DE10307054B4 - Holding and guiding system - Google Patents
Holding and guiding system Download PDFInfo
- Publication number
- DE10307054B4 DE10307054B4 DE10307054A DE10307054A DE10307054B4 DE 10307054 B4 DE10307054 B4 DE 10307054B4 DE 10307054 A DE10307054 A DE 10307054A DE 10307054 A DE10307054 A DE 10307054A DE 10307054 B4 DE10307054 B4 DE 10307054B4
- Authority
- DE
- Germany
- Prior art keywords
- holding
- guiding system
- guide arm
- handrails
- tripod
- 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.)
- Expired - Fee Related
Links
- 238000001356 surgical procedure Methods 0.000 description 6
- 238000002324 minimally invasive surgery Methods 0.000 description 3
- 238000010586 diagram Methods 0.000 description 2
- 230000001954 sterilising effect Effects 0.000 description 2
- 238000004659 sterilization and disinfection Methods 0.000 description 2
- 206010038743 Restlessness Diseases 0.000 description 1
- 206010052428 Wound Diseases 0.000 description 1
- 208000027418 Wounds and injury Diseases 0.000 description 1
- 238000002192 cholecystectomy Methods 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 238000010616 electrical installation Methods 0.000 description 1
- 238000001839 endoscopy Methods 0.000 description 1
- 239000004744 fabric Substances 0.000 description 1
- 230000001771 impaired effect Effects 0.000 description 1
- 208000014674 injury Diseases 0.000 description 1
- 230000014759 maintenance of location Effects 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 230000001681 protective effect Effects 0.000 description 1
- 108090000623 proteins and genes Proteins 0.000 description 1
- 230000008733 trauma Effects 0.000 description 1
Classifications
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
- A61B1/00147—Holding or positioning arrangements
- A61B1/00149—Holding or positioning arrangements using articulated arms
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
- A61B90/50—Supports for surgical instruments, e.g. articulated arms
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
- F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon ; Stands for scientific apparatus such as gravitational force meters
- F16M11/02—Heads
- F16M11/04—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand
- F16M11/06—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting
- F16M11/10—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting around a horizontal axis
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
- F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon ; Stands for scientific apparatus such as gravitational force meters
- F16M11/20—Undercarriages with or without wheels
- F16M11/2092—Undercarriages with or without wheels comprising means allowing depth adjustment, i.e. forward-backward translation of the head relatively to the undercarriage
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
- F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon ; Stands for scientific apparatus such as gravitational force meters
- F16M11/20—Undercarriages with or without wheels
- F16M11/24—Undercarriages with or without wheels changeable in height or length of legs, also for transport only, e.g. by means of tubes screwed into each other
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
- A61B90/10—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges for stereotaxic surgery, e.g. frame-based stereotaxis
- A61B90/11—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges for stereotaxic surgery, e.g. frame-based stereotaxis with guides for needles or instruments, e.g. arcuate slides or ball joints
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
- F16M2200/00—Details of stands or supports
- F16M2200/04—Balancing means
- F16M2200/044—Balancing means for balancing rotational movement of the undercarriage
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
- F16M2200/00—Details of stands or supports
- F16M2200/06—Arms
- F16M2200/068—Arms being part of the undercarriage
Landscapes
- Engineering & Computer Science (AREA)
- Health & Medical Sciences (AREA)
- General Engineering & Computer Science (AREA)
- Life Sciences & Earth Sciences (AREA)
- Surgery (AREA)
- Mechanical Engineering (AREA)
- Heart & Thoracic Surgery (AREA)
- Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
- Pathology (AREA)
- Medical Informatics (AREA)
- Molecular Biology (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Biomedical Technology (AREA)
- Oral & Maxillofacial Surgery (AREA)
- Physics & Mathematics (AREA)
- Biophysics (AREA)
- Optics & Photonics (AREA)
- Radiology & Medical Imaging (AREA)
- Endoscopes (AREA)
- Instruments For Viewing The Inside Of Hollow Bodies (AREA)
Abstract
Halte- und Führungssystem für ein medizinisches Instrument, vorzugsweise ein Endoskop (10), mit wenigstens einem Führungsarm (4), an den das medizinische Instrument mittels einer Instrumentenhalterung (7) angekoppelt ist und dieser Führungsarm (4) unter Ausbildung eines kinematischen Dreibeins (1) mittels zweier Haltestangen (5,6) beweglich gelagert ist dadurch gekennzeichnet, dass die Instrumentenhalterung (7) als kardanisches Lager ausgebildet ist, das als solches mittels des Dreibeins dreidimensional im Raum beweglich ist, so dass das medizinische Instrument im Eintrittspunkt des medizinischen Instruments in den bestimmungsgemäß unterhalb der Instrumentenhalterung (7) angeordneten Patientenkörper weitgehend frei beweglich gelagert ist.holding and leadership system for a medical Instrument, preferably an endoscope (10), with at least one guide (4) to which the medical instrument by means of an instrument holder (7) is docked and this guide arm (4) forming a kinematic tripod (1) by means of two Handrails (5,6) movably mounted is characterized the instrument holder (7) is designed as a cardanic bearing is, as such by means of the tripod three-dimensional in space is movable, so that the medical instrument in the entry point the medical instrument in the intended below the instrument holder (7) arranged patient body largely is freely movable stored.
Description
Die
Erfindung betrifft ein Halte- und Führungssystem für ein medizinisches
Instrument, vorzugsweise ein Endoskop, mit wenigstens einem Führungsarm,
an den das medizinische Instrument mittels einer Instrumentenhalterung
angekoppelt ist und dieser Führungsarm
unter Ausbildung eines kinematischen Dreibeins mittels zweier Haltestangen
(
Ein
derartiges System ist beispielsweise aus der
Aus
der
Neben
den vorstehend beschriebenen einarmigen Systemen ist beispielsweise
aus der
Dabei stellen Operationen im Bereich der minimal invasiven Chirurgie erhebliche Anforderungen an das üblicherweise in einem abgedunkelten Saal arbeitende Operationsteam. Nur beispielhaft sei auf die mehrstündige laparoskopische Cholezystektomie verwiesen. Im Rahmen einer derartigen Operation muß das Endoskop zwischen verschiedenen Positionen hin und her gefahren und während der Operation mehrfach gereinigt werden. Dabei wird das Endoskop während der Operation üblicherweise von einem Assistenzarzt bedient. Die Führung des Endoskops, die mit zunehmender Dauer der Operation üblicherweise zunehmend unruhig wird, beeinträchtigt unter Umständen den operierenden Chirurgen, so, daß die weitere Zusammenarbeit hierdurch oftmals erschwert wird.there Consider surgery in the area of minimally invasive surgery significant Requirements for the customary Operation team working in a darkened hall. Only by way of example be on the several hours referenced laparoscopic cholecystectomy. As part of such Operation has to do that Endoscope moved between different positions back and forth and while The operation can be cleaned several times. This is the endoscope while the surgery usually operated by a medical assistant. The guidance of the endoscope, which with increasing duration of surgery usually increasingly restless, impaired in certain circumstances the operating surgeon, so that further cooperation This often makes it difficult.
Das Erfordernis, das Endoskop in einer gewünschten Position für eine längere Zeit möglichst bewegungsfrei zu halten, kann durch passive Haltesysteme nachhaltig unterstützt werden.The Require the endoscope in a desired position for a longer time as motion-free as possible can be sustainably supported by passive retention systems.
Allerdings müssen auch derartige Systeme grundsätzlich manuell von einem Assistenten eingestellt werden. Aktive Systeme bieten den Vorteil, daß hierbei der Chirurg selbst das Endoskop über dem entsprechende Operationsfeld führen kann. Teilweise kann der Assistenzarzt vollständig eingespart werden. Bei derartigen aktiven Systemen beschränkt und bestimmt der Bewegungsradius des aktiven Führungssystems den Operationsradius des Chirurgen.Indeed have to also such systems in principle be set manually by a wizard. Active systems offer the advantage that this the surgeon himself over the endoscope can lead to the appropriate surgical field. Partially, the Resident physician completely be saved. Limited in such active systems and the range of motion of the active guidance system determines the radius of operation of the surgeon.
Ausgehend von diesem Stand der Technik ist somit ein Halte- und Führungssystem für medizinische Instrumente zu schaffen, das einen hohen Bedienkomfort mit einem möglichst großen Bewegungsradius verbindet.outgoing from this prior art is thus a holding and guiding system for medical To create instruments that provide a high level of ease of use with a preferably huge Movement radius connects.
Diese Aufgabe wird im Rahmen der Erfindung mit einem Halte- und Führungssystem gemäß den gegenständlichen Merkmalen des Anspruchs 1 gelöst; es ergibt sich trotz einer kompakten und ansprechenden Bauweise ein erheblich vergrößertes Operationsfeld, denn zusätzlich zu einem kinematischen Dreibein ist die Instrumentenhalterung dieses Systems als kardanisches Lager ausgebildet.These Task is within the scope of the invention with a holding and guiding system according to the subject Characteristics of claim 1 solved; It results despite a compact and attractive design a considerably enlarged surgical field, because in addition to a kinematic tripod is the instrument holder of this system trained as a cardanic camp.
Um das Halte- und Führungssystem aktiv auszubilden, sind die Führungs- und/oder Haltestangen mit pneumatischen, hydraulischen, oder elektromotorischen Arbeitszylindern versehen.Around the holding and guiding system actively training, the management and / or handrails with pneumatic, hydraulic, or electromotive Provided working cylinders.
Die beiden Haltestangen sind gelenkig, vorzugsweise kugelgelenkig, mit dem Führungsarm verbunden.The both handrails are articulated, preferably ball-jointed, with the guide arm connected.
Hierdurch wird eine nahezu uneingeschränkte Beweglichkeit des Führungsarms innerhalb des von dem kinematischen Dreibein überstrichenen Bereichs erreicht. Die Kugelgelenklagerung innerhalb eines Dreibeins stellt sicher, daß innerhalb des von dem Dreibein erreichbaren Operationsbereichs nahezu jeder Punkt aktiv oder passiv angefahren werden kann.As a result, an almost unlimited mobility of the guide arm is achieved within the swept by the kinematic triplet area. The ball joint bearing within a tripod ensures that within the reachable by the tripod operation area na Any point can be approached actively or passively.
Dabei sind die beiden Haltestangen als solche vorzugsweise selbst kugelgelenkig gelagert. Der zentrale Führungsarm ist vorzugsweise kardanisch gelagert.there the two support rods as such are preferably themselves ball-jointed stored. The central guide arm is preferably gimbaled.
Das erwähnte Führungssystem ist idealerweise mit einem Befestigungsbogen, der als Haltesystem fungiert, verbunden. Der Befestigungsbogen ist dabei dem zu operierenden Körper bzw. der Behandlungsfläche derart zugeordnet, daß der Befestigungsbogen über dem zu operierenden Körper angeordnet ist.The mentioned guidance system is ideally with a mounting bow, as a holding system functions, connected. The attachment bow is the one to be operated body or the treatment area assigned such that the Fixing bow over the body to be operated on is arranged.
Das Führungssystem ist dabei in einfacher Weise über eine Cliphalterung mit dem Befestigungsbogen lösbar verbunden. Hierdurch kann das komplette Führungssystem in einfacher Weise von dem Befestigungsbogen beispielsweise zu Zwecken der Sterilisation gelöst werden.The guidance system is doing in a simple way a clip holder releasably connected to the mounting arch. This can the complete guidance system in a simple manner of the mounting sheet, for example, for purposes the sterilization solved become.
Der ist dabei in vorteilhafter Weise beidseits der Operationsfläche vorzugsweise relativ beweglich zu dieser Operationsfläche angeordnet. Somit kann über das Verfahren des Befestigungsbogens relativ zum Patientenkörper ein noch größerer Bewegungsradius für das Halte- und Führungssystem erreicht werden.Of the is advantageously on both sides of the surgical area preferably arranged relatively movable to this surgical area. Thus, over the Method of attachment sheet relative to the patient's body even greater range of motion for the Holding and guiding system be achieved.
Dabei können die beiden Haltestangen und die zentrale Führungsstange über einen auf dem Befestigungsbogen längsbeweglich angeordneten Wagen relativ zum Befestigungsbogen bewegt werden. Im Ergebnis wird somit das Halte- und Führungssystem ebenfalls relativ zum Patienten, insbesondere von der linken zur rechten Körperseite und umgekehrt bewegt, so daß die gesamte Breite des Patientenkörpers ohne weiteres anfahrbar ist.there can the two handrails and the central guide bar over one longitudinally movable on the mounting arch arranged carriage are moved relative to the mounting sheet. in the Result, therefore, the holding and guiding system also relative to the patient, especially from the left to the right side of the body and vice versa, so that the entire width of the patient's body is approachable without further ado.
Das insbesondere aus dem kinematischen Dreibein mit den Arbeitszylindern bestehende Führungssystem wird elektromotorisch angetrieben.The in particular from the kinematic tripod with the working cylinders existing leadership system is driven by an electric motor.
In vollständiger Ausgestaltung umfaßt das Führungs- und Haltesystem zusätzlich eine Kontrolleinheit sowie eine Bedieneinheit mit wenigstens einer Benutzerschnittstelle. Die Bedieneinheit ist in vorteilhafter Ausgestaltung mit einem Hand- und/oder Fußschalter sowie mit einem Mikrofon und/oder Touch Panel ausgestattet. Bei dieser Ausgestaltung kann der operierende Chirurg über eines oder mehrere der genannten Bedienelemente das Endoskop unproblematisch an der gewünschten Stelle relativ zum Patientenkörper positionieren.In complete Embodiment includes the leadership and holding system in addition a control unit and a control unit with at least one User interface. The operating unit is in an advantageous embodiment with a hand and / or foot switch and equipped with a microphone and / or touch panel. at In this embodiment, the operating surgeon can use one or more of the several of the above controls the endoscope unproblematic at the desired location relative to the patient's body position.
Um das Halte- und Führungssystem mit den unterschiedlichen medizinischen Instrumenten versehen zu können, weist die Kontrolleinheit in vorteilhafter Weise ein variables Interface zum Anschluss unterschiedlichster medizinischer Instrumente auf.Around the holding and guiding system provided with the different medical instruments can, the control unit advantageously has a variable interface for connecting a wide variety of medical instruments.
Die Erfindung wird nachstehend anhand eines in der Zeichnung nur beispielhaft dargestellten Ausführungsbeispiels näher erläutert.The Invention will now be described by way of example only in the drawing illustrated embodiment explained in more detail.
Es zeigen:It demonstrate:
Der
Befestigungbogen
Das
Führungssystem
für das
Endoskop
Alternativ
kann gemäß der Darstellung
in
Anstelle
eines eigenen Befestigungsbogens
Gemäß der Detaildarstellung
in
Das
Gesamtsystem ist in einem Blockschaltbild in
Vorstehend ist somit ein Halte- und Führungssystem für medizinische Instrumente, vorzugsweise der Endoskopie beschrieben, daß aufgrund einer neuartigen kinematischen Anordnung trotz seines mechanisch einfachen Aufbaus einen erheblichen Bedienkomfort und ein erweitertes Operations feld erlaubt. Dabei sind die medizinischen Instrumente in jeder Stellung des Führungssystems sicher gelagert. Dies gilt sowohl für eine aktive, wie auch eine passive Ausführung des Systems.above is thus a holding and guiding system for medical Instruments, preferably endoscopy described that due a novel kinematic arrangement despite its mechanical simple construction a considerable ease of use and an expanded Operations field allowed. These are the medical instruments in every position of the management system safely stored. This applies to both active and passive execution of the system.
- 11
- kinematisches Dreibeinkinematic tripod
- 22
- Befestigungsbogenmounting sheet
- 33
- Operationsflächeoperation area
- 44
- Führungsarmguide
- 5,65.6
- HaltestangenHandrails
- 77
- Instrumentenhalterunginstrument holder
- als kardanische Lagerungwhen Cardanic storage
- 88th
- Läuferrunner
- 99
- KlemmarretierungKlemmarretierung
- 1010
- Endoskopendoscope
- 1111
- Arbeitszylinderworking cylinder
- 1212
- Cliphalterungclip bracket
- 1313
- Führungssystemguidance system
- 1414
- Haltesystemholding system
- 1515
- Kontrolleinheitcontrol unit
- 1616
- Bedieneinheitoperating unit
- 1717
- Displaydisplay
- 1818
- Interfaceinterface
- 2020
- Basisschienebase rail
- 2121
- U-ProfilU-profile
- 2222
- Kardanische Lagerunggimbal storage
Claims (14)
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE10307054A DE10307054B4 (en) | 2003-02-20 | 2003-02-20 | Holding and guiding system |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE10307054A DE10307054B4 (en) | 2003-02-20 | 2003-02-20 | Holding and guiding system |
Publications (2)
Publication Number | Publication Date |
---|---|
DE10307054A1 DE10307054A1 (en) | 2004-09-09 |
DE10307054B4 true DE10307054B4 (en) | 2005-04-21 |
Family
ID=32841717
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
DE10307054A Expired - Fee Related DE10307054B4 (en) | 2003-02-20 | 2003-02-20 | Holding and guiding system |
Country Status (1)
Country | Link |
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DE (1) | DE10307054B4 (en) |
Families Citing this family (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE102005003380A1 (en) * | 2005-01-24 | 2006-08-03 | Innomedic Gmbh | holder |
DE102006004993A1 (en) * | 2006-02-01 | 2007-08-09 | Innomedic Gmbh | Method and device for performing minimally invasive interventions |
US8979826B2 (en) | 2010-12-29 | 2015-03-17 | Boston Scientific Scimed, Inc. | Instrument holder |
DE102013111935A1 (en) * | 2013-10-30 | 2015-04-30 | Rg Mechatronics Gmbh | A framework for holding a surgical robot, using such a frame in a surgical robotic system, and a robotic robot system having such a frame |
DE102020130493B4 (en) | 2020-11-18 | 2022-09-15 | Karl Storz Se & Co. Kg | Holding device, medical system and method for positioning a medical instrument |
Citations (10)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE3804491A1 (en) * | 1987-12-02 | 1989-06-15 | Olympus Optical Co | Device for brain surgery |
DE4120260C1 (en) * | 1991-06-19 | 1993-01-07 | Siemens Ag, 8000 Muenchen, De | Balanced holder for medical appts. component - has swivelable combined arm with component holding and lever arm sections |
US5397323A (en) * | 1992-10-30 | 1995-03-14 | International Business Machines Corporation | Remote center-of-motion robot for surgery |
WO1995013758A1 (en) * | 1993-11-15 | 1995-05-26 | Urso Paul Steven D | Surgical procedures |
US5571072A (en) * | 1995-04-28 | 1996-11-05 | Kronner; Richard F. | Dual-axis endoscope holder |
US5626595A (en) * | 1992-02-14 | 1997-05-06 | Automated Medical Instruments, Inc. | Automated surgical instrument |
US5776126A (en) * | 1993-09-23 | 1998-07-07 | Wilk; Peter J. | Laparoscopic surgical apparatus and associated method |
DE19822195C1 (en) * | 1998-05-16 | 2000-01-27 | Aesculap Ag & Co Kg | Holding arrangement for surgical instrument |
DE69420228T2 (en) * | 1993-11-07 | 2000-04-13 | Ultra-Guide Ltd., Haifa | Articulated cannula guide for use with an ultrasound scanner |
DE10055293A1 (en) * | 2000-11-03 | 2002-05-29 | Storz Karl Gmbh & Co Kg | Device for holding and positioning an endoscopic instrument |
-
2003
- 2003-02-20 DE DE10307054A patent/DE10307054B4/en not_active Expired - Fee Related
Patent Citations (10)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE3804491A1 (en) * | 1987-12-02 | 1989-06-15 | Olympus Optical Co | Device for brain surgery |
DE4120260C1 (en) * | 1991-06-19 | 1993-01-07 | Siemens Ag, 8000 Muenchen, De | Balanced holder for medical appts. component - has swivelable combined arm with component holding and lever arm sections |
US5626595A (en) * | 1992-02-14 | 1997-05-06 | Automated Medical Instruments, Inc. | Automated surgical instrument |
US5397323A (en) * | 1992-10-30 | 1995-03-14 | International Business Machines Corporation | Remote center-of-motion robot for surgery |
US5776126A (en) * | 1993-09-23 | 1998-07-07 | Wilk; Peter J. | Laparoscopic surgical apparatus and associated method |
DE69420228T2 (en) * | 1993-11-07 | 2000-04-13 | Ultra-Guide Ltd., Haifa | Articulated cannula guide for use with an ultrasound scanner |
WO1995013758A1 (en) * | 1993-11-15 | 1995-05-26 | Urso Paul Steven D | Surgical procedures |
US5571072A (en) * | 1995-04-28 | 1996-11-05 | Kronner; Richard F. | Dual-axis endoscope holder |
DE19822195C1 (en) * | 1998-05-16 | 2000-01-27 | Aesculap Ag & Co Kg | Holding arrangement for surgical instrument |
DE10055293A1 (en) * | 2000-11-03 | 2002-05-29 | Storz Karl Gmbh & Co Kg | Device for holding and positioning an endoscopic instrument |
Also Published As
Publication number | Publication date |
---|---|
DE10307054A1 (en) | 2004-09-09 |
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