DE102012013242A1 - Surgical instrument arrangement for manipulator surgery system, has modular motor drive unit which has drive arrangement with output element and instrument shaft which is detachably connected to drive unit - Google Patents

Abstract

The surgical instrument arrangement has a modular motor drive unit (1) which has a drive arrangement with an output element and an instrument shaft (2) which is detachably connected to the drive unit. The drive arrangement is provided with an input drive element. The output arrangement and the drive arrangement are coupled to each other by a mechanical interface which has a single-sided linkage, a pin (100) and a cut-out. The pin is expanded in the cut-out radially, particular elastically or by a separate body. Independent claims are included for the following: (1) a method for loading a manipulator of a manipulator surgical system; (2) a drive arrangement for a drive module of a surgical instrument of a manipulator arrangement; (3) a manipulator arrangement with a robot; (4) a method for controlling a drive or a manual teleoperational unit of a surgical instrument; (5) a control unit for controlling a surgical instrument; (6) a surgical instrument with an input drive element arrangement; (7) a drive unit with an output element arrangement; and (8) a method for detachable connection of the drive module and the instrument shaft of a surgical instrument.

Description

The present invention relates to a surgical instrument assembly, a manipulator surgery system having such a manipulator-guided instrument assembly, and a method for populating a manipulator thereof.

For example, from the EP 1 015 068 A1 is a manipulator surgery system with a manipulator-guided surgical instrument known, the degrees of freedom are actuated by a drive train arrangement in the manipulator, which complicates in particular with regard to sterility requirements, the connection of the instrument to the manipulator.

The DE 10 2009 060 987 A1 discloses a surgical manipulator instrument having a dedicated drive unit for actuating degrees of freedom of the instrument, which has a mechanical interface with a coupling element which engages in an undercut protrusion of another coupling element, without going into sterility requirements.

The object of the present invention is to provide an improved surgical instrument.

This object is achieved by a surgical instrument assembly having the features of claim 1, 11 and 12, respectively. Claim 13 provides a manipulator surgery system with such an instrument assembly under protection, claim 14, a method for populating a manipulator of such a manipulator surgery system. The subclaims relate to advantageous developments.

According to one aspect of the present invention, a, in particular manipulator-guided, surgical instrument assembly has a modular motor drive unit, which has an output arrangement with one or more output elements. In the present case, an output element is understood to mean in particular a one-part or multi-part element or component which is actuated directly or indirectly by a motor, in particular an electric motor, or is adjustable in an adjustment direction and intended to actuate a degree of freedom of the instrument , The drive unit can be powered and / or controlled wirelessly or cable-based in one embodiment.

The instrument assembly further comprises an instrument shaft, which in one embodiment is intended to be partially inserted into a patient, in particular through an opening for minimally invasive surgery, in particular also endoscopy. The instrument shaft may be wholly or partially rigid or flexible and / or have an end effector, in particular a scalpel, a pair of scissors, forceps, clamp, an optical recording and / or illumination means, in particular an optical fiber end, a CCD chip (so-called "Chip-on-the-tip endoscope), an LED or the like. In this respect, in particular, an actuatable, in particular bendable, endoscope can represent an instrument shaft within the meaning of the present invention. An instrument shaft in the sense of the present invention generally has one or more degrees of freedom, in particular one or more degrees of freedom for positioning, in particular orientation, and / or for actuating an end effector. In one development, it has two, three or more degrees of freedom, in particular rotational degrees of freedom, for orientation and / or one or more, in particular at most one, degree of freedom for actuating, in particular opening or closing, an end effector. For actuation, it has a drive arrangement with one or more input elements. In the present case, a driving element is understood in particular to mean a one-part or multi-part element or component which is directly or indirectly actuated by an associated output element of the drive unit or is adjustable in an adjustment direction and intended to actuate a degree of freedom of the instrument. For this purpose, it may in particular be unidirectionally or bidirectionally coupled to the end effector, in one embodiment mechanically, in particular by means of one or more cables, rods, gears, hydraulically, pneumatically or the like, wherein a unidirectional coupling is understood in particular to mean a coupling such that the Degree of freedom can be actuated by an adjustment of the input element only in a direction sense, for example by a cable only in a pulling direction under a bidirectional coupling according to a particular coupling such that the degree of freedom can be actuated in opposite directions by an adjustment of the input element, for example by a push rod in train and printing direction.

The instrument shaft can be detachably connected to the drive unit, the output arrangement and the drive arrangement can be coupled to one another by means of a mechanical interface. In a further development of the instrument shaft is detachably connected to the drive unit, the driven assembly and the drive assembly coupled together by means of the mechanical interface. The instrument arrangement is then also referred to briefly as an instrument. In one embodiment, however, two or more different drive units and / or two or more different instrument shafts can be provided which can be selectively connected to an instrument shaft or a drive unit and in particular in the number of can distinguish actuatable degrees of freedom. For the sake of a more compact representation, in the present case, therefore, there is generally spoken of an instrument arrangement in the sense of a set of one or more drive units and one or more instrument shafts which are detachably connectable or connected to one another.

The instrument arrangement or the instrument, in particular the drive unit or the instrument shaft, in one embodiment is detachably fastened to a manipulator and, in a further development, can have a corresponding connection interface. Accordingly, one aspect of the present invention relates to a method for populating a manipulator, wherein a drive unit and an instrument shaft detachably connected to each other and their Ab- and the drive assembly are coupled together by means of the mechanical interface. In one embodiment, the manipulator may have one or more, in particular at least six, preferably seven or more degrees of freedom in order to (redundantly) guide the instrument, in particular to position its end effector in a patient.

One aspect of the present invention relates to the design of the mechanical interface, by means of the Ab- and drive assembly can be coupled or coupled together.

In one aspect, this interface each has a one-sided bond between one or more pairs of mating drive-in and drive-in elements. Under a one-sided binding or coupling is present in particular, as usual in mechanics, understood that a Ab- and a drive element are coupled together such that a movement of the one of the Ab- and the input element in one direction or a sense of direction forcibly guided causes a movement of the other of the Ab- and the input element, a movement of the one of the Ab- and the input element in the opposite direction or the opposite direction, however, causes no positively driven movement of the other of the Ab- and the input element. In particular, a unilateral bond can be characterized in that between the ab- and input element directly or indirectly only compressive forces and no tensile forces are transferable, in the present case for more compact representation antiparallel pairs of forces, d. H. Torques, generically referred to as forces. A one-sided binding can be characterized accordingly in that between input and input element directly or indirectly only one torque is transferable in one direction, in the opposite direction, however, at least substantially, no torque is transferable. Under a two-sided binding is in the present case according to particular understood that opposing movements of Ab- or input element are forcibly transmitted to the respective other element, in particular, that between Ab- and input element directly or indirectly compressive and tensile forces or opposing torques are transferable.

Such unilateral bonding may be beneficial over a sterile barrier. In particular, in one embodiment, a down and an associated input element can be arranged on opposite sides of a sterile barrier and contact them, wherein at least one of the input and input element is not connected to the sterile barrier or can be detached therefrom. In this way, a sterile barrier between the drive unit and the instrument shaft can be easily and compactly arranged.

According to one aspect, the mechanical interface, by means of the Ab- and drive arrangement are coupled or coupled to each other, depending at least one recess which is formed in an element of one or more pairs of mutually associated Ab- and Eintriebselemente, and each a pin, formed on the other element of this pair and inserted or inserted into this recess. In particular, therefore, one or more output elements may each have one or more pins and their associated input elements corresponding recesses. Similarly, one or more input elements may each have one or more pins and their associated output elements corresponding recesses.

According to one aspect of the pin or in the respective recess radially, in particular elastically and / or by separate body, expandable or widened, so that the pin in the recess, in particular axially and / or rotationally fixed, can be fixed or fixed , In one embodiment, a pin can be fixed by the radial expansion frictionally engaged in the recess or be. Additionally or alternatively, the pin can be fixed by the radial expansion in a form-fitting manner in the recess or be. A sterile barrier can in particular be arranged, in particular clamped, between pin and recess, and / or be arranged so simply and compactly between the drive unit and the instrument shaft.

In one embodiment, a clamping means for radially expanding one or more inserted into a respective recess pin of the mechanical interface is provided. This clamping means can be actuated manually or mechanically in a development, in particular by its own, preferably electromotive, clamping means drive. It can be particularly mechanical, hydraulically, pneumatically and / or electromagnetically actuated. For example, a clamping means drive can be so weg- or force controlled that it expands radially after insertion of the pin into the recess, in particular by an adjustment or actuation of the drive assembly. The pin may be formed in one or more parts with the Ab- or input element, in particular as a separate and / or elastic body, which can be releasably or permanently, in particular cohesively connected, preferably glued to the rest of Ab- or input element.

For elastic radial expansion of the pin, in particular its elastic body, be made in a development of plastic, in particular polyurethane and / or silicone. For non-elastic widening of the pin may have one or more separate, in particular lamellar, body, which are radially displaceable, in particular pivotable about an axis radially outwardly or translationally displaceable, in the pin or other Ab- or input member are guided and by radial displacement to the outside, in particular by pivoting, this can radially expand in the context of the present invention.

In one embodiment, the pin may have a continuous or blind hole-like inner bore, which is for example hydraulically or pneumatically pressurized to radially expand the pin. A pin of the clamping means can pass through a through hole in the pin and on a side opposite to a clamping means drive side have a flange whose diameter is larger than the through hole. By clamping the flange through the clamping means drive to this point, the pin between the flange and the clamping means drive can be axially compressed, so that it expands radially. Similarly, the pin may have a radially widening in the axial direction, in particular conical, contour, so that an axial displacement of the pin in the pin expands this radially, in particular elastically or by moving separate bodies radially outward.

According to another aspect is formed between the recess and the inserted into this pin a wave-shaped in the radial direction gap, in which an intermediate element arrangement is arranged with one or more intermediate elements, which - in particular by a fixedly connected to the drive unit or the instrument shaft cage - radially slidably and axially fixed. Now, if the pin (the recess) axially displaced, moves accordingly (its) wave-shaped, the recess (the pin) facing the outside (inner) wall. This adjusts positively the corresponding intermediate elements in the radial direction, which in turn force a corresponding axial displacement of the recess (of the pin). In this way, in particular an axial displacement of pin or recess can be positively positively transmitted to the recess or the pin. A sterile barrier can in turn be arranged, in particular clamped, in particular between the pin and the recess, in particular between the pin and intermediate element arrangement or between the intermediate element arrangement and the recess, and thus be arranged simply and compactly between the drive unit and the instrument shaft.

In one aspect, the mechanical interface includes a rocker arm for coupling one or more pairs of input and output members. Under a rocker arm is presently understood in the usual way in particular a lever which is rotatably mounted at one point, in particular one end, and forcibly positively guided at one axially spaced location, in particular an opposite end, by a rotatable or sliding link. A sterile barrier can in particular be arranged, in particular clamped, between the rocker arm and the gate, and / or be arranged so simply and compactly between the drive unit and the instrument shaft. In particular, an output element can be designed as a rocker arm and an associated input element as a backdrop. Similarly, a driving element can be designed as a rocker arm and an associated output element as a backdrop.

In one embodiment of one of the aforementioned aspects, one or more output elements of the output arrangement can be guided or actuated in a translationally adjustable manner. For example, an output element may form an output shaft of a linear motor or may be coupled to such. Additionally or alternatively, one or more input elements of the drive arrangement can be guided or actuated in a translationally adjustable manner be. For example, a drive element may form or be coupled to a rod which is hinged to an end effector. Likewise, a drive element can also be connected, for example, with a pull cable for actuation of a degree of instrument freedom.

Similarly, one or more output elements of the output arrangement can be rotationally adjustably guided or actuated. For example, an output element may form or be coupled to an output axis of a rotary motor. Additionally or alternatively, one or more input elements of the drive arrangement can be guided or actuated in a rotationally adjustable manner. For example, a drive element may be a shaft on which a pull cable winds to actuate an instrument degree of freedom.

In one embodiment of one of the aforementioned aspects, one or more output elements are coupled to a coupling means such that a translational movement of the coupling means is converted into a rotational movement of the element. Likewise, one or more output members may be coupled to a coupling means such that rotational motion is translated from the coupling means into translational motion of the member.

Additionally or alternatively, one or more input elements can be coupled to a (further) coupling means in such a way that a translatory movement of the element into a rotational movement is converted by the coupling means. Similarly, one or more input elements may be coupled to a (further) coupling means such that a rotational movement of the element is converted into a translational movement of the coupling means.

In a further development, a coupling means may comprise a rotary thrust bearing, in particular a pivotable in a link translationally movable. Additionally or alternatively, a coupling means may comprise a rotatably mounted lever or a rotatably mounted rocker or a lever with a pivot bearing point which is arranged between two taps, for example, further pivot bearing points, cable fittings or the like. In particular, in this way, a rotational movement of the coupling means can be mechanically converted into a translational movement of a Ab- or input element. Additionally or alternatively, a coupling means have a toothing, in particular two intermeshing or intermeshing teeth, of which in a development a rotatory and the other also rotatory, in particular as a meshing spur toothing, or translationally, in particular as a worm or rack toothing, movably mounted is.

In one embodiment of one of the aforementioned aspects, the instrument shaft has a flange, wherein the mechanical interface is arranged on an end effector facing surface of this flange. In a further development, the drive unit has a corresponding recess for the passage of the instrument shaft, which in the present case is also referred to as a backloader arrangement. Likewise, the mechanical interface can be arranged on an end effector facing away from this flange, so that the drive unit can also be arranged on a side facing away from the end effector of the instrument shaft, which is referred to herein as a muzzle loader arrangement. In an alternative embodiment, the mechanical interface may be disposed on a lateral surface of the flange of the instrument shaft, which is referred to herein as a side loader assembly.

In particular, if the mechanical interface has a one-sided binding, in one embodiment, one or more output elements and / or one or more input elements may be biased against their respective adjustment direction, in particular by a spring means. In this way, even with a one-sided binding, one element can be tracked to the other by the spring means also counter to the binding direction. Even with two-sided bindings, for example a radially expanded pin, an intermediate element arrangement or a rocker arm, a bias of a Ab- or input element against its adjustment advantageously reduce game.

Similarly, in particular, when a unilateral bond is formed between a down and an associated input element, a further Ab- and associated input element may be provided, whose one-sided binding is opposite to the one Ab- and input element. In other words, for counteracting actuation or actuation of one degree of freedom in each case in two opposite directions, a pair of counteracting or driving elements acting in opposite directions may be provided. In the present case, this is understood to mean, in particular, that an actuation of an output element of a pair actuates or displaces the other output element of this pair, in particular mechanically forcedly, in opposite directions. Even with two-sided bindings, for example a radially expanded pin, an intermediate element arrangement or a rocker arm, an oppositely acting further removal and input element can be provided to advantageously represent a redundant and precise actuation of the degree of freedom.

In particular, if there is a static overdetermination due to a pair of oppositely acting take-off or drive-in elements, in one embodiment of the present invention a compensation means for tolerance compensation can be provided. Such a tolerance means may in particular have an elastic compliance of a withdrawal or input element, in particular in its adjustment direction. Additionally or alternatively, a coupled to a Ab- or input element coupling means have an elastic compliance in the adjustment direction of the element. Additionally or alternatively, a sterile barrier, which is arranged between the input and input element, a have elastic compliance. An elastic compliance can be defined or formed in particular by an elastic material which exhibits macroscopic deformations during normal operation and / or by a corresponding shaping or bending-soft design, in particular a local material dilution, preferably constriction. Equally, a compensating means may also have a, in particular prestressed, bearing or bearing axis displaceable in the adjustment direction, in particular a coupling means coupled to a removal or input element. Even without static over-determination, such tolerance compensation can be advantageous in order to compensate, for example, assembly or manufacturing tolerances in a kinematic chain.

In one embodiment of one of the aforementioned aspects, an end face of an output element and / or an end face of a input element can be designed flat, in particular in order to advantageously represent a larger contact surface. Likewise, an end face of an output element and / or an end face of a input element can be crowned, in particular in order to advantageously represent a well-defined contact region. In addition or as an alternative, an end face of a withdrawal or input element may have at least one projection and an end face of a input or output element which can be coupled or coupled thereto, a corresponding recess into which this projection engages.

Another aspect of the present invention relates to the sterility of the instrument. For this purpose, according to an aspect that may be combined with one or more of the above aspects or embodiments, the instrument assembly or the instrument on a sterile barrier, which is intended to wrap the drive unit, in particular airtight, and between the drive unit and the Instrument shaft to be arranged, or which surrounds the drive unit sterile and is disposed between the drive unit and the instrument shaft. In a further development, the sterile barrier can be designed like a film and / or as a disposable or disposable article.

In one aspect, the sterile barrier in the region of the mechanical interface on a loose in an adjustment of the Ab- and drive assembly. The lots may be formed in one embodiment by a cuff, which extends in an axial adjustment direction and on an axial adjustment of Ab- or input element up or rolls or evert. In the present case, "lots" is understood in general to mean, in particular, a material reserve of the sterile barrier in order to compensate, in particular translational, adjusting movements of removal or input elements, which are folded or rolled in an adjustment state and unfolded or unrolled in another adjustment state.

In one embodiment, the lots may be biased. This is understood in the present case in particular that the lots deforms elastically during an adjustment or actuation of the Ab- or input element against the bias and resets in opposite directions. In this respect, for the sake of more compact representation, in particular a multiple material which is provided for compensating for an adjusting movement of a withdrawal or input element is generally referred to as lots, which can be equally prestressed or tension-free or loose. In a development, the lots has a bellows whose folding induces a bias in a basic configuration. The folding or the bellows may extend in an embodiment in the adjustment direction and / or transversely or transversely thereto, whereby corresponding basic configurations and deformations can be represented.

In one aspect, the sterile barrier in the region of the mechanical interface has at least one non-contact, translationally displaceable seal. This can be designed in particular as a gap or labyrinth seal and preferably be telescopic, d. H. two or more axially mutually displaceable and sealed parts, in particular rings, preferably concentric rings having. Advantageously, by such non-contact translational seals dissipationsärmere adjustment movements can be displayed. In a further development, in a non-contact translatory seal, force transmission takes place beyond the sterile barrier and not through it.

As already explained above, the sterile barrier can have a compensating means for tolerance compensation, in particular an elastic compliance. In a further development, for this purpose, it can in particular have a local wall thickening in a contact region of a withdrawal and / or input element, in particular a one-sided bond, in order to provide more elastic travel. In a development, the elastic compliance, in particular a local wall thickening, has a higher rigidity than a surrounding area of the sterile barrier, in order to improve the transfer behavior. For this purpose, in one embodiment of the present invention, the sterile barrier may have a local material change in the contact region of an input and / or output element, in particular locally a material with a higher or lower rigidity than in an environment of the contact region.

In one aspect, the sterile barrier has at least one element extension in the region of the mechanical interface. In one embodiment, the latter can be detachably connected or connected to an output element base, which destructively penetrates the sterile barrier and forms an output element together with the element extension. Similarly, an element extension can be detachably connected or connected to a drive element base, which destructively penetrates the sterile barrier and forms a drive-in element together with the element extension. For example, a sterile, in particular sterilized input element base of the drive assembly of the sterile instrument shaft destructive penetrate the sterile barrier and connected on the instrument shaft facing away from the elemental extension, which is then coupled within the sterile barrier or sterile sheath with the associated output element. Likewise, a sterile element extension can be placed on the instrument shaft side in sterile contact with the sterile barrier before an output element base destructively passes through it and is connected to the element extension on the instrument shaft-facing side. In this way, in each case the sterility of the instrument shaft can be maintained when coupling a self-sterile, wrapped by the sterile barrier drive unit.

Another aspect of the present invention relates to the attachment of the drive unit and instrument shaft together. For this purpose, according to an aspect that may be combined with one or more of the above aspects or embodiments, the instrument assembly or the instrument on a fastener for releasable connection with the drive unit, which is intended, preferably exclusively from the outside on one of the drive unit remote surface of the sterile barrier to be arranged or which is arranged exclusively on a surface remote from the drive unit of the sterile barrier. The fastening element can be releasably, in particular form-fitting or frictionally engaged, or inseparably connected to the instrument shaft, for example clipped or integrally formed with this. In one embodiment, the sterile barrier is closed at least in the area of contact with the fastening element, preferably in the region of the complete mechanical interface; in particular, it can be clamped without destruction or locking between latching projections and / or recesses of the drive unit and fastening element. In this way, no seal must be made when attaching the instrument shaft to the wrapped drive unit. In a further development, the fastening element is correspondingly designed without seals or without seals.

The fastening element can in particular be designed separately as a sterile disposable article or sterilizable adapter and can be fastened or fastened to the drive unit in a friction-locked and / or form-fitting manner, in particular by means of a clip connection. In particular, in combination with a one-sided binding so attachment and coupling functionality can be separated and split on fastener and interface.

Further advantages and features emerge from the subclaims and the exemplary embodiments. This shows, partially schematized:

1 a mechanical interface of an instrument assembly according to an embodiment of the present invention;

2 to 6 : mechanical interfaces of instrument assemblies according to further embodiments of the present invention;

7 : Different versions of the facing end faces of the input and input elements of the mechanical interfaces of 1 to 6 ;

8th to 10 : Compensating means for tolerance compensation;

11 to 15 : various couplings of an instrument shaft side drive train to a mechanical interface according to the invention;

16 : mechanical interfaces of instrument assemblies according to further embodiments of the present invention;

17 to 19 : different designs of pin and recess of the interface of the 16 ;

20 : an instrument assembly according to another embodiment of the present invention;

21 : an instrument assembly according to another embodiment of the present invention;

22 a pin and a clamping means of the instrument assembly of 21 ;

23 : Steps of the path controlled coupling process of the instrumentation of the 21 ;

24 : mechanical interfaces of instrument assemblies according to further embodiments of the present invention;

25 : Steps of the path controlled coupling process of the instrumentation of the 24 ;

26 Fig. 5 shows various arrangements of a tool shaft to a drive unit of an instrument assembly according to further embodiments of the present invention;

27 to 29 : mechanical interfaces of instrument assemblies according to further embodiments of the present invention;

30 : mechanical interfaces of instrument assemblies according to further embodiments of the present invention with a sterile barrier having a loose in the direction of adjustment;

31 : mechanical interfaces of instrument assemblies according to further embodiments of the present invention having a sterile barrier having a non-contact translationally displaceable seal;

32 a mechanical interface of an instrument assembly according to another embodiment of the present invention having a sterile barrier having an element extension detachably connected to a drive or base member base; and

33 : An instrument assembly according to another embodiment of the present invention with a fastener in the form of a sterile adapter 4 ,

1 shows a mechanical interface of an instrument assembly according to an embodiment of the present invention with two opposing output members 10A . 10B an output assembly of a modular motor drive unit 1 , These are with two input elements 20A respectively. 20B a drive arrangement of an instrument shaft 2 coupled. A sterile barrier 3 envelops the drive unit 1 and is between this and the instrument shaft 2 arranged.

Ab- and input elements 10A . 10B respectively. 20A . 20B are in the drive unit 1 or the instrument panel 2 guided translationally adjustable.

The output elements 10A . 10B are using a as a seesaw 10C trained coupling means coupled such that a rotational movement of the coupling means 10C , in the 1 is indicated by a rotary arrow, in a translational movement of the elements 10A . 10B is implemented. The coupling agent 10C For example, with an output shaft of an electric motor of the drive unit 1 be connected or coupled via a transmission (not shown).

Similarly, the input elements 20A . 20B with a as a seesaw 20C formed further coupling means coupled such that a translational movement of the elements 20A . 20B in a rotational movement of the coupling agent 20C is implemented. At the coupling agent 20C For example, axially spaced tension cables or push rods of the instrument shaft 2 be fastened, actuated by the one degree of freedom of an end effector, for example, a pair of scissors is opened or a scalpel is rotated (not shown). Similarly, the rotational movement of the coupling agent 20C For example, transmitted via gears or - be implemented again in a translational movement - about a worm gear.

Both unloaded and assigned input element 10A . 20A respectively. 10B . 20B with each other and the output elements 10A . 10B and the coupling agent 10C as well as the input elements 20A . 20B and the other coupling agent 20C are each coupled by a one-sided bond. It can be seen that the double agent 10C on the output elements 10A . 10B , these on the input elements 20A . 20B and these in turn on the other coupling agent 20C can only transmit compressive forces.

The removal and input elements are designed in the embodiment as plunger, which are adjusted along their longitudinal axes, for example by a linear actuator or a joint kinematics. Between the pestles is the sterile barrier 3 , Since only compressive forces can be transmitted with a pair of plungers, a closed kinematic loop is formed by the second plunger pair. The second pair of plungers is moved in the opposite direction to the first, so that driving forces can be transmitted in both directions. In general, therefore, in one embodiment of the present invention, a parallelogram kinematics is provided in the mechanical interface.

The coupling of the instrument shaft to the drive unit is simple and can alternatively along or transverse to the movement or adjustment of the plunger 10A - 20B respectively. The pestles 10A . 10B the drive unit 1 are from the sterile barrier 3 covered. The instrument shaft 2 becomes the drive unit 1 added that to the pestles 10A . 20A respectively. 10B . 20B , initially at a certain distance, face each other. Subsequently, the output side is pressed onto the drive side. The angular position of the rocker arms or rocker 10C . 20C This is arbitrary, since the positions of both sides equalize during the coupling process.

2 shows a mechanical interface of an instrument assembly according to another embodiment of the present invention. With the The features which correspond to the previously described embodiment are designated by identical reference numerals, so that only the differences are discussed below and, moreover, reference is made to the entire description.

In the execution of 1 there is sliding contact between the coupling means 10C . 20C and pestles 10A . 10B respectively. 20A . 20B Among other things, the friction forces depend on the lever position and the contact surfaces, in particular their geometry and surface. Therefore, in one embodiment of the present invention, as exemplified in 2 is shown in at least one one-sided contact of a coupling means (in 2 example: 10C . 20C ) and Ab- or input element (in 2 example: 10A . 10B respectively. 20A . 20B ) a role 30 arranged, whereby the friction can be reduced.

3 shows a mechanical interface of an instrument assembly according to another embodiment of the present invention. Features which correspond to the other embodiments are designated by identical reference symbols, so that only the differences are discussed below and, moreover, the entire description is referred to.

In the execution of the 1 . 2 are the output elements 10A . 10B and the coupling agent 100 as well as the input elements 20A . 20B and the other coupling agent 20C each by a one-sided bond with sliding ( 1 ) or rolling contact ( 2 ) coupled together. In an embodiment that exemplifies in 3 is shown, however, at least one output element (in 3 example: 10A . 10B ) and a coupling agent (in 3 example: 10C ) and / or at least one input element (in 3 example: 20A . 20B ) and a (further) coupling agent (in 3 example: 20C ) by at least one coupling rod (in 3 example: 40 ), which is hingedly connected to the coupling means or element.

4 shows a mechanical interface of an instrument assembly according to another embodiment of the present invention. Features which correspond to the other embodiments are designated by identical reference symbols, so that only the differences are discussed below and, moreover, the entire description is referred to.

In this embodiment, only one pair of plungers is required to actuate one degree of freedom 10A . 20A intended for power transmission. Instead of another pair of input and input element is the input element 20A contrary to its adjustment by a spring 50 biased. This represents when removing an actuation force in the adjustment direction or when actuated movement of the output element counter to this adjustment direction the pair of plungers 10A . 20A back against the adjustment.

5 shows a mechanical interface of an instrument assembly according to another embodiment of the present invention. Features which correspond to the other embodiments are designated by identical reference symbols, so that only the differences are discussed below and, moreover, the entire description is referred to.

In an embodiment that exemplifies in 5 is shown, at least one coupling between an output element (in 5 example: 10A . 10B ) and a coupling agent (in 5 example: 10C ) designed as a spindle drive with counter-rotating sliding sleeves. The preferably designed as a threaded spindle coupling means (in 5 example: 10C ) has in one embodiment depending on a section with right and left hand thread, on each of which a trained as a spindle nut output member (in 5 example: 10A respectively. 10B ) sits. By a rotation of the threaded spindle 10C become the spindle nuts 10A . 10B moved in opposite directions. The nuts can, for example, with a drive unit fixed guide rail 10D be secured against twisting.

For clarification is in 5 On the left a perspective partial section of the interface, in the middle or right side view at different positions of the output elements 10A . 10B shown.

6 shows a mechanical interface of an instrument assembly according to another embodiment of the present invention. Features which correspond to the other embodiments are designated by identical reference symbols, so that only the differences are discussed below and, moreover, the entire description is referred to.

In an embodiment that exemplifies in 6 is shown, at least one output element (in 6 example: 10A . 10B ) and a coupling agent (in 6 example: 10C ) and / or at least one input element (in 6 example: 20A . 20B ) and a (further) coupling agent (in 6 example: 20C ) coupled by a rack and pinion gear. For this purpose, coupling agents (in 6 example: 10C . 20C ) designed as a pinion, with which the drive elements designed as racks (in 6 example: 10A . 10B ) or input elements (in 6 example: 20A . 20B ) in each case comb in opposite directions and so implement a rotational in a translational movement. As they are on opposite sides of the Ritzels arranged they move in opposite directions. If, in an advantageous development, the input and / or output elements are biased counter to their direction of adjustment or toward one another, this can also advantageously counteract backlash in the tooth engagements 10A - 10C . 10B - 10C . 20A - 20C respectively. 20B - 20C be reduced or eliminated.

7 shows various embodiments of the facing end faces of the Ab- and input elements 10A . 10B respectively. 20A . 20B the versions of the 1 to 6 , which are flat or spherical and / or have a projection for engaging in a recess in the other end face: showing 7 (a) two flat faces or contact surfaces that form a (one-sided bound) surface contact, 7 (b) a crowned and a flat face, which form a point contact, 7 (c) a spherical projection which engages in a tapered bore and forms a ring contact, 7 (d) a conical projection which engages in a conical bore or recess and forms a surface contact, as well as 7 (e) two spherical end faces or contact surfaces that form a point contact.

To ensure the highest possible transmission accuracy and rigidity, deviations in the position and orientation of the contact surfaces should be avoided. Possible causes of such deviations are manufacturing and assembly tolerances, as well as deviations in the positioning of the instrument to the drive unit by the user. Therefore, in one embodiment of the present invention, at least one unilateral bond has point contact between the driving and driving elements.

8th to 10 show compensating means for tolerance compensation. It shows 8th a compensation of positional and orientation deviations of the plunger contact surfaces by deliberately introduced compliances. In an embodiment that exemplifies in 8 (a) is indicated, is a compliance by a flexible design of a Ab- and / or input element (in 8 (a) for example 10A or 20A ) educated. Additionally or alternatively, a compliance can be formed by an elastic deformation of the sterile barrier, as shown by way of example in FIG 8 (b) is indicated. The sterile barrier is preferably made wholly or partly of an elastomer. The flexible design of a Ab- and / or Eintriebselements, as in 8 (a) shown, may be particularly advantageous in terms of transmission behavior. Generally, compliance in an embodiment of the present invention may include a progressive spring characteristic to compensate for smaller tolerances while providing relatively stiff transmission for larger actuation.

Additionally or alternatively, a compliance can be provided in a coupling means, as exemplified in 8 (c) is shown. Due to the closed kinematic chain, it is principally a statically overdetermined system. To compensate for manufacturing and assembly tolerances in the kinematic chain and to produce backlash, differences in length of the plunger pairs are compensated by a flexible design of a coupling agent.

In an embodiment that exemplifies in 9 is indicated, has a compensating means for tolerance compensation in an adjustment (vertical in 9 ) displaceable bearing or a displaceable in the direction of adjustment bearing axis of a coupling means (in 9 example: 10C ) on. This is in an embodiment in a carriage, which is arranged displaceably within the drive unit, rotatably mounted. This thrust bearing allows a shift in the direction of the plunger movement. In this direction, for example, by a spring or by static adjustment, a force applied, which biases the plunger pairs in the interface against each other (in 9 indicated by the dashed arrow of force).

10 shows compensation for length tolerances between the pairs of plugs by compliances in the sterile barrier, as already described above with reference to FIG 8 (b) were explained. In an embodiment of the present invention, exemplified in 10 is indicated, in the sterile barrier is a resilient compensation element 3.1 integrated. By compressing this element, a preload is built up in the kinematic loop and at the same time compensated for differences in length by a different compression. In particular, so that not too large compliances are introduced, which can adversely affect the regulatory behavior, the compensation element 3.1 in a development on a progressive spring behavior. This can be achieved in particular by an appropriate choice of material and / or geometric design of the sterile barrier.

11 to 15 show, in particular, various advantageous couplings of an instrument shaft side drive train to a mechanical interface according to the invention, as described above with reference to FIG 1 to 10 but also described below with reference to the other figures. It shows 11 a coupling of a cable 60 to the input elements. To one degree of freedom of the instrument shaft, in particular an end effector (not shown), to actuate in both directions or in opposite directions, is in the instrument shaft with the rotatably mounted rocker 20C a kinematic loop between the two plungers 20A . 20B educated. In the embodiment shown, the plungers are each with a rotary thrust bearing 20D coupled to the rocker. With the rocker a pulley is firmly connected to the cable 60 is entwined. In a development, a positive and / or cohesive connection between the roller and cable is possible. By a suitable choice of the pulley diameter can optionally be made an adaptation of the interface hub to the required Seilhub. In addition to the illustrated cylindrical cross section of the pulley, other, in particular elliptical, cross sections are possible.

12 shows a coupling of an instrument-side cable 60 to the mechanical interface according to another embodiment. In this case, the pulley, which forms an element of a coupling agent in the sense of the present invention, additionally with a toothing 20E provided with a toothed portion of an instrument-side plunger (in 12 example: 20B ) combs. The additional translation of this gear stage advantageously allows even better adaptation of the ram stroke to the cable stroke.

In the two versions of the 11 . 12 is the cable 60 closed. In an alternative embodiment of the present invention, exemplified in 13 . 14 and 15 is indicated, one degree of freedom can also by an open cable (in 13 example: 60 ) or by push rods (not shown) are actuated, whose ends with input elements (in 13 example: 20A . 20B ) or a coupling means coupled thereto. In one embodiment of the present invention, as exemplified in 14 . 15 is indicated, the ends of the cable 60 via additional rocker switches to the mechanical interface or its input elements 20A . 20B coupled. About the ratio of the lever arms of each rocker advantageously the Seilhub can be adjusted. In order to avoid a change in the required rope length, the leverage of the two rope rockers can be the same. In 14 . 15 the two bearings of the rope rockers are shown offset from each other for clarity. In one embodiment, these bearings of the rope rockers can coincide coaxially. In the execution of the 14 is the closed kinematic loop between Ab- and input elements formed by a further instrument-side rocker, each via a rotary thrust bearing 20D with the instrument-side pestles 20A . 20B is coupled. In the execution of the 15 is dispensed with this additional rocker and instead builds the bias of the interface on the cable through which there is a closed kinematic loop anyway. In particular, in this way, generally according to an embodiment of the present invention, biasing of the mechanical interface can also be used to bias a shank cable, thereby reducing the complexity of the instrument-side drive train. At this point, it should be expressly pointed out that in the embodiments shown, the assignment of drive and input elements is purely exemplary and in particular arrangements or features of an output element of an embodiment can also be combined with arrangements or features of a drive element of another embodiment. For example, in the execution of the 14 instead of the input-side rotary thrust bearing 20D analogous to the output-side arrangement and an arrangement or coupling with coupling rods (see., output side coupling rod 40 in 14 ) conceivable.

16 shows a mechanical interface of an instrument assembly according to another embodiment of the present invention. Features which correspond to the other embodiments are designated by identical reference symbols, so that only the differences are discussed below and, moreover, the entire description is referred to. In this embodiment, the interface has an output element in the form of a pin 100 and a driving element with a recess 200 on, wherein the pin is radially elastically expandable in the recess by a clamping means. This version is suitable for the transmission of tensile and compressive forces. In the following, a translational actuation or adjustment of the mechanical interface is explained by way of example, but the mechanical interface can also be used for transmitting rotational or superimposed translational and rotational movements.

The drive pin 100 is translationally adjustable in the drive unit 1 guided and actuated and in a instrument shaft side recess in the form of a coupling socket 200 introduced. The thin-walled sterile barrier 3 is arranged between drive unit and instrument shaft.

The connection of drive pin 100 and coupling socket 200 can be positive or positive and off or independent of the instrument drive. Advantageously, components with higher complexity and narrower tolerances can be arranged in the drive unit, so that these interfaces are particularly advantageous for inexpensive disposable instrument shafts. Positioning and attachment of the instrument shaft relative to the drive unit take place in one Training by a separate functional unit, as described below. The bearing of the coupling elements is therefore preferably chosen so that high demands on the shape and position tolerances are avoided and the connection of the input and input element, at least substantially, takes place without force. The drive pin is therefore performed in a development in the drive unit with a pentavalent thrust bearing, ie only shifts along the longitudinal axis are possible. The bearing of the coupling bushing in the instrument shaft has play in the radial direction, ie the coupling bushing is not clearly guided in the radial direction. Provided that the instrument shaft is not coupled to the drive unit, the radial bearing ensures that the coupling sleeve is pre-positioned with sufficient accuracy and can not be solved during handling and cleaning. Once the instrument shaft is coupled to the drive unit, this storage has no function. Then the thrust bearing of the drive pin also takes over the storage of the instrument shaft side input element. In this way, a positive connection is advantageously achieved without the two bearings tense. The storage of the coupling socket in the instrument shaft has in a development on two stops in the axial or adjustment. Thus, the required power stroke can be set individually for each instrument shaft and the drive unit can be used for different instrument shafts.

Due to the geometric design of the coupling elements, the radial alignment of the coupling socket takes place 200 to the drive pin 100 automatically. Thus, only one joining movement in the direction of the drive bolt is required. As a result, the instrument shaft change is advantageously facilitated during a surgical procedure and can be carried out in a shorter time.

In 17 . 18 are shown various advantageous embodiments of drive pin and coupling bushing, in particular a flat ( 17 (d) ), conical ( 17 (c) ), spherical ( 17 (b) ) and an elliptical ( 17 (a) ) End side of the drive pin, which can each be combined with different insertion geometry of the instrument shaft side coupling bushing, in particular a cylindrical ( 18 (d) ) Blind hole drilling, in particular with one or more paragraphs ( 18 (c) ), a chamfer ( 18 (b) ) or rounding ( 18 (a) ).

19 shows different couplings of pins 100 and recess 200 : in a design that exemplifies in 19 (a) , (b) and (d) is indicated, pin and recess are frictionally by elastic expansion of one, in particular one-piece ( 19 (d) ) or multiple parts ( 19 (a) , (b)) coupled to the drive pin, which for this purpose an elastic body (in 19 (a) , (b) by way of example: 100.1 ) whose diameter is formed by elastic deformation by means of a clamping means (in 19 (a) , (b), (d): 100.2 ) is increased. In an embodiment exemplified in 19 (c) is indicated, pin and recess are additionally or exclusively positively coupled by elastic expansion of a one or more parts formed drive pin. In a design that in 19 (c) is shown as an example in combination with the positive connection, has a clamping means (in 19 (c) example: 100.2 ) has a conical outer shape and is in the pin 100 axially adjustable to radially expand this from the inside. In the remarks of the 19 (a) , (b) shows the clamping means 100.2 however, a flange to radially expand the elastic pin by axial compression. In the execution of 19 (d) is the clamping means 100.2 hydraulically or pneumatically formed, the pin 100 is radially expanded by pressurization from the inside.

A sterile protective cover 3 is disposed between pin and recess and allows due to their elasticity the above-described form or frictional engagement. As noted elsewhere, even in this embodiment, movement of the (non-sterile) drive unit to a (sterile) instrument shaft is not transmitted through a recess in the sterile barrier, but across the closed sterile barrier, facilitating sterile handling.

The clamping movement or the clamping means (in 19 example: 100.2 ) can be actuated by or dependent on the instrument drive.

20 (a) shows an example of a drive unit 1 with three output elements in the form of pins, 20 (b) a toolshaft that can be coupled to it 2 with three input elements, which have corresponding recesses. In one embodiment, a pin of a withdrawal or input element may be non-elastically radially expandable and for this purpose one or more radially displaceably guided, preferably lamellar, separate body (in 20 (a) for example 100.1 ), as exemplified in 20 (a) is shown.

21 to 23 show sections through a drive unit 1 and an associated instrument pool 2 with a (stroke) pin interface according to another embodiment of the present invention. With the other embodiments matching features are denoted by identical reference numerals, so that subsequently only to the Differences are received and otherwise reference is made to the entire description.

Schematically indicated are in particular a clamping means drive in the form of an electric motor 100.3 and a threaded spindle 100.2 , For example, a Wälzschraubtrieb, a clamping means, a crank pin 100 and an instrument shaft side coupling socket with a recess 200 , The threaded spindle 100.2 , For example, a ball or roller screw, is from the electric motor 100.3 driven away. The threaded spindle is by a spindle bearing in the drive unit 1 stored. One with the threaded spindle 100.2 meshing spindle nut 100.4 is non-rotatable with the crank pin 100 connected. The crankpin is itself in a thrust bearing 100.5 guided, which allows only a translation in the axial direction and absorbs all radial forces and moments. For frictional or positive locking (see esp. 19 ) has the pin 100 several separate bodies in the form of lamellar clamping levers 100.1 on, which are evenly distributed on the circumference of the crank pin. The tension levers 100.1 are at the distal end of the crankpin 100 (right in 22 ) rotatably mounted in this and thereby guided radially displaceable, so that a radial deflection of the clamping lever leads to a non-positive or positive clamping of the crank pin in the instrument-side coupling socket. The deflection of the clamping lever is controlled by a control contour, which can be integrated into the threaded spindle, as exemplified in 21 to 23 indicated.

23 shows steps of the path-controlled coupling operation of the output arrangement and drive arrangement by means of the mechanical interface with each other, namely a situation before the coupling of the input and input element 100 . 200 ( 23 (a) ), establishing the clamping after inserting the drive pin in the coupling socket ( 23 (b) ) and maintaining the clamping over the entire control range by mechanical positive guidance of the clamping lever.

23 (a) shows the situation before docking. The drive unit 1 is through a sterile shell 3 covered and the instrument shaft on the drive unit 1 fixed. The drive pin 100 has moved to a lower limit position. A compression spring 200.1 in the instrument shaft assists the coupling process by ensuring that the coupling socket 200 also located in a lower boundary. 23 (b) shows the situation immediately after docking. By extending the pin 100 from the drive unit 1 this is introduced into the clutch box of the instrument shaft. Subsequently, the tension levers 100.1 positively guided by the on the threaded spindle 100.2 applied control contour radially extended and thereby made the frictional or positive connection. As in 23 (c) This mechanical connection is shown by a mechanical positive guidance of the clamping levers 100.1 maintained in the entire working range of the instrument shaft, in the exemplary embodiment in translatorisch adjusting or aktuiertem pin 100 (vertically in 23 ).

24 shows mechanical interfaces of instrument assemblies according to further embodiments of the present invention. Features which correspond to the other embodiments are designated by identical reference symbols, so that only the differences are discussed below and, moreover, the entire description is referred to.

In the execution of the 24 the Hubzapfen- or clamping means drive is force-controlled, the clamping force is in contrast to the execution of 21 to 24 not applied by a dependent on the actuator of the output element or pin forced operation. The coupling between Ab- and input element is by elastic expansion of the drive pin 100 manufactured and can be non-positive or positive. By clamping a clamping mechanism or means of the drive pin is radially expanded. In the execution of 24 has the clamping means for this purpose a detent ball mechanism, in a modification, not shown, it may for example have an expanding mandrel, a toggle mechanism or a star wheel. In order to maintain the clamping force over the entire setting range, the clamping means in an embodiment of the present invention, as exemplified in 24 is indicated, generally designed so that it has a kinematic dead center. In the present case, this is understood in particular to mean that there is a kinematic region in which the clamping means remains stably open or does not couple the input and output elements, and a further kinematic region separated therefrom by a dead center, in which the clamping means remains stably closed or closed Coupling input and input element. In the execution of 24 has the clamping means for this purpose more on the circumference of the drive pin 100 distributed detent balls 100.6 and an actuating pin 100.2 with a ball head, whose diameter is larger than that defined by the non-radially expanded locking balls inner ring. The clamping means is actuated or actuated by the actuating pin 100.2 in the drive pin 100 advanced and thus the locking balls 100.6 be pressed radially outward. As a result, a separate elastic body in the form of an expansion sleeve 100.1 widened in diameter, which can be notched or slotted to keep the operating force as low as possible. This sleeve advantageously avoids point contact between the detent balls and the sterile barrier, the pin 100 wrapped (not shown), and allows a more uniform contact force over the largest possible contact surface. As a result, the contact stiffness can be increased and the surface pressure of the sterile barrier can be minimized. The actuating pin 100.2 is advanced beyond the dead center of the detent ball mechanism, so that the detent balls behind the ball head of the actuating pin reset slightly radially inward to maintain the clamping force stable.

As actuator for the actuation of the Ab- or input element can serve in particular a spindle drive, as for example with reference to 22 has been explained, wherein the clamping mechanism or the clamping means can be actuated depending on or independent of the actuator. In the former case, the feed movement of the drive unit acts on the actuating pin 100.2 as related to 23 explained.

25 shows steps of the force-controlled coupling process of the output arrangement and drive arrangement by means of the mechanical interface of the 24 with each other, in 23 corresponding representation, to which reference is additionally made. 25 (a) shows the situation before coupling. The drive unit 1 is covered by a sterile sheath and fixed the instrument shaft to the drive unit. The drive pin 100 has moved to a lower limit position. 25 (b) shows the situation immediately after coupling: To reliably insert the drive pin in the clutch box of the instrument shaft, the output element 100 moved against an end stop in the instrument shaft and triggered the clutch mechanism or operated the clamping means. The detent balls 100.6 be from the actuating pin 100.2 pressed radially outward and so the mechanical connection of the input and input element produced. As in 25 (c) shown, the mechanical connection is maintained throughout the working range of the instrument, since the dead center of the clamping mechanism is overcome.

In an instrument assembly according to the present invention, the instrument shaft can in particular have a flange, wherein the mechanical interface is arranged on an end effector facing, Endeffektorabgewandten or lateral surface of this flange. In other words, the drive unit 1 be designed as a "breech loader", "muzzle loader" or "side loader".

For explanation, in 26 advantageous joining directions of an instrument shaft to a drive unit of an instrument assembly according to various embodiments of the present invention shown schematically. After an execution, which exemplarily in 26 (a) is indicated, the instrument shaft is added to the drive unit along the direction of insertion of the instrument into the patient, which is therefore referred to as "backloader". In another embodiment, exemplified in 26 (b) is indicated, the instrument shaft is added against the direction of insertion of the instrument in the patient to the drive unit, which is referred to as a "muzzle". In another embodiment, exemplified in 26 (c) is indicated, the instrument shaft is inserted transversely to the direction of insertion of the instrument in the patient to the drive unit, which is referred to as a "side loader". At the in 26 The instrument arrangement shown may in particular be one of the embodiments explained with reference to one of the other figures, so that reference is made to the description thereof.

27 shows a mechanical interface of an instrument assembly according to a further embodiment of the present invention, in a perspective view ( 27 (a) ), and two cuts in different stroke positions ( 27 (b) , (c)). Features which correspond to the other embodiments are designated by identical reference symbols, so that only the differences are discussed below and, moreover, the entire description is referred to.

In this embodiment, a radially undulating gap is formed between the pin and the recess, in which a radially displaceable, axially fixed intermediate element arrangement is arranged to transmit a translational movement across a sterile barrier.

This is the pin 100 with circumferential notch and an instrument shaft coupling bush 200 formed with a circumferential ring profile on the inside. Pin and coupling bushing are designed so that in the assembled state between these components, a preferably equidistant, wave-shaped gap is formed. In this gap are rod-shaped intermediate elements 100.7 an intermediate element arrangement introduced in a cage sleeve 100.8 stored space fixed and are displaceable only in the radial direction. The thin, foil-like sterile barrier (not shown) is arranged between the clutch box and the cage sleeve. By moving the pin 100 in the axial direction (vertically in 27 ), the drive-side part of the wave-shaped gap between pin and coupling bush is moved. Due to the kinematic constraints in the interface, the coupling bushing is moved together with the pin axially or translatorily, as in the figure sequence 27 (b) → (c) indicated. In a development, the intermediate elements of the Intermediate element arrangement be formed sleeve-shaped, on whose end faces balls are rotatably arranged to reduce the frictional resistance.

28 . 29 show mechanical interfaces of instrument assemblies according to further embodiments of the present invention. Features which correspond to the other embodiments are designated by identical reference symbols, so that only the differences are discussed below and, moreover, the entire description is referred to.

In these embodiments, the mechanical interface on a rocker arm, in particular to transmit a translational drive movement across a sterile barrier. A particular advantage of this concept is a simple design of the sterile barrier: it must be designed only for the tilting movements of the lever and can therefore be easily produced in a development as a plastic molding, for example made of thermoplastic elastomer or silicone, in particular as a deep-drawn film. The inclination angle of the lever can be adjusted in one embodiment by a rotary drive, in particular an electric motor, optionally with an intermediate gear. The sterile barrier can wrap the entire drive unit and also be slipped over the lever. In a further development, not shown, a lever (in 28 . 29 example: 1000 ) generally on its side facing away from the contact or sterile barrier (bottom in 28 . 29 ) Be extended beyond its pivot bearing out and coupled there with a drive or an instrument shaft side drive train, such as a pull rope or a linkage.

The rocker arm (in 28 . 29 example: 1000 ) Is coupled in one embodiment generally positive fit with a coupling part, in particular it can, as in the embodiments of 28 . 29 indicated in a groove of a coupling part (in 28 . 29 example: 2000 ). The rocker arm can in particular be coupled to an output element of the output arrangement of the drive unit or be such, the coupling part can be correspondingly coupled to a drive element of the drive arrangement of the instrument shaft or be such. Equally, conversely, the rocker arm can be coupled to a drive element of the drive arrangement of the instrument shaft or represent such, the coupling part can be coupled to an output element of the output arrangement of the drive unit or represent such.

The coupling part 2000 may be in an embodiment that is exemplary in 28 is indicated by a thrust bearing 2000.1 be guided translationally adjustable. Thus, the rotational movement of the rocker arm 1000 for example, tapped in the instrument shaft as a translational movement or imparted in the drive unit as a translational movement. The kinematics of this interface is non-linear and is therefore computationally compensated in a further development or in the drive unit control.

By a rocker arm is mounted gimbal in a development, movements in two degrees of freedom can be transmitted. For example, the illustration of the 28 to think as a sectional view in two mutually perpendicular planes. By an optional additional displacement of the rocker arm along its longitudinal axis (vertically in 28 ) may be an interface with rocker arm for the actuation of three degrees of freedom.

In another embodiment, exemplified in 29 is hinted, with the rocker arm positively coupled coupling part may also be rotatably mounted or guided in a pivot bearing. Also, this embodiment may be extended to the actuation of two or more degrees of freedom, as described above with reference to 28 was explained.

The figures 30 to 32 show instrument assemblies according to further embodiments of the present invention with a sterile barrier, which - at least in the operating mode - a drive unit enveloped and arranged between the drive unit and an instrument shaft coupled to this by means of a mechanical instrument shaft. Drive unit, instrument shaft and / or mechanical interface may be in particular those of the other embodiments and figures, so that with the other embodiments matching features are denoted by identical reference numerals and will be discussed below only on the differences and otherwise reference is made to the entire description.

The sterile barrier can generally be designed, in particular, in one piece and / or as a film tube. In a further development, the sterile barrier is airtight or envelops the drive unit airtight. As particularly with reference to the following 30 to 32 described, according to an embodiment of the present invention, a transmission of a drive or adjusting movement of a down to a driving element not through an opening in the sterile barrier, but over the closed in this area sterile barrier away.

In a design that comes in two variants in 30 is shown, the sterile barrier in the region of the mechanical interface at least one, in particular in the region of each output element each one, biased lots in an adjustment of the Ab- and drive assembly. The prestressed lots is formed in a development as an elastic bellows, in particular as an elastomer bellows, preferably as a corrugated membrane (in 30 (a) example: 3.2 ) or bellows (in 30 (b) example: 03.03 ), which is integrated directly into the sterile envelope or integrally formed therewith, in particular ur- or reshaped is. In another embodiment, as a variant in 30 (c) is shown, the sterile barrier in the region of the mechanical interface at least one, in particular in the region of each output element depending on a non-biased lots in an adjustment of the Ab- and drive assembly. This, at least substantially unbiased, loose is in a development as, preferably elastic, cuff, in particular as a thermoplastic or elastomeric cuff (in 30 (c) example: 3.4 ), which is integrated directly into the sterile sheath or integrally formed therewith, in particular ur- or reshaped, is.

30 (a) shows an embodiment as a flat corrugated membrane 3.2 . 30 (b) as a corrugated bellows 03.03 whose cross section may be cylindrical or conical in particular. Both bellows store loose in the adjustment direction (vertically in 30 ), in which by the folding or preformed waves a restoring bias is impressed, which upon actuation of the output element (in 30 for example 10A . 100 or 1000 ) compensated in the adjustment direction the occurring stroke.

In another version, which comes in three variants in 31 is shown, the sterile barrier in the region of the mechanical interface at least one, in particular in the region of each output element each one, non-contact translationally displaceable seal (in 31 example: 3.5 ). This can be done in a continuing education, which exemplifies in 31 (a) is indicated, be designed as axially displaceable gap seal. Similarly, she may be in a continuing education that exemplifies in 31 (b) is indicated, be designed as a labyrinth seal. As exemplified in 31 (c) indicated, a translationally displaceable seal may preferably be telescopic, in particular as a single or multi-stage telescopic sleeve (in 31 (c) exemplary: three-stage).

32 shows a further embodiment of the sterile barrier in the region of the mechanical interface, in particular at least one, preferably each Ab- or input element, which is characterized by a very simple structure and manufacturing. The sterile barrier has, for at least one, preferably each withdrawal or input element, a sterile element extension which can be detachably connected to an element base which destructively penetrates the sterile barrier. As in the sequence of figures 32 (a) → 32 (b) indicated, exemplarily takes an output element base 11 destroying the sterile barrier 3 and becomes detachable with its passage area with a sterile element extension 3.6 connected to an output element, as for example as 10A . 10B . 100 or 1000 is explained in the other embodiments and figures. Similarly, conversely, a Eintriebselementbasis 21 destroying the sterile barrier 3 reach through and with their passage area detachable with a sterile element extension 3.6 be connected to a drive element, as for example as 20A . 20B . 200 or 2000 is explained in the other embodiments and figures.

In an embodiment that exemplifies in 32 is indicated, the sterile barrier in the region of the element bases penetrating it each have one, preferably annular, thickening 3.7 on, for example by glued plastic discs, urgeformte local wall thickness increases and / or local material change. In the middle of the reinforced area, the sterile barrier can again be designed as a thin membrane. After wrapping the drive unit, as described, for example, on a pin of the sterile extension 3.6 together. For this purpose, the thin membrane of the sterile barrier is pierced inside the reinforcing ring. The fixation of the sterile extension can in particular friction, material and / or form-fitting, conclusively done for example by a screw or bayonet connection or be designed as a ball lock pin.

33 shows an instrument assembly according to another embodiment of the present invention with a sterile barrier 3 , which - at least in OP operation - a drive unit 1 wrapped and between the drive unit and a coupled with this by means of a mechanical interface instrument shaft 2 is arranged. drive unit 1 , Instrument panel 2 and / or mechanical interface 3 may in particular be those of the other embodiments and figures, so that with the other embodiments corresponding features are denoted by identical reference numerals and will be discussed below only on the differences and otherwise reference is made to the entire description.

The instrument assembly has a fastener in the form of a sterile adapter 4 for detachable connection of the instrument shaft 2 on the drive unit 1 on which on one of the Drive unit facing away from the surface of the sterile barrier is or is.

The drive unit 1 in the in 33 illustrated embodiment exemplified several crank pins 100 is from the sterile sheath 3 enclosed. In the sterile cover the covers for the output elements are integrated, in which 33 illustrated embodiment as elastomer bellows as above with reference to 30 explained. After the drive unit has been enclosed by the sterile barrier, the sterile adapter becomes 4 fixed from the outside to the sterile packaged drive unit. The adapter 4 thus does not interact with the output elements 100 but merely provides a mechanical interface for attachment of the instrument shaft 2 on the wrapped drive unit 1 to disposal. This separation of mechanical coupling of input and input elements on the one hand (through the mechanical interface) and the mechanical attachment of drive unit and instrument shaft on the other hand (by the fastener or the adapter) facilitates the sterile handling of the instrument assembly. In an embodiment that exemplifies in 33 implied is the adapter 4 positive and / or frictional, for example by latching or clip connections, with instrument shaft and drive unit connectable or connected, wherein the sterile sheath 3 Also between locking projections and recesses of the drive unit and adapter is tight or seamless, so as to maintain sterility.

The above instrument assemblies are robotically guided in a development or set up for attachment to a manipulator of a manipulator surgery system. In particular, this can be the drive unit 1 , the instrument shaft 2 and / or a fastening element or an adapter 4 have a correspondingly configured attachment interface, for example, corresponding recesses, latches or the like.

In particular, components of an instrument assembly according to the invention have been described above, but also methods for assembling a manipulator of a manipulator surgery system are included, in which a modular motor drive unit and an instrument shaft detachably connected to each other while the output assembly and the drive assembly are coupled together by means of the mechanical interface, such as for example in the figure sequences 23 (a) → 23 (b) → 23 (c) . 25 (a) → 25 (b) → 25 (c) and 32 (a) → 32 (B) as well as the assembly arrows in 26 and 33 ,

LIST OF REFERENCE NUMBERS

1

drive unit

2

instrument shaft

3

sterile barrier

3.1

compensation element

3.2

Wellmembran (prestressed lots)

3.3

Corrugated bellows (prestressed lots)

3.4

Elastomer cuff (lots)

3.5

translatory sliding seal

3.6

sterile extension

3.7

thickening

4

Adapter (fixing element)

10A, 10B

Output element (output arrangement)

10C

coupling means

10D

guide rail

11

Output element base

20A, 20B

Input element (drive arrangement)

20C

coupling means

20D

Rotary thrust bearings

20E

gearing

21

Input element base

30

role

40

coupling rod

50

feather

60

cable

100

Pin (output element)

100.1

Expansion sleeve / tension lever (elastic / separate body)

100.2

Threaded spindle / actuating pin (clamping means)

100.3

electric motor

100.4

spindle nut

100.5

thrust bearing

100.6

detent balls

100.7

Intermediate element (arrangement)

100.8

cage bushing

200

Coupling bush with recess (input element)

200.1

compression spring

1000

Rocker arm (input / output element)

2000

Coupling part (input / output element)

2000.1

thrust bearing

QUOTES INCLUDE IN THE DESCRIPTION

This list of the documents listed by the applicant has been generated automatically and is included solely for the better information of the reader. The list is not part of the German patent or utility model application. The DPMA assumes no liability for any errors or omissions.

Cited patent literature

• EP 1015068 A1 [0002]
• DE 102009060987 A1 [0003]

Claims (14)

Surgical instrument assembly comprising a modular motor drive unit ( 1 ), which has an output arrangement with at least one output element ( 10A . 10B ; 100 ; 1000 ) having; and an instrument panel ( 2 ), which is detachably connectable to the drive unit and a drive arrangement with at least one input element ( 20A . 20B ; 200 ; 2000 ), wherein the output arrangement and the drive arrangement can be coupled to one another by means of a mechanical interface which has at least one unilateral bond ( 10A - 20A . 10B . 20B ); a cone ( 100 ) and a recess, wherein the pin in the recess radially, in particular elastically and / or by at least one separate body ( 100.1 ), is expandable, and / or between the pin and the recess, a radially-shaped gap is formed in which a radially displaceable, axially fixed intermediate element arrangement ( 100.7 ) is arranged; and / or a rocker arm ( 1000 ) having. Instrument arrangement according to the preceding claim, wherein at least one Ab- and / or input element is guided translationally or rotationally adjustable. Instrument arrangement according to one of the preceding claims, wherein at least one removal and / or input element in such a way with a coupling means ( 10C . 20C ) is translated such that one of a translational or rotational movement of the one of the element and the coupling means in the other of a translational or rotational movement of the other of the element and the coupling means is implemented. Instrument arrangement according to the preceding claim, wherein the coupling means is a rotary thrust bearing ( 20D ) and / or a toothing ( 20E ) having. Instrument assembly according to one of the preceding claims, wherein the instrument shaft has a flange, and wherein the mechanical interface on an end effector facing ( 26 (a) ), end effector ( 26 (b) ) or lateral surface ( 26 (c) ) of this flange is arranged. Instrument arrangement according to one of the preceding claims, wherein the output arrangement and / or the drive arrangement comprises at least one pair of opposite drive or input elements. Instrument arrangement according to one of the preceding claims, with a compensating means ( 3.1 ) for tolerance compensation. Instrument arrangement according to one of the preceding claims, wherein at least one input and / or input element is biased against its direction of adjustment. Instrument arrangement according to one of the preceding claims, wherein at least one of mutually facing end faces of a Ab- and a thus coupled input element are flat or spherical and / or have a projection for engaging in a recess in the other end face. Instrument arrangement according to one of the preceding claims, with a clamping means ( 100.2 ) for radial expansion of an inserted into a recess pin of the mechanical interface. Surgical instrument assembly, in particular according to one of the preceding claims, with a modular motor drive unit ( 1 ), which has an output arrangement with at least one output element ( 10A . 10B ; 100 ; 1000 ), an instrument panel ( 2 ), which is detachably connectable to the drive unit and a drive arrangement with at least one input element ( 20A . 20B ; 200 ; 2000 ), wherein the output arrangement and the drive arrangement can be coupled to one another by means of a mechanical interface, and with a sterile barrier ( 3 ), which is intended to envelop the drive unit and to be arranged between the drive unit and the instrument shaft, and in the region of the mechanical interface a, in particular biased, lots ( 3.2 ; 03.03 ; 3.4 ) in an adjustment direction of the Ab- and drive assembly, a non-contact translationally displaceable seal ( 3.5 ), a compensating means for tolerance compensation ( 3.1 ) and / or an element extension ( 3.6 ) detachably connected to one of a take-off and a drive-element base ( 11 ; 21 ) is connectable, which penetrates the sterile barrier destructive. Surgical instrument assembly, in particular according to one of the preceding claims, with a modular motor drive unit ( 1 ), which has an output arrangement with at least one output element ( 10A . 10B ; 100 ; 1000 ), an instrument panel ( 2 ), which is detachably connectable to the drive unit and a drive arrangement with at least one input element ( 20A . 20B ; 200 ; 2000 ), wherein the output arrangement and the drive arrangement can be coupled to one another by means of a mechanical interface, a sterile barrier ( 3 ), which is intended to envelop the drive unit, and with a fastener ( 4 ) for detachable connection to the drive unit, which is intended to be arranged on a surface remote from the drive unit of the sterile barrier. Manipulator surgery system with at least one manipulator and at least one manipulator-guided instrument arrangement according to one of the preceding claims, whose drive unit ( 1 ) and instrumentation ( 2 ) are interconnected. Method for equipping a manipulator of a manipulator surgery system according to the preceding claim, wherein a modular motor drive unit ( 1 ) and a range of instruments ( 2 ) of the instrument assembly releasably connected together and the output assembly and the drive assembly are coupled together by means of the mechanical interface.

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