the universal joint is driven and the other element is freely movable.
• the co-moving drive is advantageously arranged as close as possible to the universal joint, so that the torque occurring in this case is low.
• the said axes about which the linear connection is rotatable are advantageously perpendicular to the longitudinal direction of the linear connection.
• the manipulator according to the invention also has an instrument drive.
• this instrument drive is constructed so that the drive elements are implemented stationary.
• the power transmission can be done for example by aligned parallel to the linear axis, not relatively rotatable piston and cylinder.
• the pistons or cylinders may be connected on the fixed side with fixed motors and on the instrument holder side with couplings of the instrument drive and drive the clutches from the outside.
• the instrument drive has a linear transmission, one end of which is stationary relative to a structure supporting the first and second support articulations, and whose other end is connected to the instrument holder.
• the instrument drive has a motor which engages the stationary end of the linear transmissions.
• the linear transmission is designed such that with it a force exerted by the motor force or a torque exerted by the motor to the instrument holder is transferable.
• the linear transmission can be a rod which is connected to the motor via a first universal joint, here referred to as the first transmission cardan joint, and acts on the instrument holder via a second universal joint, referred to here as a second transmission cardan joint.
• the linear transmission can be or have an elastic connection and / or a spring, one end of which is connected to the motor and the other end engages the instrument holder.
• the transmission on the instrument holder engages a coupling via which a held instrument is driven.
• a length of the linear transmission is changeable. If the linear transmission is designed as a rod, this can be effected, for example, by virtue of the rod having two parts which can be displaced into one another.
• Theconsver Szier can also be realized by the fact that the linear transmission has a spring.
• the linear transmission does not block the movement of the instrument holder.
• FIG. 1 shows a different embodiment of a manipulator according to the invention for minimally invasive surgery with different lengths of segments of holding arms
• FIG. 2 shows a manipulator according to the invention with different possibilities of arranging drives
• Figure 3 shows various ways of designing segments of Holding arms
• FIG. 4 shows a manipulator according to the invention with a linear connection
• FIG. 5 shows a manipulator according to the invention with a driven linear connection
• FIG. 6 shows a manipulator according to the invention with a linear connection which is driven in an angular direction and in its longitudinal direction
• FIG. 7 shows a manipulator according to the invention, as shown in FIG. 6, in which the linear connection is connected to the instrument holder via a ball joint;
• FIG. 8 shows a manipulator according to the invention with a linear transmission for driving an instrument
• FIG. 9 shows a manipulator according to the invention with a linear transmission for driving an instrument, wherein the linear transmission elastic
• FIG. 10 shows a manipulator according to the invention with a linear transmission for driving an instrument, the linear transmission having a spring,
• FIG. 11 shows a manipulator according to the invention with a coupling to the drives
• FIG. 12 shows a manipulator according to the invention with a coupling to the drives
• FIG. 1 shows by way of example a manipulator according to the invention for minimally invasive surgery.
• the three partial figures show different variants of the manipulator according to the invention with varying lengths of segments. th la, lb, 2a, 2b of holding arms 1, 2.
• the manipulator according to the invention initially has an instrument holder 3, which extends along a longitudinal axis of the instrument holder 3, referred to hereinafter as the instrument axis. As shown in the example shown, the instrument holder 3 may be straight.
• the manipulator according to the invention has a first holding arm 1, which has a first segment 1a and a second segment 1b.
• the first segment 1 a is connected to the second segment 1 b via a uniaxial first connecting link 21.
• the first connection joint 21 is rotatable about a first connection axis 51 which extends through a pivot point 4.
• the pivot point 4 is arranged on the instrument holder 3 or the instrument axis.
• the first segment 1a of the first holding arm 1 is arranged at its end remote from the first connecting joint 21 on a first holding joint 11 that is rotatable about a first holding axis 41, which also extends through the pivot point 4.
• the second segment 1b of the first retaining arm 1 is connected at its end facing away from the first connecting joint 21 to the instrument holder 3 at a first location of the instrument holder via a uniaxial first joint 31 of the instrument holder, which is rotatable about the instrument axis.
• the second holding arm 2 has a first segment 2 a and a second segment 2 b, which are connected to one another via a second connecting joint 22.
• the connecting joint 22 is rotatable about a second connecting shaft 52 which extends through the pivot point 4.
• the first segment 2a of the second holding arm 2 is setner the second
• the second holding axis can optionally coincide with the first holding axis 41. However, it is only important that the second holding axis passes through the pivot point 4.
• the second element 2b of the second holding arm 2 is connected at its end applied to the second connecting joint 22 to the instrument holder 3 at a second location of the instrument holder.
• the connection may be formed via a single axis second hinge 32 of the instrument holder which is rotatable about the instrument axis, but may also be fixed.
• all the segments 1 a, 1 b, 2 a and 2 b can be designed as circular arcs whose center of the circle is formed by the pivot point 4.
• the respective joints 11, 21, 31, 12, 22, 32 are each arranged at the end of the corresponding circular arc.
• first joint 31 of the instrument holder and optionally the second joint 32 of the instrument holder, or the first location of the instrument holder and the second location of the instrument holder may be spaced apart from one another. Also, the distance of the first holding geienkes 11 from the pivot point 4 may be different from the distance of the second support joint 12 from the pivot point 4.
• all the joints 11, 21, 31 of the first support arm 1 may be arranged on a common spherical surface, the center of the pivot point 4 forms and all joints 12, 22, 32 of the second Gararmes 2 may be arranged on a further spherical surface, the center also the pivot point 4 is, wherein the radius of the spherical surface of the second holding arm 2 is smaller than that of the first holding arm 1.
• the manipulator has at least one drive 61, 62, with which a rotation of the instrument holder 3 or the instrument axis in two degrees of angular freedom about the pivot point can be effected.
• the manipulator may have two drives 61 and 62.
• the drive joint 11 can be driven via the drive 61 and the support joint 12 via the drive 62.
• the instrument holder 3 is thereby moved about the pivot point 4 via the first 1 and the second 2 Haitearm.
• the position of the holding joints 11 and 12 is always fixed relative to the position of the pivot point 4. If the holding joints 11 and 12 are therefore stationary, for example wise connected to a supporting structure, so the pivot point 4 is structurally fixed.
• the first segment 1a of the first holding arm 1 is driven by the first drive 61
• the first segment 2a of the second holding arm 2 is driven by the second drive 62.
• connection joints 21, 22 are arranged differently.
• a different arrangement of the connection joints 21 and 22 leads to different lengths of the corresponding segments la, lb, 2a and 2b.
• the connecting joints 21 and 22 are arranged coaxially with one another so that the first connection axis 51 and the second connection axis 52 lie on one another.
• FIG. 2 shows a manipulator according to the invention, to which statements made in FIG. 1 also apply.
• the drives 61 of the first support arm 1 and 62 of the second support arm 2 are not arranged coaxially here and the Haitegelenke 11 of the first support arm and 12 of the second Schuarmes are therefore also not arranged coaxially.
• the drives 61 and 62 and the Haitegelenke 11 and 12 are arranged so that their axes of rotation extend as well as the axes of rotation of all other joints through the pivot point 4 in both fields.
• FIG. 3 shows by way of example various possible embodiments of the segments 1 a, 1 b, 2 a and / or 2 b used in FIG. 1 and FIG. 2 and the other examples.
• the segments shown run in the manipulator between the joints 31, 32, 21 or 22 on the one hand and the joints 21, 11, 22 or 12 on the other hand.
• the joints 31, 32, 21 or 22 and 21, 11, 22 or 12 at the end of the respective segment la, lb, 2a, 2b are arranged so that their axes of rotation extend through the pivot point 4.
• the segment la, lb, 2a, 2b circular arc formed around the pivot point 4 as the center.
• the segment In the middle part of the image, the segment is straight, with only the ends of the segment are bent so that the axes of rotation of the joints 31, 21, 32,
• the segment 1a, 1b, 2a, 2b is bent at its center into two equal-length limbs, which are each straight.
• the angle between the two legs is chosen so that the axes of rotation of the joints
• FIG. 4 shows a manipulator according to the invention, in which the arrangement of the holding arms 1 and 2 with the associated joints and segments as well as the drives 61 and 62 of the holding joints 11 and 12 corresponds to those shown in FIG. Reference should therefore be made to the description of Figure 1 in this regard.
• FIG. 4 shows a supporting structure 402 which carries the drives 61 and 62 as well as the holding joints 11 and 12.
• the drives 61, 62 and holding joints 11, 12 are therefore stationary relative to the structure 402. Due to the construction according to the invention, in addition, the supporting structure 402 is stationary with respect to the pivot point 4.
• the linear connection 401 now extends between the supporting structure 402 on the one hand and the instrument holder 3 on the other hand.
• the one end of the linear connection is therefore stationary relative to the supporting structure 402 and the holding joints 11 and 12.
• the other side of the linear connection 401 is connected to the instrument holder 3. If, as in the other examples, a fixed end is mentioned here, this designates the pivot point of the joint in the case of an element arranged on a joint.
• the connection of the linear connection 401 with the instrument holder 3 can be realized via a universal joint 403.
• a cardan joint is understood here as meaning a joint which has two orthogonal uniaxial joints.
• the joint 403 permits a rotation of the instrument holder 3 about an axis which is perpendicular to the longitudinal direction of the instrument holder 3 and perpendicular to a longitudinal direction of the linear connection 401.
• the hinge 403 allows rotation of this axis about an axis of rotation that is parallel to the longitudinal direction of the linear link 401.
• This degree of freedom can be realized by the connection of the joint 403 with the linear connection 401 as a uniaxial joint, or the linear connection 401 can be fixedly connected to the joint 403 and the linear connection itself can be designed such that its
• the linear connection 401 is in the example shown in Figure 4! realized by two segments, which are displaceable in each other in the direction of the longitudinal direction of the linear connection 401. Thereby, the distance between the hinge 403 and the stationary end of the linear connection 401 is variable.
• the end of the linear link 401 disposed on the support structure 402 is connected to the support structure 402 via a universal joint 404 that allows rotation of the linear link 401 about the stationary end in all angular degrees of freedom.
• the linear connection 401 is merely passive and serves to prevent rotation of the instrument holder 3 about the instrument axis, that is to say its longitudinal direction.
• FIG. 5 shows a manipulator according to the invention, the structure of which, apart from the differences described below, corresponds to those of the manipulator in FIG. Unlike in FIG. 4, the holding joints 11 and 12 of the first holding arm 1 and of the second holding arm 2 are not driven in the example shown in FIG.
• a movement of the instrument holder 3 is effected in FIG. 5 by drives 501 and 502, which effect a rotation of the linear connection 401 about its stationary end, ie the end fixed relative to the supporting structure 402.
• the drives 501 and 502 can drive the universal joint 404, via which the linear connection 401 is connected to the supporting structure 402.
• one of the drives 501 and 502 is responsible for each angular degree of freedom of the linear connection 401.
• the linear connection 401 is thus not passive, as in FIG. 4, but actively driven by the drives 501 and 502.
• FIG. 6 shows a further embodiment of the manipulator according to the invention, which, with the exception of the differences described below, corresponds to the manipulator shown in FIG.
• the manipulator shown in FIG. 6 has no drives for the holding joints 11 and 12.
• a drive 601 is provided, with which the linear connection 401 can be driven in an angular degree of freedom.
• the device shown in Figure 6 has a linear drive 602, which can cause a change in length of the linear connection 401.
• the linear connection 401 again has two segments, which are mutually displaceable.
• the linear drive 602 causes the corresponding shift.
• the instrument holder 3 can be moved about the pivot point 4 in both angular degrees of freedom.
• FIG. 7 shows a further exemplary embodiment of the manipulator according to the invention.
• the embodiment shown in Figure 7 corresponds to the embodiment shown in Figure 6 except for the following difference.
• the linear connection 401 is not connected to the instrument holder 3 via a universal joint 403, but via a ball joint 701.
• a rotation of the instrument holder 3 about the instrument axis is possible - borrowed.
• FIG. 8 shows a further exemplary embodiment of a manipulator according to the invention. Except for the differences shown below, this embodiment corresponds to the embodiment shown in Figure 6. With regard to the matching features, reference should therefore be made to the description of FIG.
• the embodiment shown in FIG. 8 has an instrument drive with which an instrument held by the instrument holder 3 can be driven.
• the instrument drive has a linear transmission 803, one end of which is substantially stationary relative to the supporting structure 402 and whose other end is connected to the instrument holder 3.
• the driver drive has a drive motor 801, which acts on the linear transmission 803.
• the motor 801 may be coupled to the linear transmission 803 via, for example, a universal joint 802, such that a force exerted by the motor 801 or one of the
• Motor 801 torque applied to the linear transmission 803 is transferable.
• the stationary end of the opposite end of the linear transmission 803 engages the instrument holder 3. It can in particular at one
• the linear transmission 803 may be connected to the coupling 804 via a universal joint 805.
• the linear transmission 803 can have two segments which can be displaced into one another so that the linear transmission 803 does not have a restricting effect in its longitudinal direction.
• the linear transmission 803 has a non-circular cross-section.
• the cross section may be rectangular or square. The cross section is here in a plane considered perpendicular to the longitudinal direction of the linear transmission 803.
• FIG. 9 shows a further exemplary embodiment of a manipulator according to the invention.
• the embodiment shown in FIG. 9 corresponds to that shown in FIG. 8, with the exception of the differences described below.
• the linear transmission 803 in FIG. 9 with the motor 801 is not connected via a universal joint 802 but via an elastic element 902. Moreover, the linear transmission 803 is not connected to the coupling 804 via a universal joint 805 but via an elastic Element 905.
• the other details of the embodiment shown in FIG. 9 may be configured as shown in FIG. 8 and described therein.
• FIG. 10 shows a further exemplary embodiment of the manipulator according to the invention corresponding to that shown in FIG. 9, with the differences described below. Reference should therefore be made to the description of FIG. 9 here.
• the linear transmission of the instrument drive between the motor 801 and the clutch 804 is not constituted by the element 803 and the elastic elements 902 and 905, which are currently sliding one inside the other, but by a spring 1003 on the motor 801 in a guide 1002 is guided and guided in front of the coupling 804 in a guide 1005.
• the linear transmission in FIG. 10 also allows torque to be transmitted from the motor 801 to the clutch 804.
• the change in length of the linear transmission caused by interlocking elements in FIGS. 8 and 9, is effected in Figure 10 by the spring 1003, whose length is variable.
• the other details of the embodiment shown in FIG. 10 correspond to those shown in FIGS. 8 and 9.
• the linear transmission comprising the motor 801, the coupling 802, 902, 1002, the linear element 803, 903, 1003, the Coupling 805, 905, 1005 and the coupling 804 in Figures 8, 9 and 10th is shown in connection with a drive 601 and 602, wherein the linear connection 401 is driven by the drive 601 in a Winkei Museum and by the drive 602 in a longitudinal direction.
• the realization of the linear transmission is completely independent of the realization of the drive.
• the linear transmission shown in FIGS. 8, 9 and 10 can therefore also be realized in connection with drives as shown in FIGS. 1, 2, 4 and 5,
• Figure 11 shows an exemplary embodiment of the invention, in which the embodiment of the kinematics with first and second arm and the instrument holder corresponds to the embodiment shown in Figure 1.
• the drives 61 and 62 are connected to the corresponding segment of the adhesive arm via a respective shaft 101 and 102.
• the two shafts 101 and 102 each have two sections 101a, 101b and 102a, 102b, which are connected via a coupling 103 in each case to each other to the complete shaft 101 and 102, in the example shown, for this purpose, the shaft 101 is formed as a tube, and the Shaft 102 is coaxial with shaft 101 in its interior.
• the welie 101 is driven in the example shown by the drive 61 via a combination of two gears 104a and 104b.
• the shaft 101 is part of the first holding joint 11 and connected to the first segment la of the first holding arm 1. It drives this segment la by.
• the shaft 101 should be regarded as part of the first holding joint 11. Since the shaft 101 is fixed relative to the first segment 1a of the first holding arm 1, in this case a support structure 105 of the drives forms the other part of the holding joint 11, with respect to which the first holding arm la is movable.
• the shaft 102 is driven by the drive 62 via a combination of two toothed wheels 106a and 106b.
• the shaft 102 is part of the second support joint 12 and connected to the first segment 2 a of the second support arm 2. It drives this segment 2a by.
• the shaft 102 is to be understood here as part of the second support joint 12. Since the shaft 102 is fixed relative to the first segment 2 a of the second retaining arm 2, here the shaft 101 of the first retaining arm forms the other part of the retaining joint 12.
• the drives 61 and 62 are arranged in the example shown on a common support structure 105.
• the drives 61 and 62 are arranged on that side of the support structure 105 facing away from the holding arms 1 and 2.
• the shafts 101 and 102 are connected to the drives 61 and 62 via said gear combinations 104a, 104b and 106a, 106b, respectively.
• the waves pass through the support structure 105.
• the waves 101 and 102 are divided into two sections 101a and 101b and 102a and 102b, respectively.
• the two sections of both shafts 101 and 102 are connected to each other via the coupling 103.
• the coupling 103 can have an inner and an outer part, the sections 101a and 101b of the outer shaft 101 being connected to one another via the outer part, and the sections 102a and 102b of the inner shaft 102 being connected via the inner part.
• This arrangement allows a common separation of the sections of the first shaft 101 and the second shaft 102.
• those of the drives 61 and 62 having part of the manipulator can be used without having to be self-sterilized.
• those of the holding arms 1 and 2 having part of the manipulator can be easily sterilized, since all problematic parts of the drive to the clutch 103 are separable.
• FIG. 12 shows the manipulator according to the invention shown in FIG. 11, wherein the drive unit and the shafts 101 and 102 are shown separately.
• the first well 101 has a first portion 101 a and a second portion 101 b which are arranged coaxially with the holding axis 41.
• the shaft 102 has a first portion 102 a and a second portion 102 b, which are also arranged coaxially with the holding axis 41.
• the first portion 101a of the first shaft 101 is driven by the drive 61 by means of a gear 104b. Via the coupling 103, the first portion 101 a transmits the torque to the second portion 101 b of the first shaft, which is connected to the holding arm 1.
• the first portion 102a of the second shaft 102 is driven by a gear 106b from the other driver 62.
• the first portion 102a transmits the torque via the clutch 103 to the second Haitearm second
• the first portion 101a of the first shaft 101 is connected to the second portion 101b of the first shaft 101 via the outer portion 103a of the clutch 103, and the first portion 102a of the second shaft 102 is connected to the second portion 102b of the second shaft 102 via the inner portion 103b of the coupling 102 connected.
• the first portions 101a, 102a of the second portions 101b, 102b of the shafts 101 and 102 are separable and connectable.

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• 2012
  • 2012-09-19 DE DE102012018533.2A patent/DE102012018533B4/de active Active
• 2013
  • 2013-09-18 WO PCT/EP2013/069396 patent/WO2014044719A1/fr not_active Ceased

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