WO2015014445A1 - Chirurgisches instrument - Google Patents
Chirurgisches instrument Download PDFInfo
- Publication number
- WO2015014445A1 WO2015014445A1 PCT/EP2014/001908 EP2014001908W WO2015014445A1 WO 2015014445 A1 WO2015014445 A1 WO 2015014445A1 EP 2014001908 W EP2014001908 W EP 2014001908W WO 2015014445 A1 WO2015014445 A1 WO 2015014445A1
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- zugmitteltrum
- zugmittelpaares
- surgical instrument
- instrument according
- tensile stiffness
- Prior art date
Links
Classifications
-
- 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
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/00234—Surgical instruments, devices or methods, e.g. tourniquets for minimally invasive surgery
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/00234—Surgical instruments, devices or methods, e.g. tourniquets for minimally invasive surgery
- A61B2017/00292—Surgical instruments, devices or methods, e.g. tourniquets for minimally invasive surgery mounted on or guided by flexible, e.g. catheter-like, means
- A61B2017/003—Steerable
- A61B2017/00318—Steering mechanisms
- A61B2017/00323—Cables or rods
- A61B2017/00327—Cables or rods with actuating members moving in opposite directions
-
- 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
- A61B2034/715—Cable tensioning mechanisms for removing slack
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61M—DEVICES FOR INTRODUCING MEDIA INTO, OR ONTO, THE BODY; DEVICES FOR TRANSDUCING BODY MEDIA OR FOR TAKING MEDIA FROM THE BODY; DEVICES FOR PRODUCING OR ENDING SLEEP OR STUPOR
- A61M25/00—Catheters; Hollow probes
- A61M25/01—Introducing, guiding, advancing, emplacing or holding catheters
- A61M25/0105—Steering means as part of the catheter or advancing means; Markers for positioning
- A61M25/0133—Tip steering devices
- A61M25/0147—Tip steering devices with movable mechanical means, e.g. pull wires
Definitions
- the present invention relates to a, in particular robot-guided, surgical instrument, a surgical robot with such an instrument and method for laying out and for remote actuation of such an instrument.
- a jaw of a wire clamp which is coupled to a traction sheave, by opposing actuation of two cable strands, the
- the cable strands are biased.
- this bias loads the cable strands and bearings and limits the maximum force that can be applied by the jaw, in the present case also an antiparallel for a more compact representation
- Force pair i. a torque
- a force generally referred to as a force
- An object of an embodiment of the present invention is to provide an improved, in particular robot-guided, surgical instrument or to improve its operation. This task is performed by a surgical instrument with the characteristics of
- Claim 13 protects a surgical robot with a corresponding instrument.
- the subclaims relate to advantageous developments.
- a surgical instrument has one or more pre-tensioned pairs of traction means, each with a first Switzerlandstofftrum and an opposite second Switzerlandstofftrum for opposing actuation of a degree of freedom of the instrument by a drive arrangement.
- a traction means may in particular rope or cable-like or belt or belt-like, in particular flat, wedge and / or ribbed or belt-like design. It may in one embodiment plastic and / or metal, in particular consist thereof.
- Under a Switzerlandstofftrum is present in particular the (free) section of a traction device between a input member of the input arrangement and a
- Output member of a driven assembly in particular a
- a traction means axially fixed - relative to a longitudinal axis of the traction means - on the input and output member permanently or detachably, in particular friction, substance or positively fixed. Then, the traction means or its portion between the attachments to input and output member, the Glasstofftrum in the context of the present invention. In another embodiment wraps around the
- Traction means the input and output member frictionally each at least partially. Then, a section of the traction means between the on and off of the input and output member respectively represents a traction means in the sense of the present invention.
- a traction means in the sense of the present invention equally a fixed range of (fixed) Pulling means or one
- a pulling means open at one end wraps around at least partially the input member with frictional engagement, with its two ends each on the
- a traction means open at one end wraps at least partially frictionally the driven member, its two ends being respectively fixed to the opposite input member. Then, a portion of the traction means between the on or expiration of the or on the output member and the attachment to the input member is in each case a Switzerlandstofftrum in the context of the present invention.
- the first Switzerlandstofftrum and the second Switzerlandstofftrum one or more Buchstoffcrue each driven, in particular end effector side and / or input side connected to each other or be attached separately from each other on an input and / or output member.
- One or more pairs of traction means can be closed or ring-like, semi-open or unilaterally connected or formed by two separate traction means.
- the first and second Werchutrum actuated by the same input member and / or actuate the same output member. For example, they can wrap around a traction sheave or be fixed to two legs of a rocker.
- the first and second Switzerlandstofftrum be actuated by separate Eintriebsglieder and / or actuate separate output members
- the separate Eintriebsglieder the Eintriebsan Aunt or the separate output members of the output assembly preferably, in particular mechanically, hydraulically, pneumatically and / or control technology, synchronized in opposite directions are.
- Linear actuators pull the first and second Switzerlandstofftrum opposite direction or
- the degree of freedom counteracted by a pair of traction means may in particular be a degree of freedom of movement, in particular a translational or rotational degree of freedom of an end effector of the instrument, for example the rotation of a scalpel, a hook or a jaw of a clamp, scissors, forceps or the like. Accordingly, the output arrangement a
- Output assembly a Instrumentschaftabtriebsan extract and the output or the output members to be coupled to the articulated instrument shaft.
- the degree of freedom is a pivoting degree of freedom of an end effector relative to an instrument shaft on which the end effector is movably supported, or a pivoting degree of freedom of an instrument shaft portion relative to another instrument shaft part on which the end effector is movable or
- Fig. 1 shows a static equilibrium between a unit input force F A to an input drive member A and a reaction moment MR, which acts as a result of an installation of an end effector 3.1 to a driven member 3.
- Input and output member are coupled via a Wernergate with a first Switzerlandstofftrum 1 and an opposite second Switzerlandstofftrum 2, which are each biased by a biasing means, so that they in the unaktu faced state a
- reaction torque M R results from the static torque equilibrium with these two cutting forces F ⁇ F 2 and the lever arm r to:
- Preload F v is required. Since the bias in particular the traction means, but also bearing loads and difficult to impose, can by a
- the tensile stiffness of the first Werstofftrums is always greater than the tensile stiffness of the second Werstofftrums. It is understood that the tensile stiffness refers to normal operating conditions. Accordingly, in one embodiment, the tensile stiffness of the first Werstofftrums at least for temperatures greater than the tensile stiffness of the second Werstofftrums, which are between 10 ° C and 40 ° C.
- the tensile stiffness of the first Wermittetrums advantageously at least 10%, in particular at least 25% and preferably at least 50% greater than the tensile stiffness of the second Wermittetrums.
- the tensile stiffness of a Switzerlandstofftrums depends in particular on its material, in particular of its elasticity coefficient or modulus of elasticity.
- the tensile stiffness of a Werbachtrums depends in particular on its geometry, in particular of its cross-sectional area. Accordingly, in one embodiment, the first Werstofftrum geometry, in particular by cross-section, a greater tensile stiffness than the second Werstofftrum. In particular, the first Werstofftrum over its entire length or at least one
- the first and / or second Switzerlandstofftrum can each be single or multi-stranded. Accordingly, the first
- the first Switzerlandstofftrum has a minimum cross-sectional area which is at least 10%, in particular at least 25% and preferably at least 50% greater than a minimum cross-sectional area of the second Werstofftrums.
- the two preceding aspects can be combined with each other.
- the first Buchstofftrum continuous or at least partially a material having a greater modulus of elasticity and a larger cross-sectional area, in particular strand number, have as the second Werstofftrum.
- the Switzerlandstofftrume are continuously made of the same material and have a constant cross section.
- the first and / or Wertrum may also have sections of different materials and / or geometries. Mechanically, this corresponds to a series connection of springs or tensile stiffnesses. Accordingly, by at least one portion with a locally higher tensile stiffness, in particular from a material having a locally larger modulus of elasticity and / or a locally larger cross-sectional area, the tensile stiffness of the first Werbachtrums increased and / or by at least one portion with a locally smaller tensile stiffness, in particular a material with a locally smaller elastic modulus and / or a locally smaller one
- the applicable torque or the applicable force can be increased at the same pretensioning or the required preload can be reduced.
- Many opposing Buchstoffschreibe have a main working direction in which larger forces or moments are to be transmitted as in the opposite direction. For example, regularly larger forces or moments are required for closing jaws of pliers, shears, clamps or the like as to their opening. Similarly, larger forces or moments are regularly required for advancing a blade, in particular a scalpel, in the direction of its cutting edge or for cutting than for lifting or loosening. Accordingly, in one embodiment, the first Switzerlandstofftrum having the greater tensile stiffness, for actuating the degree of freedom in one
- Main working direction in particular for closing or cutting, set up.
- a main working direction is understood in particular to be the direction in which the larger forces or moments are (are) to be impressed during operation.
- the main working directions of two Werbachschreiben, the first Werstofftrum each having a greater tensile stiffness, in opposite directions, as is the case in particular with two jaws of a pair of pliers, scissors, clamp or the like.
- the Buchstofffind is biased. This is in one Execution of a biasing means for jointly biasing the first and second Weritztrums one or more Buchstoffschreibe provided.
- a biasing means or a part of a multi-part biasing means may comprise in one embodiment, one or more mechanical, hydraulic, pneumatic, magnetic and / or electromagnetic springs, wherein a (electro) magnetic spring in the sense of the present
- the Invention has two each other (electro) magnetically repelling or attracting elements.
- the biasing means is adjustable or adjustable
- a surgical instrument can be actuated manually.
- a, in particular robotically guided, surgical instrument it additionally or alternatively has an actuator arrangement with one or more
- An actuator may in particular comprise one or more electric motors.
- An actuator is in each case operatively connected to one or more input members of a drive arrangement of a Switzerlandstoffschreibes, in particular
- the transmission can in particular a
- an instrument according to the invention is particularly suitable for minimally invasive surgery. Accordingly, in one embodiment it has an instrument shaft in which the one or more pairs of traction means are arranged, and for insertion through a natural or minimally invasive body opening,
- the instrument may, in particular, be an endoscopic instrument having an end effector for insertion into a body and an opposing extracorporeal actuator assembly.
- an instrument according to the invention is particularly suitable for minimally invasive robotic surgery. Accordingly, in one embodiment it has an interface for connection to a robot.
- the interface may in particular be arranged on the instrument shaft and / or an actuator arrangement.
- the interface has a mechanical and / or magnetic, in particular electromagnetic, coupling for coupling to a robot, and / or an interface for transmitting signals, electrical energy and / or fluids, in particular gases and / or liquids, between the robot and the instrument.
- a tensile stiffness of the first Werstofftrums one or more biased Werstoffpointe is designed to be greater than a tensile stiffness of the second Werstofftrums the respective Werstoffcrues, in particular by appropriate specification of a material and / or a
- Present invention is a tensile stress increase in the first Werstofftrum one or more pre-tensioned Werenbergpointe due to an actuation of the input arrangement of this Buchstoffschreibes due to the larger
- FIG. 1 a part of a surgical instrument according to an embodiment of the present invention
- FIG. 2 shows a part of a surgical instrument after another
- Fig. 1 shows a part of a surgical instrument according to an embodiment of the present invention. It has a Eintriebsan extract with a Eintriebsglied in the form of a rotatably mounted rocker A and a End monoorabtriebsan extract with a driven member in the form of another rotatably mounted rocker 3, to which an end effector 3.1 is attached.
- Input and output member are coupled by a biased Buchstoffschreib with a first Switzerlandstofftrum 1 and an opposite second Switzerlandstofftrum 2. Due to the bias, biasing forces F v act on Eulerian cutters.
- FIG. 1 shows a static equilibrium under the influence of an input force F A which is exerted on the input member A by an actuator (not shown). This seeks to turn the end effector 3.1 clockwise. However, since this is in an environment, such as a lumen in the body, rests, the end effector can not move, it acts on the reaction torque M R.
- the first Switzerlandstofftrum 1 has geometry, in particular by cross-section, a greater tensile stiffness e, as the second Switzerlandstofftrum 2, as indicated in Fig. 1 by different line thicknesses of the first and second Switzerlandstofftrums.
- the material of which the first Switzerlandstofftrum consists have a greater modulus of elasticity than the material of which the second Switzerlandstofftrum consists.
- M R , ma x (Ci / c 2 + 1) ⁇ F v ⁇ r
- the tensile stiffness c is, for example, the quotient of a test tensile force F and a change in length of the respective traction mechanism strand caused thereby.
- FIG. 2 shows in Fig. 1 corresponding representation of a part of a surgical
- Apostrophe (', ") differentiated reference numerals are designated, so that reference is made to the above description and will be discussed below only for differences from the embodiment of FIG.
- the surgical instrument of Fig. 2 has two biased Switzerland Bachstoffpase (1 ', 2'), (', 2 "), each with a first Switzerlandstofftrum 1' and 1" and an opposite second Switzerlandstofftrum 2 'or 2 "for opposing actuation of two degrees of freedom of an end effector in the form of a clamp with two jaws 3.1 ', 3.1 ", which clamp between them a lumen and thereby experience reaction moments M R ' and M R ".
- the Switzerlandstoffschreibe are arranged in a common instrument shaft 4.2, the end effector side half (bottom in Fig. 2) by a natural or
- a drive assembly with two actuators synchronized in terms of control technology in the form of electric motors (not shown) arranged in a housing 4.1, wherein the instrument is coupled by means of an interface to a robot and the electric motors with input members A ',
- the Switzerlandstofftrume are biased separately by a multi-part biasing means with springs V1 ', V2', V1" and V2 ".
- the input and output members ⁇ ', A ", 3' and 3" are formed in the embodiment of Fig. 2 as traction sheaves, which in each case partially from the Switzerlandstoffschreiben
- the closing directions of the jaws 3.1 ', 3.1' ' form the main working directions of the corresponding pair of traction means, corresponding to their first traction means 1', 1 '' for actuating the degrees of freedom of the clamping jaws 3.1 ', 3.1' 'in main working directions, in particular for closing set up.
- V1 ", V2 'biasing means (part)
Abstract
Description
Claims
Priority Applications (4)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
US14/908,658 US20160166340A1 (en) | 2013-08-01 | 2014-07-11 | Surgical Instrument |
EP14741523.6A EP3027137A1 (de) | 2013-08-01 | 2014-07-11 | Chirurgisches instrument |
KR1020167002726A KR101778476B1 (ko) | 2013-08-01 | 2014-07-11 | 외과용 기구 |
CN201480043370.1A CN105431105A (zh) | 2013-08-01 | 2014-07-11 | 外科手术器械 |
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE102013012802.1A DE102013012802A1 (de) | 2013-08-01 | 2013-08-01 | Chirurgisches Instrument |
DE102013012802.1 | 2013-08-01 |
Publications (1)
Publication Number | Publication Date |
---|---|
WO2015014445A1 true WO2015014445A1 (de) | 2015-02-05 |
Family
ID=51211724
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
PCT/EP2014/001908 WO2015014445A1 (de) | 2013-08-01 | 2014-07-11 | Chirurgisches instrument |
Country Status (6)
Country | Link |
---|---|
US (1) | US20160166340A1 (de) |
EP (1) | EP3027137A1 (de) |
KR (1) | KR101778476B1 (de) |
CN (1) | CN105431105A (de) |
DE (1) | DE102013012802A1 (de) |
WO (1) | WO2015014445A1 (de) |
Families Citing this family (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE102015101018A1 (de) * | 2015-01-23 | 2016-07-28 | MAQUET GmbH | Vorrichtung zum Halten und Bewegen eines Laparoskops während einer Operation |
US11633249B2 (en) * | 2017-02-10 | 2023-04-25 | Intuitive Surgical Operations, Inc. | Assembly process for tensioning elements and related systems |
CN114938937B (zh) * | 2022-05-18 | 2024-03-08 | 湖南省华芯医疗器械有限公司 | 一种牵引绳预紧结构、内窥镜手柄及内窥镜 |
Citations (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US20040266574A1 (en) * | 2003-03-31 | 2004-12-30 | Kabushiki Kaisha Toshiba | Power transmission mechanism and manipulator |
EP1759652A2 (de) * | 2005-08-30 | 2007-03-07 | Kabushiki Kaisha Toshiba | Roboter und Manipulator |
US20100228283A1 (en) * | 2009-03-04 | 2010-09-09 | Terumo Kabushiki Kaisha | Medical manipulator |
US20110105843A1 (en) * | 2009-10-30 | 2011-05-05 | Tyco Healthcare Group Lp | Surgical Instrument With Tendon Preload-and-Locking Device |
Family Cites Families (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPS60196459A (ja) * | 1984-03-21 | 1985-10-04 | Toshiba Corp | 動力伝達機構 |
US9649163B2 (en) * | 2010-11-11 | 2017-05-16 | Medrobotics Corporation | Introduction devices for highly articulated robotic probes and methods of production and use of such probes |
JP6157258B2 (ja) * | 2013-07-26 | 2017-07-05 | オリンパス株式会社 | マニピュレータ及びマニピュレータシステム |
-
2013
- 2013-08-01 DE DE102013012802.1A patent/DE102013012802A1/de not_active Withdrawn
-
2014
- 2014-07-11 US US14/908,658 patent/US20160166340A1/en not_active Abandoned
- 2014-07-11 EP EP14741523.6A patent/EP3027137A1/de not_active Ceased
- 2014-07-11 KR KR1020167002726A patent/KR101778476B1/ko active IP Right Grant
- 2014-07-11 WO PCT/EP2014/001908 patent/WO2015014445A1/de active Application Filing
- 2014-07-11 CN CN201480043370.1A patent/CN105431105A/zh active Pending
Patent Citations (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US20040266574A1 (en) * | 2003-03-31 | 2004-12-30 | Kabushiki Kaisha Toshiba | Power transmission mechanism and manipulator |
EP1759652A2 (de) * | 2005-08-30 | 2007-03-07 | Kabushiki Kaisha Toshiba | Roboter und Manipulator |
US20100228283A1 (en) * | 2009-03-04 | 2010-09-09 | Terumo Kabushiki Kaisha | Medical manipulator |
US20110105843A1 (en) * | 2009-10-30 | 2011-05-05 | Tyco Healthcare Group Lp | Surgical Instrument With Tendon Preload-and-Locking Device |
Also Published As
Publication number | Publication date |
---|---|
KR20160027138A (ko) | 2016-03-09 |
CN105431105A (zh) | 2016-03-23 |
KR101778476B1 (ko) | 2017-09-13 |
EP3027137A1 (de) | 2016-06-08 |
DE102013012802A1 (de) | 2015-02-05 |
US20160166340A1 (en) | 2016-06-16 |
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