WO2014067804A1 - Endoscopic instrument - Google Patents
Endoscopic instrument Download PDFInfo
- Publication number
- WO2014067804A1 WO2014067804A1 PCT/EP2013/071959 EP2013071959W WO2014067804A1 WO 2014067804 A1 WO2014067804 A1 WO 2014067804A1 EP 2013071959 W EP2013071959 W EP 2013071959W WO 2014067804 A1 WO2014067804 A1 WO 2014067804A1
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- WO
- WIPO (PCT)
- Prior art keywords
- instrument
- shaft
- traction means
- rollers
- guided
- Prior art date
Links
- 230000033001 locomotion Effects 0.000 claims abstract description 19
- 238000009434 installation Methods 0.000 abstract description 2
- 210000002414 leg Anatomy 0.000 description 19
- 230000007935 neutral effect Effects 0.000 description 6
- 238000010276 construction Methods 0.000 description 3
- 210000000689 upper leg Anatomy 0.000 description 2
- 229910001208 Crucible steel Inorganic materials 0.000 description 1
- 238000005452 bending Methods 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 230000003247 decreasing effect Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 230000002349 favourable effect Effects 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 238000002432 robotic surgery Methods 0.000 description 1
- 238000007493 shaping process Methods 0.000 description 1
Classifications
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/28—Surgical forceps
- A61B17/29—Forceps for use in minimally invasive surgery
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/70—Manipulators specially adapted for use in surgery
- A61B34/71—Manipulators operated by drive cable mechanisms
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/28—Surgical forceps
- A61B17/29—Forceps for use in minimally invasive surgery
- A61B2017/2926—Details of heads or jaws
- A61B2017/2927—Details of heads or jaws the angular position of the head being adjustable with respect to the shaft
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/28—Surgical forceps
- A61B17/29—Forceps for use in minimally invasive surgery
- A61B2017/2926—Details of heads or jaws
- A61B2017/2932—Transmission of forces to jaw members
- A61B2017/2938—Independently actuatable jaw members, e.g. two actuating rods
-
- 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
- A61B34/30—Surgical robots
Definitions
- the invention relates to an endoscopic instrument having the features specified in the preamble of claim 1.
- Such endoscopic instruments typically have an elongated shaft and an instrument head arranged at the distal shaft end, which carries a tool with two jaw parts which can be pivoted relative to one another.
- the instrument head is pivotable about an axis transversely to the longitudinal direction of the shaft, wherein the pivotal movement of the instrument head and the pivoting movement of the jaw parts can be controlled via the traction means guided in the shaft from the proximal end of the instrument.
- a corresponding handle is provided at the proximal end of the instrument, which allows a direct control by the surgeon or it is provided at the proximal end of a connection part, which allows the electromotive control of the individual functions, as in robotic surgery systems of the prior art.
- US Pat. No. 6,312,435 Bl where such a system is shown, which carries and controls a generic endoscopic instrument.
- the invention has the object, a generic endoscopic instrument in such a way that on the one hand as slim as possible outer contour of the distal instrument part and the shaft is achieved and on the other hand given a high level of functionality.
- a cost-effective production and assembly should be possible.
- the distal bending should be possible on both sides by at least 90 ° with high rigidity of the instrument in two directions.
- the endoscopic instrument has an elongate shaft with an instrument head arranged on the distal shaft end, which carries a tool with two jaw parts which can be pivoted relative to one another.
- the instrument head is pivotable about an axis transverse to the longitudinal direction of the shaft, typically transversely to the central axis of the shaft, wherein the pivoting movement of the instrument head and the jaw parts guided in the shaft traction means of proximal end of the instrument is controllable.
- the traction means for controlling the pivoting movement of the jaw members are guided by rollers which are mounted rotatably about the axis about which the instrument head is pivotable, wherein a traction means comprises a roller in the extended position of the instrument in full.
- a jaw part in the installed position has outer discs and a jaw member in the installed position therebetween and inner discs, wherein the inner discs have a larger diameter than the outer discs.
- the traction means which are provided for controlling the pivoting movement of the jaw parts, are guided in the region of the joint, with which the instrument head is mounted on the distal shaft end, via rollers which are freely rotatably mounted about the hinge axis, wherein the traction means are guided so that a role is advantageously provided for each traction means and the traction means comprises the associated role fully, d. H. in the neutral position of the instrument, which is typically the elongated position, wraps around 360 °. Depending on the pivoting movement of the head relative to the shaft, the wrap angle varies and, depending on the pivoting direction, is approximately 360 ° plus / minus the swivel angle.
- the neutral position of the instrument is the elongated position, d. H. out of this neutral position, the instrument head can be pivoted about the pivot axis to each side by at least 90 ° relative to the instrument shaft, resulting in corresponding wrap around the rollers of 270 ° - 450 °.
- the wrap is in this case, either 375 ° or 345 ° and be increased or decreased by the swing angle from this neutral position.
- each jaw part has a disk arranged externally in the installed position and a disk arranged inside in the installation position, the traction means acting in the opening direction and the disk arranged internally acting in the closing direction according to an advantageous development of the invention Traction means is guided.
- the internally arranged disc according to the invention has a larger diameter than the externally arranged disc, whereby higher closing forces in the closing direction than in the opening direction with a comparatively small instrument diameter can be realized.
- a corresponding arrangement is advantageously carried out in the region of the joint between the shaft end and the instrument head by the larger diameter rollers between the smaller diameter rollers are arranged so as to optimally use the typically circular in cross-sectional shape.
- the pivot axis of the instrument head is arranged transversely and at a distance from the preferably common pivot axis of the jaw parts.
- the jaw parts which is suitably the case, are provided in the opening and closing direction with a separate traction means, a pivotal movement of the tool, so the jaw pair to realize about the pivot axis of the jaws.
- This is particularly useful with motor-controlled traction means, since depending on the control of the traction means the jaws can not only be opened and closed to each other, but also in the respective opening or closing Position can be pivoted about the axis.
- an energetically operated, in particular electromotive control is particularly useful for the present invention, since it can also be compensated for the movement of the jaws, by the pivoting movement of the instrument head in the inventive arrangement due to the changing angle of wrap around the rollers and thus changing free Switzerlandstoff Kunststoffen done.
- the instrument head on a joint piece which has at least one proximally directed projection on which the rollers for the traction means are rotatably mounted on a rotatably connected to the joint shaft, wherein on the shaft a disc is arranged rotationally fixed, at which the traction means are fixed for controlling the pivoting movement of the instrument head.
- the axis of rotation of this shaft thus also forms the pivot axis of the instrument head and the axis of rotation for the rollers. It is particularly simple in construction if two legs pointing proximally are provided on the joint piece, between which the rollers for the traction means are rotatably arranged on the shaft and between which the disk is preferably arranged centrally for fixing the traction means.
- the arrangement of two legs is structurally simple and forms a stable construction.
- the distal shaft end has at least one distally directed projection on which the joint piece is pivotally mounted. It is structurally simpler and more favorable, instead of a single projection, to provide two distally directed legs on the distal shaft end, between which the joint piece is received and in which the shaft of the joint piece is rotatably mounted. These legs can, for example, by appropriate cutouts be formed of a reinforced hollow cylindrical end portion of the shaft.
- the joint piece itself advantageously has at least one distally downward directed projection on which the jaw parts are rotatably mounted. It is structurally advantageous to provide instead of a single projection two distally directed legs on the joint piece, between which the jaws are rotatably mounted and preferably arranged relative to the longitudinal axis offset by 90 ° to the distally directed legs on the shaft end or the pivot axis of the instrument head are. Such an arrangement is advantageous because it can be used to realize a pivotal movement of the jaw parts in virtually any direction to the shaft axis.
- two discs are arranged on each jaw part, on each of which a traction means is fixed and whose main extension extends transversely to the axis of rotation of the jaw part.
- discs serve as a guide for the traction means and ensure that the traction means are guided with sufficient lever arms around the pivot axes, and that over as large a pivoting range. This can be achieved if, for each jaw part, two discs, ie for each traction means, a separate disc is provided. If what is advantageous according to the invention, the traction means are fixed to the end of the discs, so comparatively high forces can be applied to the jaw parts, in both pivot directions. By varying the diameter of the discs beyond a different power development can be realized in the closing direction and opening direction.
- the diameter-large discs near the central axis of the instrument (in extended position) can be arranged, whereas the discs for guiding the traction means, which are effective in the opening direction of the jaws , can be further out, where the space is less.
- the embodiment of the invention makes it possible, with a suitable design of the jaw parts, to form them from the same components, as a result of which the number of parts is reduced.
- the jaw parts can then be inexpensively produced as injection-molded components, cast steel components or by other shaping methods.
- FIG. 1 is a simplified schematic perspective view of the distal end of an endoscopic instrument according to the invention
- Fig. 2 is the illustration of Figure 1 without the shaft end.
- FIG. 3 shows the representation according to FIG. 2 without a joint piece
- FIG. 5 shows the control means for the upper jaw part in FIG. 3,
- FIG. 6 shows the control means for the lower jaw part in FIG. 3,
- Fig. 8 is a side view of the central disc for controlling the pivotal movement of the instrument head
- FIG. 9 is a view rotated by 90 ° according to FIG. 8.
- the endoscopic instrument illustrated with reference to the figures has an elongate shaft 1, of which only the distal end is shown in FIG.
- cables 2, 3 and 4 are circumferentially guided, which are provided to control the described below instrument head 5 with the tools 6 located thereon in the form of a pair of pliers.
- These cables 2 - 4 extend over the entire length of the shaft to the proximal end of the instrument, where they are guided depending on the design of the instrument either in a handle with which the surgeon can hold and control the instrument or in a proximal receiving device, the is provided and designed for connection to a robot-like system, in which the cables 2 - 4 are connected to electric motors.
- a connection provided for a robotic system is known, for example, from US Pat. No. 6,312,435 B1, to which reference is made in this respect by way of example.
- the cables 2 - 4 are drawn circumferentially in the figures on the proximal side, alternatively they can not end circumferentially, d. H. be provided as six individual cables 2 a and 2 b, 3 a and 3 b and 4 a and 4 b, as indicated in the figures accordingly.
- the cable pair consisting of the individual cables 2 a and 2 b is guided on the proximal side around a circular disc 7 and fixed there at the end, as shown in detail with reference to FIGS. 8 and 9.
- the disc 7 is circular and has on its outer circumference on a circumferential groove in which the cables 2 a and 2 b are performed, each ending in a lateral groove 8 a and 8 b and are fixed there by means of bolts 9 positively.
- the disc 7 is rotatably mounted on a shaft 12 which is rotatably mounted in bearings 13 which are received in legs 14 at the distal end of the shaft. These legs 14 are formed by corresponding cutouts in the shaft end and offset by 180 ° with respect to the longitudinal axis 11.
- two pairs of rollers are freely rotatably mounted on the shaft 12, namely a pair of rollers 19 of comparatively small diameter and a pair of rollers 20 of larger diameter.
- the rollers 19 of smaller diameter sit further out on the shaft 12 than the rollers 20 of larger diameter.
- the rollers 20 thus each sit between the centrally arranged on the shaft 12 disc 7 and a small roller 19, which sits adjacent to a leg 15.
- the rollers 19 and 20 serve to guide and deflect the traction means which control the tool 6.
- the cables 3 a and 3 b are guided over the large rollers 20 and the cables 4 a and 4 b on the small rollers 19, in such a way that they in the extended position of the instrument (Fig.
- the rollers 19, 20th wrap around 360 °.
- the wrap angle may be greater or less, ie greater than or less than 360 ° by the angle of the pivot position to the extended position.
- the angle of wrap about the rollers 19 and 20 is 270 ° or 450 °.
- two jaw parts forming the tool 6 are pivotally mounted, namely a jaw part 21 in FIG. 1 and a jaw part 22 in FIG. 1.
- These jaw parts 21 and 22 are designed in their tool-side area in that they form a forceps jaw. They each have two discs 23 and 24, which are provided for the circumferential guidance and lateral fixing of the ends of the cables 3 a and 3 b and 4 a and 4 b.
- These discs 23 and 24 are integrally formed with the jaws 21 and 22, wherein the discs 24 are arranged at a distance from each other, while the discs 23 of the lower jaw part 21 form part of a cylindrical body and are arranged in the installed position between the discs 24.
- the discs 23 and 24 also have a lateral groove in which the respective cable end is fixed by means of a bolt, as shown in detail with reference to FIG. 8 in the case of the disk 7.
- the jaws 21 and 22 sit freely rotatable with their discs 23 and 24 on an axis 25 between the legs 18 of the joint piece 1 6.
- the axis 25 is received in the legs 18 of the joint piece 16.
- the discs 23 of the lower jaw part 21 have a larger one Accordingly, the rollers 19 have a smaller diameter than the rollers 20, wherein the small rollers 19 which guide the cables 4 a and 4 b, the larger discs 23 are assigned and the larger rollers 20th , which guide the cables 3 a and 3 b, the smaller discs 24 are assigned.
- This arrangement which can be seen in its entirety, in particular from FIG. 4, optimally utilizes the typically circular cross-section of the instrument, ie the small rollers or discs are arranged farther outward than the large ones, ie where the latter, relative to the longitudinal central axis of the instrument in the circular cross-section remaining space is smaller.
- an endoscopic instrument can be created which has a very small diameter, not only in the shaft, but also in the head area.
- the instrument can, as the above description illustrates, be constructed with only a few simple components and has on the one hand a high mobility of the tool and on the other hand a high stability. Due to the arrangement of the pivot axes 10 and 26, which are offset relative to the longitudinal central axis 1 1 offset by 90 ° to each other, a two-way pivoting movable tool 6 is also provided, which can reach the area in front and adjacent.
- jaw parts 21 and 22 are pivotable independently of each other in the opening and closing direction, a pivoting of the entire tool 6 is given about the axis of rotation 26, which in particular in connection with a robotic control is feasible.
- the jaws 21 and 22 can also be pivoted from the elongated position shown in Fig. 1 by at least 90 ° to both directions. LIST OF REFERENCE NUMBERS
Abstract
The invention relates to an endoscopic instrument comprising a shaft with an instrument head that is arranged at the distal shaft end and carries a tool comprising two jaw parts (21, 22) able to be pivoted relative to one another. Said instrument head can be pivoted about an axis transverse to the longitudinal direction of the shaft, the pivoting motion of said instrument head and that of the jaw parts (21, 22) being able to be controlled from the proximal instrument end by means of tensile means (2-4) guided in the shaft. The tensile means (2-4) for the pivoting motion of the jaw parts (21, 22) are guided across rollers that are rotatably mounted about the axis (10) about which said instrument head (5) can be pivoted. The tensile means are arranged around the rollers such that they fully enclose the periphery of the roller in question when the instrument is in its extension position. In the installation position, one jaw part (22) comprises outer discs (24) and one jaw part (21) comprises inner discs (23) lying therebetween, the inner discs (23) being larger in diameter than the outer discs (24).
Description
Endoskopisches Instrument Endoscopic instrument
Beschreibung description
Die Erfindung betrifft ein endoskopisches Instrument mit den im Oberbegriff des Anspruchs 1 angegebenen Merkmalen. The invention relates to an endoscopic instrument having the features specified in the preamble of claim 1.
Derartige endoskopische Instrumente weisen typischerweise einen langgestreckten Schaft und einen am distalen Schaftende angeordneten Instrumentenkopf auf, der ein Werkzeug mit zwei zueinander schwenkbaren Maulteilen trägt. Der Instrumentenkopf ist dabei um eine Achse quer zur Längsrichtung des Schaftes schwenkbar, wobei die Schwenkbewegung des Instrumentenkopfes und die Schwenkbewe- gung der Maulteile über im Schaft geführte Zugmittel vom proximalen Intrumentenende aus steuerbar sind. Hierzu ist am proximalen Instrumentenende entweder eine entsprechende Handhabe vorgesehen, welche eine direkte Steuerung durch den Operateur ermöglicht oder aber es ist am proximalen Ende ein Anschlussteil vorgesehen, welches die elektromotorische Steuerung der einzelnen Funktionen ermöglicht, wie dies bei robotischen Operationssystemen zum Stand der Technik zählt. Es wird in diesem Zusammenhang nur beispielhaft auf US 6,312,435 Bl verwiesen, wo ein solches System dargestellt ist, welches ein gattungsgemäßes endoskopisches Instrument trägt und ansteuert. Such endoscopic instruments typically have an elongated shaft and an instrument head arranged at the distal shaft end, which carries a tool with two jaw parts which can be pivoted relative to one another. The instrument head is pivotable about an axis transversely to the longitudinal direction of the shaft, wherein the pivotal movement of the instrument head and the pivoting movement of the jaw parts can be controlled via the traction means guided in the shaft from the proximal end of the instrument. For this purpose, either a corresponding handle is provided at the proximal end of the instrument, which allows a direct control by the surgeon or it is provided at the proximal end of a connection part, which allows the electromotive control of the individual functions, as in robotic surgery systems of the prior art. In this context, reference is made, by way of example only, to US Pat. No. 6,312,435 Bl, where such a system is shown, which carries and controls a generic endoscopic instrument.
Bei derartigen Instrumenten ist man stets bemüht, den Instrumentendurchmesser möglichst klein zu halten und andererseits das Werkzeug am distalen Instrumentenende mit möglichst vielen Freiheitsgraden bewegen zu können. Dabei haben sich beim Stand der Technik Zugmittel in Form von Seilzügen bewährt, die einerseits auf engem Raum über große Längen geführt werden können, andererseits Schwenkbewe-
gungen mit vergleichsweise großen Winkeln ermöglichen. Darüber hinaus haben Seilzüge bei derartigen Instrumenten den Vorteil, dass eine Blockierung des Instrumentes innerhalb der Mechanik praktisch ausgeschlossen ist, so dass die Instrumente auch bei Defekten wieder sicher durch die Körperöffnung herausgezogen werden können. In such instruments one always strives to keep the diameter of the instrument as small as possible and on the other hand to be able to move the tool at the distal end of the instrument with as many degrees of freedom as possible. In the state of the art, traction means in the form of cable pulls have proved successful, which on the one hand can be guided over long distances in a small space, and on the other hand pivoting motion conditions with comparatively large angles. In addition, cables in such instruments have the advantage that a blockage of the instrument within the mechanism is practically impossible, so that the instruments can be safely pulled out of the body opening even in case of defects.
Die aus US 6,371 ,952 B2 bekannte Konstruktion stellt einen Kompromiss aus möglichst kleinem Schaftdurchmesser und möglichst großem Seilrollendurchmesser dar und ist im Übrigen konstruktiv aufwendig. The construction known from US Pat. No. 6,371, 952 B2 represents a compromise of the smallest possible shaft diameter and the largest possible cable pulley diameter and, moreover, is structurally complex.
Ein gattungsgemäßes Instrument ist aus US 201 1 /0106145 AI bekannt. A generic instrument is known from US 201 1/0106145 AI.
Ausgehend von diesem Stand der Technik liegt der Erfindung die Aufgabe zugrunde, ein gattungsgemäßes endoskopisches Instrument so auszubilden, dass einerseits eine möglichst schlanke Außenkontur des distalen Instrumententeiles sowie des Schaftes erzielbar ist und andererseits eine hohe Funktionalität gegeben ist. Schließlich soll eine kostengünstige Fertigung und Montage möglich sein. Darüber hinaus soll die distale Abwinklung beidseitig um mindestens 90° bei hoher Steifigkeit des Instrumentes in zwei Richtungen möglich sein. Based on this prior art, the invention has the object, a generic endoscopic instrument in such a way that on the one hand as slim as possible outer contour of the distal instrument part and the shaft is achieved and on the other hand given a high level of functionality. Finally, a cost-effective production and assembly should be possible. In addition, the distal bending should be possible on both sides by at least 90 ° with high rigidity of the instrument in two directions.
Diese Aufgabe wird gemäß der Erfindung durch ein endoskopisches Instrument mit den in Anspruch 1 angegebenen Merkmalen gelöst. Vorteilhafte Ausgestaltungen der Erfindung sind in den Unteransprüchen, der nachfolgenden Beschreibung und der Zeichnung angegeben. This object is achieved according to the invention by an endoscopic instrument having the features specified in claim 1. Advantageous embodiments of the invention are specified in the subclaims, the following description and the drawing.
Das erfindungsgemäße endoskopische Instrument weist einen langgestreckten Schaft mit einem am distalen Schaftende angeordneten Instrumentenkopf auf, der ein Werkzeug mit zwei zueinander schwenk- baren Maulteilen trägt. Der Instrumentenkopf ist um eine Achse quer zur Längsrichtung des Schaftes, typischerweise quer zur Mittelachse des Schaftes schwenkbar, wobei die Schwenkbewegung des Instrumentenkopfes und die der Maulteile über im Schaft geführte Zugmittel vom
proximalen Instrumentenende ansteuerbar ist. Die Zugmittel zur Steuerung der Schwenkbewegung der Maulteile sind über Rollen geführt, die drehbar um die Achse gelagert sind, um welche der Instrumentenkopf schwenkbar ist, wobei ein Zugmittel eine Rolle in Streckstellung des In- strumentes vollumfänglich umfasst. Gemäß der Erfindung weist ein Maulteil in Einbaulage außenliegende Scheiben und ein Maulteil in Einbaulage dazwischen und innenliegende Scheiben auf, wobei die innenliegenden Scheiben einen größeren Durchmesser als die außenliegenden Scheiben aufweisen. The endoscopic instrument according to the invention has an elongate shaft with an instrument head arranged on the distal shaft end, which carries a tool with two jaw parts which can be pivoted relative to one another. The instrument head is pivotable about an axis transverse to the longitudinal direction of the shaft, typically transversely to the central axis of the shaft, wherein the pivoting movement of the instrument head and the jaw parts guided in the shaft traction means of proximal end of the instrument is controllable. The traction means for controlling the pivoting movement of the jaw members are guided by rollers which are mounted rotatably about the axis about which the instrument head is pivotable, wherein a traction means comprises a roller in the extended position of the instrument in full. According to the invention, a jaw part in the installed position has outer discs and a jaw member in the installed position therebetween and inner discs, wherein the inner discs have a larger diameter than the outer discs.
Die Zugmittel, welche zur Steuerung der Schwenkbewegung der Maulteile vorgesehen sind, sind im Bereich des Gelenkes, mit welchem der Instrumentenkopf am distalen Schaftende angebracht ist, über Rollen geführt, die um die Gelenkachse frei drehbar gelagert sind, wobei die Zugmittel so geführt sind, dass vorteilhaft für jedes Zugmittel eine Rolle vorgesehen ist und das Zugmittel die zugehörige Rolle vollumfänglich umfasst, d. h. in der Neutralstellung des Instrumentes, welches typischerweise die langgestreckte Stellung ist, um 360° umschlingt. In Abhängigkeit der Schwenkbewegung des Kopfes gegenüber dem Schaft variiert der Umschlingungswinkel und beträgt je nach Schwenkrichtung etwa 360° plus/minus dem Schwenkwinkel. Üblicherweise ist die Neutralstellung des Instrumentes die langgestreckte Stellung, d. h. aus dieser Neutralstellung heraus kann der Instrumentenkopf gegenüber dem Instrumentenschaft um die Schwenkachse zu jeder Seite um mindestens 90° geschwenkt werden, woraus sich dann entsprechende Umschlingungswinkel um die Rollen von 270° - 450° ergeben. The traction means, which are provided for controlling the pivoting movement of the jaw parts, are guided in the region of the joint, with which the instrument head is mounted on the distal shaft end, via rollers which are freely rotatably mounted about the hinge axis, wherein the traction means are guided so that a role is advantageously provided for each traction means and the traction means comprises the associated role fully, d. H. in the neutral position of the instrument, which is typically the elongated position, wraps around 360 °. Depending on the pivoting movement of the head relative to the shaft, the wrap angle varies and, depending on the pivoting direction, is approximately 360 ° plus / minus the swivel angle. Usually, the neutral position of the instrument is the elongated position, d. H. out of this neutral position, the instrument head can be pivoted about the pivot axis to each side by at least 90 ° relative to the instrument shaft, resulting in corresponding wrap around the rollers of 270 ° - 450 °.
Wenn die Neutralstellung des Instrumentes, was denkbar ist, nicht die langgestreckte Stellung ist, sondern beispielsweise der Kopf in Neutral- Stellung bereits um 15° gegenüber der Längsachse des Schaftes abgewinkelt ist, beträgt der Umschlingungswinkel in diesem Fall entweder 375° oder 345° und kann um den Schwenkwinkel aus dieser Neutralstellung heraus vergrößert oder verkleinert werden.
Der besondere Vorteil dieses großen Umschlingungswinkel ist es, dass jedes Zugmittel nur über eine Rolle geführt werden muss und damit zum einen eine gute Kraftübertragung auf die Maulteile gegeben ist und andererseits eine kompakte Bauweise möglich ist. If the neutral position of the instrument, which is conceivable, not the elongated position, but for example, the head is already angled in the neutral position by 15 ° relative to the longitudinal axis of the shaft, the wrap is in this case, either 375 ° or 345 ° and be increased or decreased by the swing angle from this neutral position. The particular advantage of this large wrap angle is that each traction device must be performed only on a role and thus on the one hand a good power transmission is given to the jaws and on the other hand, a compact design is possible.
Gemäß der Erfindung weist jedes Maulteil eine in Einbaulage außen angeordnete Scheibe und eine in Einbaulage innen angeordnete Scheibe auf, wobei gemäß einer vorteilhaften Weiterbildung der Erfin- dung um die außen angeordnete Scheibe das in Öffnungsrichtung wirksame Zugmittel und um die innen angeordnete Scheibe das in Schließrichtung wirksame Zugmittel geführt wird. Dabei hat die innen angeordnete Scheibe erfindungsgemäß einen größeren Durchmesser als die außen angeordnete Scheibe, wodurch höhere Schließkräfte in Schließrichtung als in Öffnungsrichtung bei vergleichsweise kleinem Instrumentendurchmesser realisierbar sind. According to the invention, each jaw part has a disk arranged externally in the installed position and a disk arranged inside in the installation position, the traction means acting in the opening direction and the disk arranged internally acting in the closing direction according to an advantageous development of the invention Traction means is guided. In this case, the internally arranged disc according to the invention has a larger diameter than the externally arranged disc, whereby higher closing forces in the closing direction than in the opening direction with a comparatively small instrument diameter can be realized.
Eine entsprechende Anordnung erfolgt vorteilhaft auch im Bereich des Gelenkes zwischen Schaftende und Instrumentenkopf, indem die im Durchmesser größeren Rollen zwischen den im Durchmesser kleineren Rollen angeordnet sind, um so die typischerweise im Querschnitt kreisrunde Form möglichst optimal zu nutzen. A corresponding arrangement is advantageously carried out in the region of the joint between the shaft end and the instrument head by the larger diameter rollers between the smaller diameter rollers are arranged so as to optimally use the typically circular in cross-sectional shape.
Vorteilhaft ist die Schwenkachse des Instrumentenkopfes quer und mit Abstand zu der vorzugsweise gemeinsamen Schwenkachse der Maulteile angeordnet. Mit einer solchen Anordnung ist es möglich, wenn die Maulteile, was zweckmäßigerweise der Fall ist, in Öffnungs- und in Schließrichtung mit einem gesonderten Zugmittel versehen sind, eine Schwenkbewegung des Werkzeugs, also des Maulteil paares um die Schwenkachse der Maulteile zu realisieren. Dies ist insbesondere bei motorisch gesteuerten Zugmitteln sinnvoll, da je nach Steuerung der Zugmittel die Maulteile nicht nur zueinander geöffnet und geschlossen werden können, sondern auch in der jeweiligen Öffnungs- oder Schließ-
Stellung um die Achse geschwenkt werden können. Eine energetisch betriebene, insbesondere elektromotorische Ansteuerung ist für die vorliegende Erfindung besonders sinnvoll, da damit auch eine Kompensation der Bewegung der Maulteile erfolgen kann, die durch die Schwenkbewegung des Instrumentenkopfes bei der erfindungsgemäßen Anordnung aufgrund der sich verändernden Umschlingungswinkel um die Rollen und der sich damit ändernden freien Zugmittellängen erfolgt. Vorteilhaft weist gemäß einer Weiterbildung der Erfindung der Instrumentenkopf ein Gelenkstück auf, welches mindestens einen proximal gerichteten Vorsprung aufweist, an dem die Rollen für die Zugmittel drehbar auf einer drehfest mit dem Gelenkstück verbundenen Welle gelagert sind, wobei auf der Welle eine Scheibe drehfest angeordnet ist, an der die Zugmittel zur Steuerung der Schwenkbewegung des Instrumentenkopfes festgelegt sind. Die Drehachse dieser Welle bildet somit zugleich die Schwenkachse des Instrumentenkopfes sowie die Drehachse für die Rollen. Konstruktiv besonders einfach ist es, wenn zwei proximalwärts gerichtete Schenkel am Gelenkstück vorgesehen sind, zwischen denen die Rollen für die Zugmittel drehbar auf der Welle angeordnet sind und zwischen denen vorzugsweise mittig die Scheibe zur Festlegung der Zugmittel angeordnet ist. Die Anordnung von zwei Schenkeln ist kon- struktiv einfach und bildet eine stabile Konstruktion. Advantageously, the pivot axis of the instrument head is arranged transversely and at a distance from the preferably common pivot axis of the jaw parts. With such an arrangement, it is possible if the jaw parts, which is suitably the case, are provided in the opening and closing direction with a separate traction means, a pivotal movement of the tool, so the jaw pair to realize about the pivot axis of the jaws. This is particularly useful with motor-controlled traction means, since depending on the control of the traction means the jaws can not only be opened and closed to each other, but also in the respective opening or closing Position can be pivoted about the axis. An energetically operated, in particular electromotive control is particularly useful for the present invention, since it can also be compensated for the movement of the jaws, by the pivoting movement of the instrument head in the inventive arrangement due to the changing angle of wrap around the rollers and thus changing free Zugmittelängen done. Advantageously, according to an embodiment of the invention, the instrument head on a joint piece, which has at least one proximally directed projection on which the rollers for the traction means are rotatably mounted on a rotatably connected to the joint shaft, wherein on the shaft a disc is arranged rotationally fixed, at which the traction means are fixed for controlling the pivoting movement of the instrument head. The axis of rotation of this shaft thus also forms the pivot axis of the instrument head and the axis of rotation for the rollers. It is particularly simple in construction if two legs pointing proximally are provided on the joint piece, between which the rollers for the traction means are rotatably arranged on the shaft and between which the disk is preferably arranged centrally for fixing the traction means. The arrangement of two legs is structurally simple and forms a stable construction.
Vorteilhaft weist das distale Schaftende mindestens einen distalwärts gerichteten Vorsprung auf, an dem das Gelenkstück schwenkbar befestigt ist. Konstruktiv einfacher und günstiger ist es, anstelle eines einzel- nen Vorsprungs zwei distalwärts gerichtete Schenkel am distalen Schaftende vorzusehen, zwischen denen das Gelenkstück aufgenommen ist und in denen die Welle des Gelenkstücks drehbar gelagert ist. Diese Schenkel können beispielsweise durch entsprechende Ausfräsungen
aus einem verstärkten hohlzylindrischen Endabschnitt des Schaftes gebildet sein. Advantageously, the distal shaft end has at least one distally directed projection on which the joint piece is pivotally mounted. It is structurally simpler and more favorable, instead of a single projection, to provide two distally directed legs on the distal shaft end, between which the joint piece is received and in which the shaft of the joint piece is rotatably mounted. These legs can, for example, by appropriate cutouts be formed of a reinforced hollow cylindrical end portion of the shaft.
Das Gelenkstück selbst weist vorteilhaft mindestens einen distal wärts gerichteten Vorsprung auf, an dem die Maulteile drehbar gelagert sind. Konstruktiv vorteilhaft ist es dabei, statt eines einzelnen Vorsprungs zwei distalwärts gerichtete Schenkel am Gelenkstück vorzusehen, zwischen denen die Maulteile drehbar gelagert sind und die vorzugsweise bezogen auf die Längsachse um 90° versetzt zu den distalwärts gerichteten Schenkeln am Schaftende bzw. zur Schwenkachse des Instrumentenkopfes angeordnet sind. Eine solche Anordnung ist vorteilhaft, da damit eine Schwenkbewegung der Maulteile in praktisch jede Richtung zur Schaftachse realisierbar ist. Gemäß der Erfindung sind an jedem Maulteil zwei Scheiben angeordnet, an denen je ein Zugmittel festgelegt ist und deren Haupterstre- ckung quer zur Drehachse des Maulteiles verläuft. Diese Scheiben dienen als Führung für die Zugmittel und sorgen dafür, dass die Zugmittel mit ausreichenden Hebelarmen um die Schwenkachsen geführt sind, und zwar über einen möglichst großen Schwenkbereich. Dies ist erzielbar, wenn für jedes Maulteil zwei Scheiben, also für jedes Zugmittel eine gesonderte Scheibe vorgesehen wird. Wenn, was gemäß der Erfindung vorteilhaft ist, die Zugmittel endseitig an den Scheiben festgelegt sind, so können damit vergleichsweise hohe Kräfte auf die Maulteile aufge- bracht werden, und zwar in beide Schwenkrichtungen. Durch Variation der Durchmesser der Scheiben kann darüber hinaus eine unterschiedliche Kraftentfaltung in Schließrichtung und Öffnungsrichtung realisiert werden. Wenn, wie beispielsweise bei Zangen üblicherweise, die maximale Krafteinwirkung in Schließrichtung erfolgen soll, so können die im Durchmesser großen Scheiben nahe der Mittelachse des Instrumentes (in Streckstellung) angeordnet werden, wohingegen die Scheiben zur Führung der Zugmittel, welche in Öffnungsrichtung der Maulteile wirksam sind, weiter außen liegen können, wo der Freiraum geringer ist.
Die erfindungsgemäße Ausgestaltung ermöglicht es, bei geeigneter Ausbildung der Maulteile, diese aus gleichen Bauteilen zu bilden, wodurch die Teilevielfalt verringert wird. Insbesondere die Maulteile kön- nen dann kostengünstig als Spritzgussbauteile, Stahlgussbauteile oder durch andere formgebende Verfahren hergestellt werden. The joint piece itself advantageously has at least one distally downward directed projection on which the jaw parts are rotatably mounted. It is structurally advantageous to provide instead of a single projection two distally directed legs on the joint piece, between which the jaws are rotatably mounted and preferably arranged relative to the longitudinal axis offset by 90 ° to the distally directed legs on the shaft end or the pivot axis of the instrument head are. Such an arrangement is advantageous because it can be used to realize a pivotal movement of the jaw parts in virtually any direction to the shaft axis. According to the invention, two discs are arranged on each jaw part, on each of which a traction means is fixed and whose main extension extends transversely to the axis of rotation of the jaw part. These discs serve as a guide for the traction means and ensure that the traction means are guided with sufficient lever arms around the pivot axes, and that over as large a pivoting range. This can be achieved if, for each jaw part, two discs, ie for each traction means, a separate disc is provided. If what is advantageous according to the invention, the traction means are fixed to the end of the discs, so comparatively high forces can be applied to the jaw parts, in both pivot directions. By varying the diameter of the discs beyond a different power development can be realized in the closing direction and opening direction. If, as with pliers, for example, the maximum force is to take place in the closing direction, the diameter-large discs near the central axis of the instrument (in extended position) can be arranged, whereas the discs for guiding the traction means, which are effective in the opening direction of the jaws , can be further out, where the space is less. The embodiment of the invention makes it possible, with a suitable design of the jaw parts, to form them from the same components, as a result of which the number of parts is reduced. In particular, the jaw parts can then be inexpensively produced as injection-molded components, cast steel components or by other shaping methods.
Die Erfindung ist nachfolgend anhand eines in der Zeichnung dargestellten Ausführungsbeispiels näher erläutert. Es zeigt: The invention is explained in more detail with reference to an embodiment shown in the drawing. It shows:
Fig. 1 in vereinfachter schematischer perspektivischer Darstellung das distale Ende eine endoskopischen Instrumentes nach der Erfindung, Fig. 2 die Darstellung nach Fig. 1 ohne das Schaftende, 1 is a simplified schematic perspective view of the distal end of an endoscopic instrument according to the invention, Fig. 2 is the illustration of Figure 1 without the shaft end.
Hg. 3 die Darstellung nach Fig. 2 ohne Gelenkstück, 3 shows the representation according to FIG. 2 without a joint piece, FIG.
Hg. 4 in vergrößerter Darstellung den Instrumentenkopf mit distalem Anschluss an den Schaft aus anderer Richtung, 4 shows an enlarged view of the instrument head with distal connection to the shaft from another direction,
Hg. 5 die Steuermittel für das in Fig. 3 obere Maulteil, 5 shows the control means for the upper jaw part in FIG. 3,
Hg. 6 die Steuermittel für das in Fig. 3 untere Maulteil, 6 shows the control means for the lower jaw part in FIG. 3,
Hg. 7 in perspektivisch vergrößerter Darstellung ein Maulteil, Hg. 7 in an enlarged perspective view of a jaw part,
Hg. 8 eine Seitenansicht auf die zentrale Scheibe zur Steuerung der Schwenkbewegung des Instrumentenkopfes, und Fig. 8 is a side view of the central disc for controlling the pivotal movement of the instrument head, and
Hg. 9 eine um 90° gedrehte Ansicht entsprechend Fig. 8.
Das anhand der Figuren dargestellte endoskopische Instrument weist einen langgestreckten Schaft 1 auf, von dem lediglich das distale Ende in Fig. 1 dargestellt ist. Innerhalb dieses Schaftes 1 sind Seilzüge 2, 3 und 4 umlaufend geführt, welche zur Steuerung des weiter unten beschrie- benen Instrumentenkopfes 5 mit den daran befindlichen Werkzeugen 6 in Form einer Zange vorgesehen sind. Diese Seilzüge 2 - 4 erstrecken sich über die gesamte Länge des Schaftes bis zum proximalen Instrumentenende, wo sie je nach Ausbildung des Instrumentes entweder in einer Handhabe geführt sind, mit welcher der Operateur das Instrument halten und steuern kann oder aber in einer proximalen Aufnahmevorrichtung, die zum Anschluss an ein roboterartiges System vorgesehen und ausgebildet ist, in welchem die Seilzüge 2 - 4 an Elektromotoren angebunden sind. Ein für ein robotisches System vorgesehener Anschluss ist beispielsweise aus US 6,312,435 Bl bekannt, auf die insoweit beispielhaft verwiesen wird. 9 is a view rotated by 90 ° according to FIG. 8. The endoscopic instrument illustrated with reference to the figures has an elongate shaft 1, of which only the distal end is shown in FIG. Within this shaft 1 cables 2, 3 and 4 are circumferentially guided, which are provided to control the described below instrument head 5 with the tools 6 located thereon in the form of a pair of pliers. These cables 2 - 4 extend over the entire length of the shaft to the proximal end of the instrument, where they are guided depending on the design of the instrument either in a handle with which the surgeon can hold and control the instrument or in a proximal receiving device, the is provided and designed for connection to a robot-like system, in which the cables 2 - 4 are connected to electric motors. A connection provided for a robotic system is known, for example, from US Pat. No. 6,312,435 B1, to which reference is made in this respect by way of example.
Die Seilzüge 2 - 4 sind in den Figuren proximalseitig umlaufend eingezeichnet, alternativ können diese auch nicht umlaufend enden, d. h. als sechs Einzelseilzüge 2 a und 2 b, 3 a und 3 b sowie 4 a und 4 b vor- gesehen sein, wie dies in den Figuren entsprechend angegeben ist. The cables 2 - 4 are drawn circumferentially in the figures on the proximal side, alternatively they can not end circumferentially, d. H. be provided as six individual cables 2 a and 2 b, 3 a and 3 b and 4 a and 4 b, as indicated in the figures accordingly.
Das aus den Einzelseilzügen 2 a und 2 b bestehende Seilzugpaar ist proximalseitig um eine kreisrunde Scheibe 7 geführt und dort endseitig festgelegt, wie dies anhand der Figuren 8 und 9 im Einzelnen dargestellt ist. Die Scheibe 7 ist kreisrund und weist an ihrem Außenumfang eine umlaufende Nut auf, in welcher die Seilzüge 2 a und 2 b geführt sind, welche jeweils in einer seitlichen Nut 8 a bzw. 8 b enden und dort mittels Bolzen 9 formschlüssig festgelegt sind. So kann durch Aufbringen einer proximalwärts gerichteten Zugkraft auf den Seilzug 2 a die Schei- be 7 in Fig. 8 im Uhrzeigersinn und durch Aufbringen einer Zugkraft auf den Seilzug 2 b entgegen den Uhrzeigersinn gedreht werden. Diese Zugmittel 2 bzw. 2 a und 2 b in Verbindung mit der Scheibe 7, an der sie festgelegt sind, dienen zur Verschwenkung des Instrumentenkopfes 5
gegenüber dem Instrumentenschaft 1 um eine Schwenkachse 10, welche senkrecht zur Längsrichtung des Schaftes 1 , hier senkrecht zur Längsmittelachse 1 1 des Schaftes 1 angeordnet ist. Die Scheibe 7 ist drehfest auf einer Welle 12 angeordnet, die in Lagern 13 drehbar gelagert ist, welche in Schenkeln 14 am distalen Schaftende aufgenommen sind. Diese Schenkel 14 sind durch entsprechende Aus- fräsungen im Schaftende gebildet und um 180° bezogen auf die Längsachse 1 1 versetzt zueinander angeordnet. The cable pair consisting of the individual cables 2 a and 2 b is guided on the proximal side around a circular disc 7 and fixed there at the end, as shown in detail with reference to FIGS. 8 and 9. The disc 7 is circular and has on its outer circumference on a circumferential groove in which the cables 2 a and 2 b are performed, each ending in a lateral groove 8 a and 8 b and are fixed there by means of bolts 9 positively. Thus, by applying a proximally directed tensile force on the cable 2 a, the disc 7 in Fig. 8 in the clockwise direction and by applying a tensile force on the cable 2 b are rotated counterclockwise. These traction means 2 and 2 a and 2 b in conjunction with the disc 7, to which they are fixed, serve to pivot the instrument head fifth relative to the instrument shaft 1 about a pivot axis 10, which is perpendicular to the longitudinal direction of the shaft 1, here perpendicular to the longitudinal central axis 1 1 of the shaft 1 is arranged. The disc 7 is rotatably mounted on a shaft 12 which is rotatably mounted in bearings 13 which are received in legs 14 at the distal end of the shaft. These legs 14 are formed by corresponding cutouts in the shaft end and offset by 180 ° with respect to the longitudinal axis 11.
Drehfest auf der Welle 12 sind zwei proximalwärts gerichtete Schenkel 15 eines Gelenkstücks 16 angeordnet, welches einen im Wesentlichen den kreisrunden Querschnitt des Instrumentenkopfes 5 ausfüllenden Grundkörper 17 aufweist, von dem sich zwei um 180° versetzt angeord- nete proximalwärts gerichtete Schenkel 15 sowie zwei weitere distal- wärts und ebenfalls um 180° zueinander versetzt angeordnete Schenkel 18 erstrecken, die, bezogen auf die Längsmittelachse 1 1 des Instrumentenkopfes, um 90° versetzt zu den Schenkeln 15 angeordnet sind. Da die Scheibe 7 über die Welle 12 und die Schenkel 15 drehfest mit dem Gelenkstück 16 verbunden ist, dreht das Gelenkstück 16 und somit der gesamte Instrumentenkopf 5 mit der Scheibe 7 mit, wenn diese um die Achse 10 durch den Seilzug 2 a in die eine oder durch den Seilzug 2 b in die andere Richtung gedreht wird. Auf diese Weise kann der Instrumentenkopf um die Achse 10 um mindestens 90° zu beiden Richtungen aus der in Fig. 1 dargestellten gestreckten Stellung geschwenkt werden. Rotationally fixed on the shaft 12 are two proximally directed legs 15 of a joint piece 16, which has a substantially the circular cross-section of the instrument head 5-filling base body 17, of which two offset by 180 ° arranged proximally directed leg 15 and two more distal - ward and also offset by 180 ° to each other arranged legs 18 extend, which, relative to the longitudinal center axis 1 1 of the instrument head, offset by 90 ° to the legs 15 are arranged. Since the disc 7 is rotatably connected via the shaft 12 and the legs 15 with the hinge piece 16, the hinge piece 16 and thus the entire instrument head 5 rotates with the disc 7, when this about the axis 10 by the cable 2 a in one or by the cable 2 b is rotated in the other direction. In this way, the instrument head can be pivoted about the axis 10 by at least 90 ° to both directions from the extended position shown in Fig. 1.
Zwischen den proximalwärts gerichteten Schenkeln 15 des Gelenkstücks 1 6 sind auf der Welle 12 zwei Rollenpaare frei drehbar angeordnet, nämlich ein Paar von Rollen 19 vergleichsweise kleinen Durchmes- sers und ein Paar von Rollen 20 größeren Durchmessers. Dabei sitzen die Rollen 19 kleineren Durchmessers weiter außen auf der Welle 12 als die Rollen 20 größeren Durchmessers. Die Rollen 20 sitzen also jeweils zwischen der mittig auf der Welle 12 angeordneten Scheibe 7 und einer
kleinen Rolle 19, welche benachbart zu einem Schenkel 15 sitzt. Die Rollen 19 und 20 dienen zur Führung und Umlenkung der Zugmittel, welche das Werkzeug 6 steuern. Dabei sind die Seilzüge 3 a und 3 b über die großen Rollen 20 und die Seilzüge 4 a und 4 b über die kleinen Rollen 19 geführt, und zwar so, dass sie in gestreckter Stellung des Instrumentes (Fig. 1 ) die Rollen 19, 20 um 360° umschlingen. Je nach Schwenkstellung des Instrumentenkopfes 5 in Bezug auf den Schaft 1 kann der Umschlin- gungswinkel größer oder kleiner sein, d. h. um den Winkel der Schwenkstellung zur gestreckten Stellung größer oder kleiner als 360° sein. Je nachdem, in welche Richtung der Instrumentenkopf 5 gegenüber dem Schaft 1 um beispielsweise 90° geschwenkt wird, beträgt der Umschlin- gungswinkel um die Rollen 19 und 20 270° bzw. 450°. Between the proximally directed legs 15 of the joint piece 1 6, two pairs of rollers are freely rotatably mounted on the shaft 12, namely a pair of rollers 19 of comparatively small diameter and a pair of rollers 20 of larger diameter. The rollers 19 of smaller diameter sit further out on the shaft 12 than the rollers 20 of larger diameter. The rollers 20 thus each sit between the centrally arranged on the shaft 12 disc 7 and a small roller 19, which sits adjacent to a leg 15. The rollers 19 and 20 serve to guide and deflect the traction means which control the tool 6. The cables 3 a and 3 b are guided over the large rollers 20 and the cables 4 a and 4 b on the small rollers 19, in such a way that they in the extended position of the instrument (Fig. 1), the rollers 19, 20th wrap around 360 °. Depending on the pivot position of the instrument head 5 with respect to the shaft 1, the wrap angle may be greater or less, ie greater than or less than 360 ° by the angle of the pivot position to the extended position. Depending on the direction in which the instrument head 5 is pivoted relative to the shaft 1 by, for example, 90 °, the angle of wrap about the rollers 19 and 20 is 270 ° or 450 °.
Innerhalb der distalwärts gerichteten Schenkel 18 sind zwei, das Werk- zeug 6 bildende Maulteile schwenkbar gelagert, nämlich ein in Fig. 1 oberes Maulteil 21 und ein in Fig. 1 unteres Maulteil 22. Diese Maulteile 21 und 22 sind in ihrem werkzeugseitigen Bereich so ausgebildet, dass sie ein Zangenmaul bilden. Sie weisen jeweils zwei Scheiben 23 und 24 auf, welche zur umfangsseitigen Führung und seitlichen Festlegung der Enden der Seilzüge 3 a und 3 b bzw. 4 a und 4 b vorgesehen sind. Diese Scheiben 23 bzw. 24 sind einstückig mit den Maulteilen 21 bzw. 22 ausgebildet, wobei die Scheiben 24 mit Abstand zueinander angeordnet sind, während die Scheiben 23 des unteren Maulteils 21 Teil eines zylindrischen Körpers bilden und in Einbaulage zwischen den Scheiben 24 angeordnet sind. Die Scheiben 23 und 24 weisen ebenfalls eine seitliche Nut auf, in der das jeweilige Seilzugende mittels eines Bolzens festgelegt ist, so wie dies bei der Scheibe 7 anhand von Fig. 8 im Einzelnen dargestellt ist. Die Maulteile 21 und 22 sitzen frei drehbar mit ihren Scheiben 23 bzw. 24 auf einer Achse 25 zwischen den Schenkeln 18 des Gelenkstücks 1 6. Die Achse 25 ist in den Schenkeln 18 des Gelenkstücks 16 aufgenommen. Die Scheiben 23 des unteren Maulteils 21 haben einen größeren
Durchmesser als die Scheiben 24 des oberen Maulteils 22. Entsprechend haben die Rollen 19 einen kleineren Durchmesser als die Rollen 20, wobei die kleinen Rollen 19, welche die Seilzüge 4 a und 4 b führen, den größeren Scheiben 23 zugeordnet sind und die größeren Rollen 20, wel- che die Seilzüge 3 a und 3 b führen, den kleineren Scheiben 24 zugeordnet sind. Diese Anordnung, die insbesondere aus Fig. 4 in ihrer Gesamtheit ersichtlich ist, nutzt den typischerweise kreisrunden Querschnitt des Instrumentes optimal aus, d. h. die kleinen Rollen bzw. Scheiben sind bezogen auf die Längsmittelachse des Instrumentes weiter außen angeordnet als die großen, also dort wo der im kreisrunden Querschnitt verbleibende Freiraum kleiner ist. Auf diese Weise kann ein endoskopisches Instrument geschaffen werden, das einen sehr kleinen Durchmesser aufweist, nicht nur im Schaft, sondern auch im Kopfbereich. Das Instrument kann, wie die vorstehende Beschreibung verdeutlicht, mit nur wenigen einfachen Bauteilen aufgebaut werden und weist dabei einerseits eine hohe Beweglichkeit des Werkzeuges und andererseits eine hohe Stabilität auf. Durch die Anordnung der Schwenkachsen 10 und 26, die bezogen auf die Längsmittelachse 1 1 um 90° zueinander versetzt angeordnet sind, wird zudem ein in zwei Richtungen schwenkbe- wegliches Werkzeug 6 bereitgestellt, welches den Bereich davor und daneben erreichen kann. Within the legs 18 directed distally, two jaw parts forming the tool 6 are pivotally mounted, namely a jaw part 21 in FIG. 1 and a jaw part 22 in FIG. 1. These jaw parts 21 and 22 are designed in their tool-side area in that they form a forceps jaw. They each have two discs 23 and 24, which are provided for the circumferential guidance and lateral fixing of the ends of the cables 3 a and 3 b and 4 a and 4 b. These discs 23 and 24 are integrally formed with the jaws 21 and 22, wherein the discs 24 are arranged at a distance from each other, while the discs 23 of the lower jaw part 21 form part of a cylindrical body and are arranged in the installed position between the discs 24. The discs 23 and 24 also have a lateral groove in which the respective cable end is fixed by means of a bolt, as shown in detail with reference to FIG. 8 in the case of the disk 7. The jaws 21 and 22 sit freely rotatable with their discs 23 and 24 on an axis 25 between the legs 18 of the joint piece 1 6. The axis 25 is received in the legs 18 of the joint piece 16. The discs 23 of the lower jaw part 21 have a larger one Accordingly, the rollers 19 have a smaller diameter than the rollers 20, wherein the small rollers 19 which guide the cables 4 a and 4 b, the larger discs 23 are assigned and the larger rollers 20th , which guide the cables 3 a and 3 b, the smaller discs 24 are assigned. This arrangement, which can be seen in its entirety, in particular from FIG. 4, optimally utilizes the typically circular cross-section of the instrument, ie the small rollers or discs are arranged farther outward than the large ones, ie where the latter, relative to the longitudinal central axis of the instrument in the circular cross-section remaining space is smaller. In this way, an endoscopic instrument can be created which has a very small diameter, not only in the shaft, but also in the head area. The instrument can, as the above description illustrates, be constructed with only a few simple components and has on the one hand a high mobility of the tool and on the other hand a high stability. Due to the arrangement of the pivot axes 10 and 26, which are offset relative to the longitudinal central axis 1 1 offset by 90 ° to each other, a two-way pivoting movable tool 6 is also provided, which can reach the area in front and adjacent.
Da die Maulteile 21 und 22 voneinander unabhängig in Öffnungs- und Schließrichtung schwenkbar sind, ist eine Schwenkbarkeit des gesamten Werkzeuges 6 um die Drehachse 26 gegeben, was insbesondere im Zusammenhang mit einer robotischen Steuerung realisierbar ist. Die Maulteile 21 und 22 können aus der in Fig. 1 dargestellten langgestreckten Stellung ebenfalls um mindestens 90° zu beiden Richtungen geschwenkt werden.
Bezugszeichenliste Since the jaw parts 21 and 22 are pivotable independently of each other in the opening and closing direction, a pivoting of the entire tool 6 is given about the axis of rotation 26, which in particular in connection with a robotic control is feasible. The jaws 21 and 22 can also be pivoted from the elongated position shown in Fig. 1 by at least 90 ° to both directions. LIST OF REFERENCE NUMBERS
1 - Schaft 1 - shaft
2 - Seilzug für Kopfschwenkung 2 - cable for head swing
2 a, 2 b - Seilzug 2 a, 2 b - Cable
3 - Seilzug für in Fig. 1 oberes Maulfeil 3 - Cable for in Fig. 1 upper mouth arrow
3a, 3, b - Seilzug 3a, 3, b - cable
4 - Seilzug für in Fig. 1 unteres Maulfeil 4 - Cable for in Fig. 1 lower mouth arrow
4 a, 4 b - Seilzug 4 a, 4 b - Cable
5 - Instrumenfenkopf 5 - instrument head
6 - Werkzeug 6 - Tool
7 - Scheibe 7 - disc
8 a - Nuf für Seilzug 2 a 8 a - Nuf for cable 2 a
8 b - Nuf für Seilzug 2 b 8 b - Nuf for cable 2 b
9 - Bolzen 9 - bolts
10 - Schwenkachse 10 - pivot axis
1 1 - Längsmiftelachse des Schaftes 1 1 - Längsmiftelachse of the shaft
und Instrumentes in gestreckter Stellung and instrument in stretched position
12 - Welle 12 - wave
13 - Lager von 12 13 - warehouse of 12
14 - Schenkel 14 - thighs
15 - proximalwartige Schenkel des Gelenksfücks 15 - proximal thighs of the joint
1 6 - Gelenkstück 1 6 - Joint piece
1 7 - Grundkörper von 16 1 7 - basic body of 16
18 - disfalwärtige Schenkel von 16 18 - disfalward legs of 16
19 - kleine Rollen 19 - small roles
20 - große Rollen 20 - big rolls
21 - in Fig. 1 unteres Maulteil 21 - in Fig. 1 lower jaw part
22 - in Fig. 1 oberes Maulteil 22 - in Fig. 1 upper jaw part
23 - Scheiben von 21 23 - slices of 21
24 - Scheiben von 22 24 - slices of 22
25 - Achsbolzen 25 - axle bolts
26 - Achse
26 - axis
Claims
Ansprüche Expectations
Endoskopisches Instrument mit einem Schaft (1 ) und mit einem am distalen Schaftende angeordneten Instrumentenkopf (5), welcher ein Werkzeug (6) mit zwei zueinander schwenkbaren Maulteilen (21 , 22) aufweist, wobei der Instrumentenkopf (5) um eine Achse (10) quer zur Längsrichtung des Schaftes (1 ) schwenkbar ist und die Schwenkbewegung des Instrumentenkopfes (5) und die der Maulteile (21 , 22) über im Schaft (1 ) geführte Zugmittel (2 - 4) vom proximalen Instrumentenende aus steuerbar ist, wobei die Zugmittel (3, 4) für die Schwenkbewegung der Maulteile (21 , 22) über Rollen (19, 20) geführt sind, die drehbar um die Achse (10) gelagert sind, um welche der Instrumentenkopf (5) schwenkbar ist, wobei ein Zugmittel (3 a, Endoscopic instrument with a shaft (1) and with an instrument head (5) arranged at the distal end of the shaft, which has a tool (6) with two jaw parts (21, 22) that can be pivoted towards one another, the instrument head (5) rotating about an axis (10). can be pivoted transversely to the longitudinal direction of the shaft (1) and the pivoting movement of the instrument head (5) and that of the jaw parts (21, 22) can be controlled from the proximal end of the instrument via traction means (2 - 4) guided in the shaft (1), the traction means (3, 4) for the pivoting movement of the jaw parts (21, 22) are guided via rollers (19, 20) which are rotatably mounted about the axis (10) about which the instrument head (5) can be pivoted, a traction means ( 3a,
3 b, 4 a, 4 b) eine Rolle (19, 20) in Streckstellung (Fig. 1 ) des Instrumentes vollumfänglich umfasst, dadurch gekennzeichnet, dass ein Maulteil (22) in Einbaulage außen liegende Scheiben (24) und ein Maulteil (21 ) in Einbaulage dazwischen- und innenliegende Scheiben (23) aufweist, wobei die innenliegenden Scheiben (23) einen größeren Durchmesser als die außenliegenden Scheiben (24) aufweisen. 3 b, 4 a, 4 b) completely encompasses a roller (19, 20) in the extended position (Fig. 1) of the instrument, characterized in that a jaw part (22) in the installed position has external disks (24) and a jaw part (21 ) in the installed position has intermediate and inner disks (23), the inner disks (23) having a larger diameter than the outer disks (24).
Instrument nach Anspruch 1 , dadurch gekennzeichnet, dass die Schwenkachse (10) des Instrumentenkopfes (5) mit Abstand und quer zur vorzugsweise gemeinsamen Schwenkachse (26) der Maulteile (21 , 22) angeordnet ist. Instrument according to claim 1, characterized in that the pivot axis (10) of the instrument head (5) is arranged at a distance and transversely to the preferably common pivot axis (26) of the jaw parts (21, 22).
Instrument nach Anspruch 1 oder 2, dadurch gekennzeichnet, dass der Instrumentenkopf (5) ein Gelenkstück (16) aufweist, welches mindestens einen proximalwärts gerichteten Vorsprung (15) aufweist, an dem die Rollen (19, 20) für die Zugmittel (3, 4) drehbar auf einer drehfest damit verbundenen Welle (12) angeordnet sind, welche eine darauf festgelegte Scheibe (7) aufweist, an welcher
die Zugmittel (2a, 2b) zur Steuerung der Schwenkbewegung des Instrumentenkopfes (5) festgelegt sind. Instrument according to claim 1 or 2, characterized in that the instrument head (5) has a joint piece (16) which has at least one proximally directed projection (15) on which the rollers (19, 20) for the traction means (3, 4 ) are rotatably arranged on a shaft (12) connected in a rotationally fixed manner, which has a disk (7) fixed thereon, on which the traction means (2a, 2b) are fixed for controlling the pivoting movement of the instrument head (5).
4. Instrument nach Anspruch 3, dadurch gekennzeichnet, dass das Gelenkstück (16) zwei proximalwärts gerichtete Schenkel (15) auf- weist, zwischen denen die Rollen (19, 20) für die Zugmittel (3 a, 3 b,4. Instrument according to claim 3, characterized in that the joint piece (16) has two proximally directed legs (15), between which the rollers (19, 20) for the traction means (3 a, 3 b,
4 a, 4 b) drehbar auf der Welle (12) angeordnet sind und zwischen denen mittig die Scheibe (7) zur Festlegung der Zugmittel (2 a, 2 b) zur Steuerung der Schwenkbewegung des Instrumentenkörpers (5) angeordnet ist. 4 a, 4 b) are rotatably arranged on the shaft (12) and between which the disk (7) for fixing the traction means (2 a, 2 b) for controlling the pivoting movement of the instrument body (5) is arranged in the middle.
5. Instrument nach einem der vorhergehenden Ansprüche, dadurch gekennzeichnet, dass das distale Schaftende mindestens einen distalwärts gerichteten Vorsprung (14) aufweist, an dem das Gelenkstück (16) schwenkbar befestigt ist. 5. Instrument according to one of the preceding claims, characterized in that the distal shaft end has at least one distally directed projection (14) to which the joint piece (16) is pivotally attached.
6. Instrument nach einem der vorhergehenden Ansprüche, dadurch gekennzeichnet, dass das distale Schaftende zwei distalwärts gerichtete Schenkel (14) aufweist, zwischen denen das Gelenkstück 16) aufgenommen und in denen die Welle (7) des Gelenkstücks (16) drehbar gelagert ist. 6. Instrument according to one of the preceding claims, characterized in that the distal shaft end has two distally directed legs (14), between which the joint piece 16) is received and in which the shaft (7) of the joint piece (16) is rotatably mounted.
7. Instrument nach einem der vorhergehenden Ansprüche, dadurch gekennzeichnet, dass das Gelenkstück (16) mindestens einen distalwärts gerichteten Vorsprung (18) aufweist, an dem die Maulteile (21 , 22) drehbar gelagert sind. 7. Instrument according to one of the preceding claims, characterized in that the joint piece (16) has at least one distally directed projection (18) on which the jaw parts (21, 22) are rotatably mounted.
8. Instrument nach einem der vorhergehenden Ansprüche, dadurch gekennzeichnet, dass das Gelenkstück (1 6) zwei distalwärts gerich- tete Schenkel (18) aufweist, zwischen denen die Maulteile (21 , 22) drehbar gelagert sind und die vorzugsweise bezogen auf die
Längsachse (1 1 ) um 90° versetzt zu den proximalwärts gerichteten Schenkeln (15) angeordnet sind. 8. Instrument according to one of the preceding claims, characterized in that the joint piece (1 6) has two distally directed legs (18), between which the jaw parts (21, 22) are rotatably mounted and which are preferably relative to the Longitudinal axis (1 1) are arranged offset by 90 ° to the proximally directed legs (15).
Instrument nach einem der vorhergehende Ansprüche, dadurch gekennzeichnet, dass jedes Maulteil (21 , 22) zwei Scheiben (23, 24) aufweist, an denen ein Zugmittel (3 a, 3 b, 4 a, 4 b) geführt und festgelegt ist und deren Haupterstreckung quer zur Drehachse (26) des Maulteils (21 , 22) verläuft. Instrument according to one of the preceding claims, characterized in that each jaw part (21, 22) has two disks (23, 24) on which a traction means (3 a, 3 b, 4 a, 4 b) is guided and fixed and their Main extension runs transversely to the axis of rotation (26) of the jaw part (21, 22).
Instrument nach einem der vorhergehenden Ansprüche, dadurch gekennzeichnet, dass die Zugmittel (3 a, 3 b), welche um die im Durchmesser kleineren Scheiben (24) geführt sind, um Rollen (20) geführt sind, deren Durchmesser größer ist als der Durchmesser der Rollen (19), um die die Zugmittel (4 a, 4 b) geführt sind, welche um die im Durchmesser größeren Scheiben (23) geführt sind. Instrument according to one of the preceding claims, characterized in that the traction means (3 a, 3 b), which are guided around the smaller diameter disks (24), are guided around rollers (20) whose diameter is larger than the diameter of the Rollers (19) around which the traction means (4a, 4b) are guided, which are guided around the larger diameter disks (23).
Instrument nach einem der vorhergehenden Ansprüche, dadurch
gekennzeichnet, dass die im Durchmesser größeren Rollen (20) zwischen den im Durchmesser kleineren Rollen (19) angeordnet sind.
Instrument according to one of the preceding claims, characterized characterized in that the larger diameter rollers (20) are arranged between the smaller diameter rollers (19).
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
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DE102012219881.4 | 2012-10-30 | ||
DE102012219881.4A DE102012219881B4 (en) | 2012-10-30 | 2012-10-30 | endoscopic instrument |
Publications (1)
Publication Number | Publication Date |
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WO2014067804A1 true WO2014067804A1 (en) | 2014-05-08 |
Family
ID=49447557
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
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PCT/EP2013/071959 WO2014067804A1 (en) | 2012-10-30 | 2013-10-21 | Endoscopic instrument |
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DE (1) | DE102012219881B4 (en) |
WO (1) | WO2014067804A1 (en) |
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US10413374B2 (en) | 2018-02-07 | 2019-09-17 | Distalmotion Sa | Surgical robot systems comprising robotic telemanipulators and integrated laparoscopy |
US10548680B2 (en) | 2014-12-19 | 2020-02-04 | Distalmotion Sa | Articulated handle for mechanical telemanipulator |
US10568709B2 (en) | 2015-04-09 | 2020-02-25 | Distalmotion Sa | Mechanical teleoperated device for remote manipulation |
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US10864049B2 (en) | 2014-12-19 | 2020-12-15 | Distalmotion Sa | Docking system for mechanical telemanipulator |
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US11039820B2 (en) | 2014-12-19 | 2021-06-22 | Distalmotion Sa | Sterile interface for articulated surgical instruments |
US11058503B2 (en) | 2017-05-11 | 2021-07-13 | Distalmotion Sa | Translational instrument interface for surgical robot and surgical robot systems comprising the same |
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DE102014217796A1 (en) | 2014-09-05 | 2016-03-10 | Richard Wolf Gmbh | Instrument, in particular medical endoscopic instrument or technoscope |
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US11844585B1 (en) | 2023-02-10 | 2023-12-19 | Distalmotion Sa | Surgical robotics systems and devices having a sterile restart, and methods thereof |
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DE102012219881A1 (en) | 2014-04-30 |
DE102012219881B4 (en) | 2022-03-24 |
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