DE4340707C2 - Manipulator - Google Patents
ManipulatorInfo
- Publication number
- DE4340707C2 DE4340707C2 DE4340707A DE4340707A DE4340707C2 DE 4340707 C2 DE4340707 C2 DE 4340707C2 DE 4340707 A DE4340707 A DE 4340707A DE 4340707 A DE4340707 A DE 4340707A DE 4340707 C2 DE4340707 C2 DE 4340707C2
- Authority
- DE
- Germany
- Prior art keywords
- control
- effector
- manipulator according
- shaft tube
- working arm
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Fee Related
Links
Classifications
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/28—Surgical forceps
- A61B17/29—Forceps for use in minimally invasive surgery
-
- 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
-
- 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
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H21/00—Gearings comprising primarily only links or levers, with or without slides
-
- 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
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B2017/0046—Surgical instruments, devices or methods, e.g. tourniquets with a releasable handle; with handle and operating part separable
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/28—Surgical forceps
- A61B17/29—Forceps for use in minimally invasive surgery
- A61B2017/2901—Details of shaft
- A61B2017/2908—Multiple segments connected by articulations
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/28—Surgical forceps
- A61B17/29—Forceps for use in minimally invasive surgery
- A61B17/2909—Handles
- A61B2017/291—Handles the position of the handle being adjustable with respect to the shaft
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/28—Surgical forceps
- A61B17/29—Forceps for use in minimally invasive surgery
- A61B2017/2926—Details of heads or jaws
- A61B2017/2927—Details of heads or jaws the angular position of the head being adjustable with respect to the shaft
Landscapes
- Health & Medical Sciences (AREA)
- Engineering & Computer Science (AREA)
- Surgery (AREA)
- Life Sciences & Earth Sciences (AREA)
- Medical Informatics (AREA)
- General Health & Medical Sciences (AREA)
- Biomedical Technology (AREA)
- Heart & Thoracic Surgery (AREA)
- Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
- Molecular Biology (AREA)
- Animal Behavior & Ethology (AREA)
- Veterinary Medicine (AREA)
- Public Health (AREA)
- Robotics (AREA)
- General Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Ophthalmology & Optometry (AREA)
- Manipulator (AREA)
- Surgical Instruments (AREA)
Description
Die Erfindung betrifft einen Manipulator, insbesondere für medizi
nische, von außen gesteuerte Manipulationen in Körperhöhlen mit
einem Handhabenteil, einem an seinem einen Ende mit dem Handha
benteil verbundenen Arbeitsarm und einem am anderen Ende des
Arbeitsarms angebrachten Effektorteil, wobei eine Verbindung zwi
schen Handhabenteil und Effektorteil so vorgesehen ist, daß vom
Handhabenteil über den Arbeitsarm Bewegungen des Effektorteils in
mehreren Richtungen steuerbar sind.
Ein solcher Manipulator ist in der DE-A-41 36 861 beschrieben.
Dieses für die minimalinvasive Chirurgie vorgesehene chirurgische
Instrument erlaubt eine Bewegungssteuerung eines Effektors durch
einen Arbeitsarm hindurch, so daß mittels einer einhändigen Hand
habung am Handhabenteil eine große Beweglichkeit des am beweg
lichen Ende aufgesetzten Effektors ermöglicht wird. Bei diesem
bekannten chirurgischen Instrument wird speziell für die Rotation des
aufgesetzten Effektors um seine Achse entweder ein torsionssteifes
Drahtstück oder ein Rohrstück vorgeschlagen, welche im Arbeitsarm
geführt sind.
Für die anderen Bewegungsmöglichkeiten des Effektors werden eine
Fülle von Steuerungssystemen, wie pneumatische, hydraulische,
piezoelektrische, magnetostriktive bis hin zu elektromotorischen
Steuersystemen vorgeschlagen, wobei die Kombination der Bewe
gungsarten des Effektors nicht näher erläutert sind.
Aus der deutschen Patentschrift 6 50 368 ist ein Manipulator, z. B.
zur Übertragung von Bewegungen für Beleuchtungsanlagen bekannt,
der ebenfalls einen Handhabenteil, einen mit dem Handhabenteil an
seinem einen Ende verbundenen Arbeitsarm und einen an dem anderen
Ende des Arbeitsarm angebrachten Effektor aufweist. Dabei ist eine
Verbindung zwischen dem Handhabenteil und dem Effektor derart
vorgesehen, daß vom Handhabenteil über den Arbeitsarm Bewegungen
des Effektors in mehreren Richtungen steuerbar sind. Der Arbeitsarm
ist in einem äußeren Schaftrohr untergebracht und steht mit einer
ersten und einer zweiten Steuerkugel in Verbindung. Eine der
Steuerkugeln ist mit dem Handhabenteil verbindbar, die zweite
Steuerkugel mit dem Effektor, wobei diese Verbindung jeweils so
ausgestaltet ist, daß die Steuerkugeln dreh- und schwenkbar an dem
jeweiligen Schaftende gelagert sind. Die Steuerkugeln sind durch im
Schaftrohr geführte Verbindungsglieder in Form von Zugmitteln
miteinander verbunden. Eine solche Fernsteuervorrichtung ist für
Beleuchtungsanlagen sicherlich gut geeignet, da es hierbei weder auf
die exakte Übertragung der Bewegung noch auf die Baugröße an
kommt. Im übrigen ist mit dieser Einrichtung nur eine Übertragung
von Schwenkbewegungen, nicht jedoch von Drehbewegungen möglich.
Der Einsatz einer solchen Steuervorrichtung in medizinischen In
strumenten, insbesondere endoskopischen Instrumenten, ist jedoch
nicht möglich, da dort stets ein taktiles Arbeiten möglich sein muß
und von der Baugröße her enge Grenzen vorgegeben sind.
Es ist Aufgabe der Erfindung einen Manipulator mit einem einfachen
und genau arbeitenden Verbindungssystem zwischen dem Handhaben
teil und dem Effektorteil über den Arbeitsarm so auszubilden, daß ein
am Effektorteil angebrachter Effektor Bewegungen der am Hand
habenteil angreifenden Hand der Bedienperson in verschiedenen
Richtungen genau folgen kann. Der erfindungsgemäße Manipulator
soll außerdem möglichst leicht und kostengünstig herstellbar sein.
Diese Aufgabe wird gemäß der Erfindung durch die in Anspruch 1
aufgeführten Merkmale gelöst. Demgemäß besteht der Manipulator
also aus einem Handhabenteil und einem Effektorteil, die über einen
Arbeitsarm miteinander verbunden sind. Der Arbeitsarm weist ein
äußeres Schaftrohr auf, an dessen Enden Steuerkugeln dreh- und
schwenkbar gelagert sind, die mit dem Handhabenteil bzw. mit dem
Effektorteil verbindbar sind. Innerhalb des Schaftrohres sind Ver
bindungsglieder zur Übertragung von Bewegungen von der einen
Steuerkugel zur anderen vorgesehen, und zwar zur Übertragung von
Zugkräften längsbeweglich im Schaftrohr geführte Steuerdrähte und
zur kraftschlüssigen Verbindung der Steuerkugeln längsbeweglich im
Schaftrohr geführte Distanzrohre. Auf diese Weise können sowohl
Schwenk- als auch Drehbewegungen sehr feinfühlig bei insbesondere
im Durchmesser geringer Baugröße übertragen werden.
Für eine Steuerkugel im Sinne der Erfindung kommt es in erster Linie
auf die kugelartige Lagerung an, so daß ggf. in Teilbereichen auch
von der Kugelform abgewichen werden kann, wenn diese Bereiche
nicht mehr zur Lagerung dienen.
Erfindungsgemäß stellen also die Verbindungsglieder eine kraft
schlüssige mechanische Verbindung zwischen den Steuerkugeln her,
so daß Schwenk- und Drehbewegungen gleichermaßen übertragen
werden können. Dadurch, daß dies durch dieselben Übertragungs
mittel erfolgt, kann die manipulierende Bedienperson (Operateur) sehr
genaue Bewegungen des Effektors durch Bedienen des Handhabenteils
ausführen. Diesen Vorteil weisen indirekt arbeitende Kraftüber
tragungssysteme im allgemeinen nicht auf. Außerdem haben solche
indirekten Kraftübertragungssysteme zumeist ein hohes Gewicht und
verursachen hohe Herstellungskosten.
Bevorzugt weisen sowohl die Steuerkugeln als auch die Verbindungs
glieder je eine zentrale Bohrung in Längsrichtung des Schaftrohrs
auf, die miteinander eine Verbindungspassage vom Handhabenteil
durch den Arbeitsarm zum Effektorteil definieren. Durch diese Ver
bindungspassage kann beispielsweise ein flexibles Endoskop geführt
werden oder eine mechanische Verbindung zur Übertragung der
eigentlichen Instrumentensteuerung (Handhabe-Effektor).
Bei der bevorzugten Ausführungsform des erfindungsgemäßen Ma
nipulators weisen die Verbindungsglieder mehrere Steuerdrähte auf,
die jeweils am Außenumfang der Steuerkugeln angelenkt sind. Da
durch ist eine sehr straffe, direkte und tatsächlich spielfreie Über
tragung der Bewegung der Steuerkugel am Ende des Handhabenteils
über den Arbeitsarm zur Steuerkugel am Effektorteil möglich. Bevor
zugt sind zwischen der ersten und zweiten Steuerkugel Distanzrohre
angeordnet, die in dem Schaftrohr geführt werden und die im Zu
sammenwirken mit dem Schaftrohr die beiden Steuerkugeln so in ihrer
Position halten, daß bei jeder Bewegung die Steuerdrähte straff
gespannt bleiben.
Dies wird bevorzugt so ausgeführt, daß zwei äußere Distanzrohre
innerhalb des Schaftrohrs und in dessen Längsrichtung verschiebbar
auf einem inneren Distanzrohr angeordnet und von einer um das
innere Distanzrohr herum angeordneten Schraubenfeder jeweils in
Richtung zur ersten und zweiten Steuerkugel vorgespannt sind.
In weiterer Ausbildung weisen die Distanzrohre Führungsmittel zur
Führung der Steuerdrähte auf. Diese Führungsmittel sind bevorzugt
äquidistante, periphere, in Längsrichtung der Distanzrohre ange
brachte Aussparungen in den Distanzrohren, wobei dann die Steu
erdrähte äquidistant an jeder Steuerkugel angelenkt sind. Zur je
weiligen Befestigung einer Handhabe einerseits und eines Effektors
andererseits weist jede Steuerkugel eine rohrförmige Verlängerung
auf, wobei diese Rohre in Form einer Verlängerung jeder Steuerku
gel zum Handhabenteil bzw. zum Effektorteil ragen.
Der erfindungsgemäße Manipulator wird bevorzugt für medizinische
Manipulationen in Körperhöhlen von außen verwendet, kann jedoch
auch für sonstige technische Untersuchungen oder Behandlungen
angewendet werden.
Die Erfindung ist nachfolgend anhand von in den Figuren darge
stellten Ausführungsbeispielen näher erläutert. Es zeigt
Fig. 1 eine erste Ausführungsform des erfindungsgemäßen
Manipulators mit flexibler Zange in teilweiser Schnitt
darstellung,
Fig. 2 in vergrößerter Darstellung eine der Steuerkugeln mit
daran befestigten Steuerdrähten, ebenfalls teilweise ge
schnitten,
Fig. 3 eine Ansicht einer der Steuerkugeln zur Veranschauli
chung der Rotationsmöglichkeit des Instrumentes,
Fig. 4 eine Ansicht der Steuervorrichtung ohne umhüllendes
Schaftrohr und
Fig. 5 eine Ansicht entsprechend Fig. 1 des erfindungsgemäßen
Manipulators mit einem eingeführten flexiblen Endo
skop.
Das in Fig. 1 dargestellte Ausführungsbeispiel des erfindungsgemä
ßen Manipulators zeigt einen Arbeitsarm 10, der an einem Handha
benteil 20 ausgeführte Bewegungen zu einem Effektorteil 30 über
trägt. Als Beispiel ist in Fig. 1 eine flexible Zange als Effektor
dargestellt. Diese flexible Zange weist eine scherenartige Handhabe
21, einen klauenartigen Effektor 31 und eine flexible Welle 9 auf,
die durch eine Verbindungspassage 11, 12, 13 im Arbeitsarm 10
geführt ist. Der Arbeitsarm 10 weist an jedem Ende eines äußeren
Schaftrohrs 1 eine Steuerkugel auf, wobei eine erste Steuerkugel 6
dem Handhabenteil 20 und eine zweite Steuerkugel 8 dem Effektorteil
30 zugeordnet sind.
Die dem Handhabenteil 20 zugeordnete proximalseitige Steuerkugel
6 weist eine rohrförmige Verlängerung 6a auf, an der der Hand
habenteil 20 lösbar befestigbar ist, während die dem Effektorteil 30
zugeordnete distalseitige Steuerkugel 8 ein Rohr 8a aufweist, an dem
der Effektor 31 lösbar befestigt ist. Innerhalb des äußeren Schaft
rohrs 1 des Arbeitsarms 10 sind axial bewegliche Distanzrohre 2, 3,
4 angeordnet, von denen das mittlere Distanzrohr 4 axialverschiebbar
innerhalb der außen liegenden Distanzrohre 2 und 3 angeordnet ist
und eine Schraubenfeder 5 trägt, die die beiden äußeren Distanzrohre
2 und 3 jeweils in Richtung zu den Steuerkugeln 8 und 6 vorspannt.
Wie in Fig. 2 dargestellt ist, sind die proximalseitige Steuerkugel 6
und die distalseitige Steuerkugel 8 über mehrere Steuerdrähte 7
mechanisch miteinander verbunden. Auf diese Weise spannen die im
äußeren Schaftrohr 1 in dessen Längsrichtung gleitbar beweglichen
Distanzrohre 2, 3 und 4 zusammen mit der Feder 5 die beiden Steu
erkugeln 6 und 8 und die Steuerdrähte 7 so, daß bei jeder Dreh- und
Schwenkbewegung der Steuerkugeln 6 und 8 diese in der jeweiligen
in Fig. 1 gezeigten Position gehalten sind. Die Drähte 7 wirken
dabei als Zuganker und übertragen die Schwenkbewegungen, wohin
gegen die Drehbewegungen um die Schaftachse ausschließlich durch
Kraftschluß zwischen den Distanzrohren 2, 3, 4
übertragen werden.
Die Verbindung zwischen den Steuerdrähten 7 und den Steuerkugeln
6 und 8 ist in den Figuren nur schematisch angedeutet, da prinzipiell
verschiedenste Befestigungsmechanismen denkbar sind.
Gemäß Fig. 2 sind die Steuerdrähte 7 gleich beabstandet an der
Peripherie der Steuerkugel 6 an Anlenkpunkten 17 angelenkt. In
derselben Weise sind die Steuerdrähte 7 an der Steuerkugel 8 ange
lenkt. Es ist ohne weiteres ersichtlich, daß unter der Voraussetzung
straff gespannter Steuerdrähte 7, was durch die Distanzschäfte 2, 3,
4 und die Schraubenfeder 5 erreicht wird, jede Dreh- und Schwenk
bewegung der proximalseitigen Steuerkugel 6 kraftschlüssig und ohne
Spiel auf die distalseitige Steuerkugel 8 übertragen wird. In Fig. 1
ist durch zwei Doppelpfeile, die jeweils die Bezeichnungen POS1,
POS2 sowie POS1′ und POS2′ tragen, dargestellt, daß eine Schwenk
bewegung des Handhabenteils 20 am proximalseitigen Ende des
Arbeitsarms 10 zu einer entsprechenden Schwenkbewegung des Ef
fektorteils 30 am distalseitigen Ende des Arbeitsarms 10 führt. Der
Schwenkwinkel der Steuerkugeln 6, 8 ist prinzipiell nur durch die
Art ihrer Lagerung am Schaftrohr 1 begrenzt.
Fig. 3 veranschaulicht die Rotationsmöglichkeiten des Instruments
(Pfeil 25). Dabei wird deutlich, daß eine kombinierte Schwenk-Dreh
bewegung des proximalseitigen Handhabenteils zu einer gleichartigen
Dreh-Schwenkbewegung, d. h. in gleichem Drehsinn des Effektorteils
30 am distalseitigen Ende des erfindungsgemäßen Manipulators führt.
Der Rotationswinkel des Manipulators ist prinzipiell nur durch das
Lager begrenzt.
In den Figuren haben die beiden Steuerkugeln 6 und 8 jeweils im
wesentlichen den gleichen Durchmesser. Wenn beispielsweise die
proximalseitige Steuerkugel 6 einen größeren Durchmesser als die
distalseitige Steuerkugel 8 hat, wird die Schwenkbewegung entspre
chend des Durchmesserverhältnisses der beiden Steuerkugeln über
setzt. Auf diese Weise kann ein größerer Schwenkwinkel an der
Handhabe 21 zu einer kleineren Schwenkbewegung am Effektor 31
führen. Die Steuerkugeln 6 und 8 weisen jeweils eine zentrale Boh
rung 11 und 12 auf, die mit den Durchgängen in den Rohrfortsätzen
6a und 8a fluchten. Die Distanzrohre 2, 3 und 4 weisen ebenfalls
einen zentralen Durchgang 13 auf. Zusammen ist dadurch eine Ver
bindungspassage definiert, durch die ein flexibles Element 9 der in
Fig. 1 gezeigten Zange geführt ist. Bei der Ausführung nach Fig. 1
wird durch das flexible Element die Betätigung des Zangenmauls
übertragen.
In Fig. 4 sind die kraftschlüssige Verbindung der beiden Steuerku
geln 6 und 8 durch die Steuerdrähte 7 und die die Steuerkugeln 6, 8
und die Steuerdrähte 7 mittels der Schraubenfeder 5 vorspannenden
Distanzrohre 2, 3 und 4 ohne das äußere Schaftrohr dargestellt.
Anlenkpunkte 17 für die Steuerdrähte 7 sind in gleichem Abstand
kreisförmig ringsherum an der Peripherie der Steuerkugeln 6 und 8
angeordnet. Zur Führung der Steuerdrähte 7 innerhalb des Schaft
rohrs können nicht dargestellte Führungsmittel vorgesehen sein, die
beispielsweise durch Aussparungen in Längsrichtung an der Periphe
rie der Distanzrohre realisiert sein können.
Fig. 5 schließlich zeigt den erfindungsgemäßen Manipulator in Kom
bination mit einem flexiblen Endoskop 22, was eine weitere Anwen
dungsart des Manipulators darstellt.
Insgesamt zeigen die Fig. 1, 4 und 5, daß eine Schwenkbewegung
eines Anwenders am proximalseitigen Handhabenteil 20 an den dista
len Effektorteil 30 übertragen wird. Dies führt dazu, daß der An
wender, wie mit einer ganz gewöhnlichen, nicht abgelenkten Zange
oder Instrument hantieren kann. Ohne daß dies besonders dargestellt
ist, wird es für die meisten Anwendungszwecke zweckmäßig sein,
daß das äußere Schaftrohr 1 des Arbeitsarms 10 festgelegt ist, bei
einem chirurgischen Instrument beispielsweise durch einen Trokar,
durch den der Arbeitsarm geführt und darin festgelegt ist.
Die oben beschriebene und in der Zeichnung dargestellte, bevorzugte
Ausführungsform des erfindungsgemäßen Manipulators ist beispiel
haft in Kombination mit chirurgischen Instrumenten beschrieben
worden. Es ist jedoch ohne weiteres ersichtlich, daß der erfindungs
gemäße Manipulator auch in anderen Anwendungsfällen einsetzbar
ist, beispielsweise zu Manipulationen und Untersuchungen in techni
schen Hohlräumen.
Des weiteren wurde der erfindungsgemäße Manipulator in seiner
Anwendung bei einer zangenartigen Vorrichtung und einem Endoskop
beschrieben. Selbstverständlich kann der erfindungsgemäße Manipula
tor auch mit Scheren oder anderen Instrumenten sinnvoll eingesetzt
werden.
Insgesamt erleichtert der erfindungsgemäße Manipulator Eingriffe und
Untersuchungen in Hohlräumen, z. B. Körperhöhlen, indem er eine
direkte und straffe Bewegungsführung des distalen Endes des Manipu
lators durch die Bewegung am proximalen Ende ermöglicht. Er ist
leicht, einfach aufgebaut und läßt sich kostengünstig herstellen.
Es ist auch möglich, daß in der vorderen Steuerkugel ein CCD-Sen
sor eingebaut ist, welcher über elektrische oder optische Signalüber
tragung ein Bild zur hinteren Steuerkugel überträgt. Dort wird das
Signal von einem Signalwandler übernommen oder/und zu einem
externen Controller übermittelt.
Anstelle eines Handhabenteils kann auch eine motorische Verstell
einrichtung treten, die z. B. automatisiert Bewegungen der distalen
Steuerkugel bewirkt.
Claims (9)
1. Manipulator, insbesondere für medizinische, von außen gesteu
erte Manipulationen in Körperhöhlen, mit folgenden Merkmalen:
- - ein Handhabenteil (20) ist über einen Arbeitsarm (10) mit einem Effektorteil (30) derart verbunden, daß vom Handhabenteil (20) über den Arbeitsarm (10) Bewegun gen des Effektorteiles (30) in mehreren Richtungen steuerbar sind,
- - der Arbeitsarm (20) weist ein äußeres Schaftrohr (1) auf, an dessen einem Ende eine erste, mit dem Handha benteil (20) verbindbare Steuerkugel (6) dreh- und schwenkbar gelagert ist, und an dessen anderem Ende eine zweite, mit dem Effektorteil (30) verbindbare Steu erkugel (8) dreh- und schwenkbar gelagert ist,
- - im Schaftrohr (1) sind Verbindungsglieder (2-5, 7) zur Übertragung von Bewegungen einer Steuerkugel (6 oder 8) auf die andere Steuerkugel (8 oder 6) angeordnet und die Verbindungsglieder weisen längsbeweglich im Schaftrohr (1) geführte Steuerdrähte (7) zur Übertragung von Zugkräften und längsbeweglich im Schaftrohr (1) geführte Distanzrohre (2-4) zur kraftschlüssigen Ver bindung der Steuerkugeln (6, 8) auf.
2. Manipulator nach Anspruch 1, dadurch gekennzeichnet, daß die
Steuerkugeln (6, 8) sowie die Gesamtheit der Verbindungsglieder
(2-5, 7) einen zentralen Durchgang (11, 12, 13) in Längsrich
tung des Schaftrohrs (1) aufweisen, wobei dieser zentrale Durch
gang (11, 12, 13) eine Verbindungspassage vom Handhabenteil
(20) durch den Arbeitsarm (10) zum Effektorteil (30) bildet.
3. Manipulator nach Anspruch 1 oder 2, dadurch gekennzeichnet,
daß die Steuerdrähte (7) äquidistant am Außenumfang der Steu
erkugeln (6, 8) angelenkt sind.
4. Manipulator nach einem der vorhergehenden Ansprüche, dadurch
gekennzeichnet, daß zwei äußere Distanzrohre (2, 3) in Längs
richtung des Schaftrohrs (1) verschiebbar auf einem inneren
Distanzrohr (4) angeordnet und von einer um das innere
Distanzrohr (4) vorgesehenen Schraubenfeder (5) jeweils in
Richtung der ersten und zweiten Steuerkugel (6, 8) kraftbeauf
schlagt sind.
5. Manipulator nach einem der vorhergehenden Ansprüche, dadurch
gekennzeichnet, daß die Distanzrohre (2, 3, 4) Führungsmittel
zur Führung der Steuerdrähte aufweisen.
6. Manipulator nach Anspruch 5, dadurch gekennzeichnet, daß die
Führungsmittel äquidistante periphere Aussparungen in Längs
richtung der Distanzrohre (2, 3, 4) aufweisen.
7. Manipulator nach einem der vorhergehenden Ansprüche, dadurch
gekennzeichnet, daß jede Steuerkugel (6, 8) eine Verlängerung
in Form eines mit dem zentralen Durchgang in der Steuerkugel
fluchtenden Rohrs (6a, 8a) aufweist, die zum Handha
benteil (20) bzw. zum Effektorteil (30) ragt und zur jeweiligen
Befestigung einer Handhabe (21) bzw. eines Effektors (31) vor
gesehen ist.
8. Steuerbares chirurgisches Instrument, gekennzeichnet durch die
Verwendung des Manipulators nach einem der Ansprüche 1
bis 7.
9. Chirurgisches Instrument nach Anspruch 8, dadurch gekenn
zeichnet, daß durch den zentralen Durchgang eine flexible, oder
teilflexible Welle (9) des chirurgischen Instruments geführt ist.
Priority Applications (4)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE4340707A DE4340707C2 (de) | 1993-11-30 | 1993-11-30 | Manipulator |
FR9412753A FR2713129B1 (fr) | 1993-11-30 | 1994-10-25 | Manipulateur et son utilisation comme instrument chirurgical. |
GB9423050A GB2284242B (en) | 1993-11-30 | 1994-11-14 | Manipulator |
US08/346,776 US5520678A (en) | 1993-11-30 | 1994-11-30 | Manipulator arm with proximal and distal control balls |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE4340707A DE4340707C2 (de) | 1993-11-30 | 1993-11-30 | Manipulator |
Publications (2)
Publication Number | Publication Date |
---|---|
DE4340707A1 DE4340707A1 (de) | 1995-06-01 |
DE4340707C2 true DE4340707C2 (de) | 1997-03-27 |
Family
ID=6503757
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
DE4340707A Expired - Fee Related DE4340707C2 (de) | 1993-11-30 | 1993-11-30 | Manipulator |
Country Status (4)
Country | Link |
---|---|
US (1) | US5520678A (de) |
DE (1) | DE4340707C2 (de) |
FR (1) | FR2713129B1 (de) |
GB (1) | GB2284242B (de) |
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DE102004024128B3 (de) * | 2004-05-14 | 2006-01-12 | Schiemann, Patrick A., Dr. | Vorrichtung zur Änderung der Wirkungsrichtung eines Instrumentes |
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-
1993
- 1993-11-30 DE DE4340707A patent/DE4340707C2/de not_active Expired - Fee Related
-
1994
- 1994-10-25 FR FR9412753A patent/FR2713129B1/fr not_active Expired - Fee Related
- 1994-11-14 GB GB9423050A patent/GB2284242B/en not_active Expired - Fee Related
- 1994-11-30 US US08/346,776 patent/US5520678A/en not_active Expired - Fee Related
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DE102004024128B3 (de) * | 2004-05-14 | 2006-01-12 | Schiemann, Patrick A., Dr. | Vorrichtung zur Änderung der Wirkungsrichtung eines Instrumentes |
Also Published As
Publication number | Publication date |
---|---|
FR2713129B1 (fr) | 1996-09-06 |
FR2713129A1 (fr) | 1995-06-09 |
DE4340707A1 (de) | 1995-06-01 |
GB2284242B (en) | 1997-06-04 |
GB2284242A (en) | 1995-05-31 |
US5520678A (en) | 1996-05-28 |
GB9423050D0 (en) | 1995-01-04 |
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