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WO2018141722A1 - Mécanisme d'actionnement linéaire - Google Patents

Mécanisme d'actionnement linéaire Download PDF

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Publication number
WO2018141722A1
WO2018141722A1 PCT/EP2018/052225 EP2018052225W WO2018141722A1 WO 2018141722 A1 WO2018141722 A1 WO 2018141722A1 EP 2018052225 W EP2018052225 W EP 2018052225W WO 2018141722 A1 WO2018141722 A1 WO 2018141722A1
Authority
WO
WIPO (PCT)
Prior art keywords
linear
units
unit
actuators
actuating mechanism
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/EP2018/052225
Other languages
German (de)
English (en)
Inventor
Dennis Kundrat
Andreas Schoob
Lüder Alexander KAHRS
Tobias Ortmaier
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.)
Leibniz Universitaet Hannover
Original Assignee
Leibniz Universitaet Hannover
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 Leibniz Universitaet Hannover filed Critical Leibniz Universitaet Hannover
Publication of WO2018141722A1 publication Critical patent/WO2018141722A1/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
    • B25J9/00—Programme-controlled manipulators
    • B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
    • B25J9/12—Programme-controlled manipulators characterised by positioning means for manipulator elements electric
    • B25J9/123—Linear actuators

Definitions

  • the invention relates to a motor-driven linear actuating mechanism, which has at least one thrust axis module movably arranged on the linear actuating mechanism and at least two actuators per thrust axis module and the thrust axis module also has at least two linear units.
  • at least one secondary linear unit is arranged to be coupled in a motion-coupled manner to a primary linear unit, rotational movements of the actuators connected to the linear units being able to be converted into linear actuating movements by the linear units.
  • one of the main focuses is to substantially reduce trauma caused by surgery by switching from classical surgical methods to minimally invasive procedures.
  • the drive unit for an endoscopic shank instrument disclosed in the publication preferably has four electric servomotors whose drive shafts are connected via cardan joints with housing shafts arranged at an angle to these drive shafts. At the housing shafts actuating rollers are arranged, which are wrapped by the cables.
  • a coupled linear motion without the implementation of a rotary motion of a motor can be achieved by the use of linear direct drives, ie linear motors.
  • linear direct drives ie linear motors.
  • the application of such linear motors in an adjacent field is described in EP 2 1 13 283 A1, wherein two linear motors are coupled together in the sense that a linear motor is moved by the second linear motor.
  • the direction of movement of the linear motors is directed in opposite directions. This serves to introduce a cochlear implant into the cochlea by means of the co-moving linear motor and, at the same time, to extract the stylet inserted into the cochlear implant by means of the superimposed movement of the co-moving linear motor.
  • WO 2012/015816 A1 describes a possibility of a coupled linear movement by conversion from a rotational movement.
  • This discloses an assistance system for minimally invasive procedures with an already described, two arm sections having flexible manipulator arm, at the distal end of a diagnostic, surgical or therapeutic instrument is arranged.
  • the flexible manipulator arm is thereby moved via an actuator unit with three concentrically arranged linear units, wherein the linear units each provide two mutually coupled linear movements available, which are transmitted via flexible adjusting elements to the segments of the flexible manipulator arm.
  • a linear unit consists of two cylinders coupled to each other, each having an actuator in the form of a, a rotary motion generating electric motor and a spindle drive for converting the rotary into a linear movement.
  • US 2002/0177789 A1 describes an apparatus and method for moving an endoscopic catheter.
  • the device inter alia, at least two mutually motion-coupled linear units for opposite movement of the catheter and catheter sheath, wherein at least two actuators are provided for moving the linear units of the device.
  • a comparable device for actuating endoscopic manipulators by means of translational and / or rotational movement is shown in US 2015/0080907 A1.
  • These manipulators consist of several elastic, pre-bent and coaxially arranged tube, which are moved in translation by a plurality of linear units.
  • Each of the tubes is in each case assigned a linear unit.
  • the linear units are necessarily not coupled with each other and thus always movable independently of each other.
  • US 2015/0223832 A1 describes a device for moving a surgical suction cannula for minimally invasive procedures, in particular for cerebral hemorrhages, which has three degrees of freedom.
  • the suction cannula can be moved and rotated linearly along one direction.
  • an opposite movement is made possible.
  • US 201 1/0040150 A1 describes a device for actuating an endoscopic catheter which is usually used by a human operator.
  • the device in this case allows a linear delivery, the rotation and the left / right and up / down movement of the catheter by means of a motor-driven gear assembly.
  • the invention has for its object to provide a linear actuator mechanism of the type mentioned, which in comparison to the prior Technology has increased dynamics and modularity with a smaller space requirement.
  • a motor-driven linear actuating mechanism which has at least one movably arranged on the linear actuating mechanism Schubachsenmodul and per Schubachsenmodul at least two actuators and the Schubachsenmodul also at least two linear units.
  • at least one secondary linear unit is arranged to be coupled in a motion-coupled manner to a primary linear unit, rotational movements of the actuators connected to the linear units being able to be converted into linear actuating movements by the linear units.
  • the actuators are further releasably and stationary in operation of the linear actuator arranged with respect to the linear units on the linear actuator, each secondary linear unit of Schubachsmodules is operatively connected via a variable-length pronounced telescopic shaft of Schubachsmodules with one of the actuators.
  • All actuators which are thus associated with a thrust axle module for carrying out the adjusting movement of the linear units, are fixedly arranged on the linear actuating mechanism and at a distance from the thrust axle module or the thrust axle modules and are thus advantageously not moved by one of the linear actuators during an adjusting movement. Since thus arranged on the actuators energy and signal guide lines also do not have to be moved, in addition to the mass to be moved these lines also eliminates the need to enclose the cables with cable drag chains. Overall, as a result, a substantial reduction in the mass to be moved, in particular the secondary linear unit can be realized, whereby a, compared to a linear unit with co-moving actuator, significantly higher dynamics can be achieved.
  • the secondary linear unit or units are or are motion-coupled to the primary linear unit.
  • motion-coupled means that, in the case of a linear, that is to say a translational setting movement of the primary linear unit, even without a secondary linear unit independently carrying out an actuating movement, the secondary linear unit has the same positional motion. tion, ie z. B. the direction of adjustment, the positioning speed and the travel experiences.
  • the telescopic shaft actuating movement of the secondary linear unit results in a resulting Automatstellterrorism on the secondary linear unit, which corresponds to the superposition of the individual actuating movements.
  • an exclusively performed by the secondary linear actuator actuating movement in turn does not initiate any adjustment movement of the primary linear unit.
  • variable-length telescopic shaft which can compensate for the adjustment movement of the primary linear unit.
  • the telescopic shaft changes its length depending on the direction of adjustment, and in the amount of the traversed during the adjustment movement of the primary linear unit travel.
  • each secondary linear unit is motion-coupled with the primary linear unit.
  • a cascaded movement coupling of the secondary linear units is present, with a secondary linear unit, quasi in a chain of secondary linear units, initially coupled with at least one second or correspondingly motion-coupled via a plurality of secondary linear units, again at the primary linear unit is arranged motion coupled.
  • the number of linear units of the push axis module should correspond to the number of actuator movements to be provided by the push axis module.
  • linear actuator could also be preferred in the operation of mechanically assisted, ie motorized or actuated, instruments and / or manipulators as part of medical assistance systems, in particular flexible manipulator arms, continuous robots or endoscopic continuum robots.
  • the thereby provided by the linear actuator mechanism available positioning movements could be used to provide rigid and flexible transmission elements such as rods and / or tubes, for example, nitinol and / or polyamide.
  • rods and / or tubes for example, nitinol and / or polyamide.
  • other fields of application within industrial positioning tasks are also conceivable.
  • the telescopic shaft has at least two shaft members with aligned longitudinal axes, wherein the shaft members are arranged longitudinally displaceable relative to one another and non-rotatable.
  • a variable-length telescopic shaft can be provided, which is simple, but very effective pronounced.
  • the shaft members of the telescopic shaft could be moved into each other, the telescopic shaft could for example be designed as a hollow shaft.
  • the cross sections of the shaft members may have the shape of a polygonal line and thus the shaft members of the telescopic shaft are further formed as a square or even octagonal tubes.
  • the telescopic shaft could likewise have a cylindrical shape, wherein a mechanical lock, for example comprising at least one nose formed on a shaft member, which engages in a groove formed on the corresponding shaft member. This could prevent a possible rotation of the shaft members against each other, without transmission of a moment between them.
  • a mechanical lock for example comprising at least one nose formed on a shaft member, which engages in a groove formed on the corresponding shaft member. This could prevent a possible rotation of the shaft members against each other, without transmission of a moment between them.
  • each of the linear units has a linear slide and a spindle drive, wherein the spindle deltrieb turn should have a threaded spindle and a threaded spindle nut.
  • An embodiment of the invention is further characterized as being very practically oriented when the telescopic shaft is connected via a coupling to the spindle drive of the secondary linear unit, since, for example, any positioning inaccuracies and / or cross-sectional differences between the telescope shaft and the spindle drive of the secondary linear unit are also transmitted which in turn could be compensated by the actuator on the telescopic shaft, compensate for rotational movements and the torques.
  • the couplings which are connected to the actuators with the telescopic shaft and / or the spindle drive of the primary linear unit and the telescopic shaft with the spindle drive of the secondary linear unit, achieving a low cost decoupling allows. This would mean that, for example, the actuators, depending on the requirements of the adjusting movement to be performed, would be easily interchangeable.
  • Such a coupling could in this context z. B. be designed as a magnetic coupling.
  • the positioning movements that can be performed by secondary linear units are spatially limited by the arrangement of these on the primary linear unit, an extremely compact arrangement of the linear units with one another is conceivable, among other things.
  • the limit of the travel could be effected by the fact that end stops are formed on the primary linear unit, which could be avoided in one of the adjusting movement subsequent force transmission damage to be set elements.
  • the listed end stops can also be in the form of a not directly physical shape, d. H. the end stops could be designed, for example, in the form of sensor elements, such as mechanical and / or optical switches and / or Hall sensors.
  • the transverse sections of such a linear slide would advantageously be suitable for arranging and supporting a further linear unit on and optionally between them.
  • the transverse sections can serve as adjustment elements limiting the space between the transverse sections, other linear units serve as a secondary linear unit.
  • the thrust axis module only has a guide axis over which the linear slide of the linear units of the thrust axle modules are guided jointly movable, whereby an extremely compact design of the thrust axle module can be made possible.
  • the design and arrangement of the linear units of the thrust axle module to the effect that only a common leadership of the linear slide is required, can be dispensed with the space-consuming arrangement of further guide axes.
  • a useful embodiment of the invention is further characterized in that the movement coupling between the primary linear unit and secondary linear units by arranging a threaded spindle at least one of the screw drives of the secondary linear cleanings is carried out on the primary linear unit.
  • this can be considered to be advantageous, in particular with regard to an optimal space utilization and the lowest possible mass to be moved.
  • a higher dynamic compared to, for example, a configuration with additionally arranged on the secondary linear unit bearing elements can be achieved.
  • the linear actuator mechanism Having shear axis modules, as this represents a largely optimal space utilization in conjunction with adjustable by the linear actuator positioning movements. Furthermore, if the thrust axis modules of the linear actuator mechanism are substantially uniformly spaced along a circumferential direction with respect to each other, this is to be considered positive that the linear mechanism having multiple thrust axis modules has a minimum amount of space with a high number of inputs Having provided by a respective thrust axle module, motion-coupled actuating movements, these coupled control movements are on the other hand by the execution of several thrust axis modules independently available.
  • the similar arrangement of the individual thrust axle modules could take place, for example, on the legs of an isosceles triangle or along a circular path, which runs concentrically to the central longitudinal axis of the linear actuator, wherein the thrust axis modules would have the same distance to the central longitudinal axis in the radial direction.
  • the linear slides of the linear units could here be curved in the circumferential direction and in this case have the same radius of curvature from thrust axis module to thrust axis module.
  • the contour of a linear slide could follow the shape of a hollow cylinder segment or a linear slide z. B. have the shape of a ring segment.
  • Fig. 1 shows a development of the linear actuator mechanism
  • FIG. 1 shows a development of the motor-driven linear actuating mechanism 1. Here, this has a movably arranged on the linear actuator 1
  • the thrust axis module 2 also has two linear units 4, 5, one of the linear units 4, 5 being in the form of a primary linear unit 4 and one of the linear units 4, 5 being a secondary linear unit 5.
  • the secondary linear unit 5 is motion-coupled to the primary linear unit 4 in that the threaded spindle 17 of the spindle drive 10 of the secondary linear unit 5 on the primary linear unit 4 and in this case specifically on the linear slide 9 of the primary linear unit. are arranged unit 4 and in particular rotatably mounted.
  • the spindle drives 10 of the linear units 4, 5 each have the threaded spindle nuts 20, which are arranged on the respective linear slides 9 of both the primary linear unit 4 and the secondary linear unit 5.
  • the rotational movements of the linear units 4, 5 actuators connected 3 in linear positioning movements 6 can be transferred because the rotational degrees of freedom of the linear slides 9 of the linear units 4, 5 are locked by the threaded spindles 17 and the guide axis 16.
  • the linear slide 9 each have openings in which bearing bushes 21 are arranged, which serve the friction-minimizing mounting of the linear slide 9 on the guide shaft 16.
  • the threaded spindles 17 of the spindle drives 10 of the respective linear units 4, 5 as well as the telescopic shaft 7 and the guide axis 16 of the thrust axle module 2 are furthermore arranged parallel to one another.
  • feasible positioning movements 6 is spatially limited by the arrangement of these on the primary linear unit 4. This is due to the arrangement of the secondary linear unit 5, in the exact shape of the linear slide 9 of the secondary linear unit 5 in the space between the transverse sections 15 of the U-shaped linear slide 9 of the primary linear unit 4.
  • the two transverse sections 15 are each at the ends formed longitudinally of the portion 14 and orthogonal to this longitudinal portion 14 and close flush with the longitudinal portion 14 from.
  • the releasably arranged on the linear actuator 1 actuators 3 in the operation of the linear actuator shown in Figure 1 are stationary relative to the linear units 4, 5, whereby they are not moved in a movement of the linear units 4, 5.
  • the actuators 3 in this development are spaced apart from the thrust axis module 2 on the actuator carrier 22.
  • One of the drive shafts 1 1 of the actuators 3 is also via one of the clutches 12 with the variable length telescopic shaft 7, a further of the drive shafts 1 1 with the spindle drive 10 of the primary linear unit 4 also operatively connected via one of the clutches 12 connected.
  • the length-variable pronounced telescopic shaft 7 is further connected to the spindle drive 10 of the secondary linear unit 5 via the clutch 13.
  • the variable-length design of the telescopic shaft 7 is to the effect necessary, since in a performed by the primary linear unit 4 adjusting movement 6, the secondary linear unit 5 is carried and the telescopic shaft 7 of the adjusting movement 6 follows.
  • the telescopic shaft 7 has two shaft members 8 with aligned longitudinal axes, wherein the shaft members 8 are longitudinally displaceable and rotationally fixed to each other and arranged.
  • FIG. 2 shows an embodiment of the linear actuating mechanism 1 with three thrust axis modules 2.
  • the thrust axis modules 2 are arranged uniformly spaced relative to a central longitudinal axis 18 of the linear actuating mechanism 1 and equally spaced along the circumferential direction 19, the linear actuating mechanism 1 having a substantially cylindrical shape.
  • the respective thrust axle modules 2 and the guide shafts 16 are arranged between the bottom-side spindle and axle carrier 23 and the head-side spindle and axle carrier 24.
  • the linear slide 9 of the linear units 4, 5 are formed curved in the circumferential direction 18, wherein these from shear axis module to
  • Shear axis module have the same radius of curvature.
  • the contour of the Linearschlit- 9 of the primary linear unit 4 follows the shape of a hollow cylinder segment, the linear slide 9 of the secondary linear unit 5, however, has the shape of a ring segment.
  • FIG. 3 shows the arrangement of several actuators 3 on the actuator carrier 22. These actuators 3 are arranged positionally immutable and are thus not moved by one of the linear units 4, 5 shown in Figure 1 or Figure 2. The actuators 3 are thus easily individually or collectively interchangeable in the form of the drive unit 25, which causes a high modularity of the structure. Furthermore, a plurality of clutches 12 are shown, which operatively connect the telescopic shafts 7 and the spindle drives 10 with the actuators 3. Here, the clutches 12 between the actuator carrier 22 and the bottom-side spindle and axle 23 are arranged.

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  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Transmission Devices (AREA)

Abstract

L'invention concerne un mécanisme d'actionnement linéaire (1) entraîné par moteur, comprenant au moins un module d'axe de poussée (2) monté mobile sur le mécanisme d'actionnement linéaire (1) et, par module d'axe de poussée (2), au moins deux systèmes d'actionnement (3), le module d'axe de poussée (2) comprenant en outre au moins deux unités linéaires (4, 5). Sur une unité linéaire primaire (4), au moins une unité linéaire secondaire (5) est en outre disposée de manière à être accouplée en mouvement, les unités linéaires (4, 5) pouvant transformer les mouvements rotatifs des systèmes d'actionnement (3) reliés aux unités linéaires (4, 5) en mouvements d'actionnement linéaires (6). En outre, les systèmes d'actionnement (3) sont disposés sur le mécanisme d'actionnement linéaire (1) pendant le fonctionnement de ce mécanisme d'actionnement linéaire (1), de manière fixe par rapport aux unités linéaires (4, 5), et chaque unité linéaire secondaire (5) du module d'axe de poussée (2) coopère avec un des systèmes d'actionnement (3) par l'intermédiaire d'un arbre télescopique (7) à longueur réglable du module d'axe de poussée (2).
PCT/EP2018/052225 2017-01-31 2018-01-30 Mécanisme d'actionnement linéaire Ceased WO2018141722A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102017101875.1 2017-01-31
DE102017101875.1A DE102017101875B4 (de) 2017-01-31 2017-01-31 Linearstellmechanismus

Publications (1)

Publication Number Publication Date
WO2018141722A1 true WO2018141722A1 (fr) 2018-08-09

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PCT/EP2018/052225 Ceased WO2018141722A1 (fr) 2017-01-31 2018-01-30 Mécanisme d'actionnement linéaire

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DE (1) DE102017101875B4 (fr)
WO (1) WO2018141722A1 (fr)

Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN113899245A (zh) * 2021-07-21 2022-01-07 西北工业大学 一种用于多弹体发射间距可调节的机械装置及安装方法
CN114343733A (zh) * 2018-08-23 2022-04-15 武汉联影智融医疗科技有限公司 手术机器人及其穿刺机构
EP4096556A1 (fr) * 2020-07-23 2022-12-07 Cilag GmbH International Outil chirurgical robotisé à chariot remplaçable
US12440292B2 (en) 2020-07-23 2025-10-14 Cilag Gmbh International Robotic surgical tool with drop in instrumentation core

Citations (12)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH07290378A (ja) * 1994-04-22 1995-11-07 Seikosha Co Ltd リニアモータ式キャリア装置
US20020177789A1 (en) 2001-05-06 2002-11-28 Ferry Steven J. System and methods for advancing a catheter
DE102006045865A1 (de) 2006-09-28 2008-04-10 Deutsches Zentrum für Luft- und Raumfahrt e.V. Chirurgisches Manipulationsinstrument
EP2113283A1 (fr) 2008-04-30 2009-11-04 Medizinische Hochschule Hannover Système d'insertion d'implant
US20110040150A1 (en) 2009-08-12 2011-02-17 Assaf Govari Robotic drive for catheter
DE102009056982A1 (de) 2009-12-07 2011-06-09 Deutsches Zentrum für Luft- und Raumfahrt e.V. Chirurgisches Manipulationsinstrument
WO2012015816A1 (fr) 2010-07-27 2012-02-02 The Trustees Of Columbia University In The City Of New York Instrumentation robotique souple pouvant être déployée rapidement
DE102012008537A1 (de) 2012-04-27 2013-10-31 Kuka Laboratories Gmbh Chirurgierobotersystem
US20150080907A1 (en) 2013-09-13 2015-03-19 Vanderbilt University System and method for endoscopic deployment of robotic concentric tube manipulators for performing surgery
DE102013225117A1 (de) 2013-12-06 2015-06-11 Richard Wolf Gmbh Antriebsanordnung für ein endoskopisches Schaftinstrument
US20150223832A1 (en) 2014-02-11 2015-08-13 Vanderbilt University System, method, and apparatus for configuration, design, and operation of an active cannula robot
WO2016116538A1 (fr) * 2015-01-23 2016-07-28 MAQUET GmbH Dispositif pour maintenir et mettre en mouvement un laparoscope pendant une opération

Patent Citations (12)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH07290378A (ja) * 1994-04-22 1995-11-07 Seikosha Co Ltd リニアモータ式キャリア装置
US20020177789A1 (en) 2001-05-06 2002-11-28 Ferry Steven J. System and methods for advancing a catheter
DE102006045865A1 (de) 2006-09-28 2008-04-10 Deutsches Zentrum für Luft- und Raumfahrt e.V. Chirurgisches Manipulationsinstrument
EP2113283A1 (fr) 2008-04-30 2009-11-04 Medizinische Hochschule Hannover Système d'insertion d'implant
US20110040150A1 (en) 2009-08-12 2011-02-17 Assaf Govari Robotic drive for catheter
DE102009056982A1 (de) 2009-12-07 2011-06-09 Deutsches Zentrum für Luft- und Raumfahrt e.V. Chirurgisches Manipulationsinstrument
WO2012015816A1 (fr) 2010-07-27 2012-02-02 The Trustees Of Columbia University In The City Of New York Instrumentation robotique souple pouvant être déployée rapidement
DE102012008537A1 (de) 2012-04-27 2013-10-31 Kuka Laboratories Gmbh Chirurgierobotersystem
US20150080907A1 (en) 2013-09-13 2015-03-19 Vanderbilt University System and method for endoscopic deployment of robotic concentric tube manipulators for performing surgery
DE102013225117A1 (de) 2013-12-06 2015-06-11 Richard Wolf Gmbh Antriebsanordnung für ein endoskopisches Schaftinstrument
US20150223832A1 (en) 2014-02-11 2015-08-13 Vanderbilt University System, method, and apparatus for configuration, design, and operation of an active cannula robot
WO2016116538A1 (fr) * 2015-01-23 2016-07-28 MAQUET GmbH Dispositif pour maintenir et mettre en mouvement un laparoscope pendant une opération

Cited By (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN114343733A (zh) * 2018-08-23 2022-04-15 武汉联影智融医疗科技有限公司 手术机器人及其穿刺机构
CN114343733B (zh) * 2018-08-23 2023-05-26 武汉联影智融医疗科技有限公司 手术机器人及其穿刺机构
EP4096556A1 (fr) * 2020-07-23 2022-12-07 Cilag GmbH International Outil chirurgical robotisé à chariot remplaçable
US12440292B2 (en) 2020-07-23 2025-10-14 Cilag Gmbh International Robotic surgical tool with drop in instrumentation core
CN113899245A (zh) * 2021-07-21 2022-01-07 西北工业大学 一种用于多弹体发射间距可调节的机械装置及安装方法

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Publication number Publication date
DE102017101875A1 (de) 2018-08-02
DE102017101875B4 (de) 2019-04-18

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