CN102639080A - 微创腹腔镜手术钳 - Google Patents
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Abstract
本发明涉及微创腹腔镜手术钳,其包括安装在转动本体(60)上的卡爪装置(70)、分别用于传递卡爪装置(70)和转动本体(60)的运动的第一装置和第二装置(100,200),所述第一装置和第二装置分别包括至少一个筋腱(300,350,400),所述至少一个筋腱中的每个由若干缆索(500)形成,所述若干缆索布置成使得与用于传递运动的第一装置(100)相关联的至少一个筋腱(300,350)的横截面具有可变的几何形状(A,B,C),所述可变的几何形状由第一布置(A)、第二布置(B)和第三布置(C)形成,在所述第一布置中在缆索(500)的纵向轴线在横截面中处于辐射状布置(A)中的情况下布置所述缆索,在所述第二布置中所述轴线沿着第一取向布置,在所述第三布置中所述轴线沿着与第一取向垂直的第二取向布置。
Description
技术领域
本发明涉及机器人手术领域中的应用,并且具体地,本发明涉及适用于微创机器人腹腔镜手术的钳。
本发明的钳包括运动学设备,该运动学设备设有可以打开和关闭的卡爪装置,所述卡爪装置安装在转动本体上。本发明的钳还包括用于传递卡爪装置的运动的第一装置和用于传递转动本体的运动的第二装置。
背景技术
当前的机器人腹腔镜手术技术允许执行高精度的操作,尤其在某些复杂的手术中提供显著的优点,某些复杂的手术包括在到达手术部位方面有很大困难的那些手术。本发明尤其可应用于这种类型的机器人腹腔镜手术,这种类型的机器人腹腔镜手术是通过患者体内的小切口执行的微创技术。当前广泛地采用该技术,以便在许多情况下该技术用作传统的腹腔镜手术的可替代方案。
在该类型的机器人手术中,采用机械手装置,所述机械手装置致动能够保持某些工具和器械的钳。除了通过使用与这些操作相关联的计算技术所实现的手术精度以外,可以通过这些机构减少外科医生对患者的直接接触,结果减少了污染。通过小切口,照相机和/或钳被引入到患者体内以执行具有最小创伤和可忽略的术后痛疼后果的多种操作。
如本文使用的、根据用于本发明的目的的期待用法的术语“钳”应当理解为设计成联接到机械手端部的工具。该机械手通常在机器人腹腔镜手术操作中由有经验的外科医生遥控地操作,并且该机械手设计成抓紧并且甚至拖住任何有用的工具、本体或器件。
许多类型的腹腔镜手术钳基于其运动和几何形状而存在,这些方面很大程度上取决于钳最终将要进行的操作的类型。在腹腔镜手术操作中,典型地使用几个钳,这几个钳通常具有这样的构造,即,所述构造使得其远端端部设有具有与以上所述构造不同的构造的卡爪,例如,这些卡爪设有或者没有齿,具有直线的形状或者曲线的形状,等等。
在美国专利US6969385中说明了在机器人腹腔镜手术中使用的腹腔镜手术钳的一个示例。该文献示出在由配合在转动本体上的卡爪构成的机器人装置中使用的钳。这些卡爪包括可以相对于彼此转动的指状物。通过缠绕在带槽的滑轮上的缆索传递卡爪的指状物的转动运动。滑轮分别与指状物的转动轴线和附装到机械手端部的所述转动本体的轴对应地安装。
钳的运动传递的又一个示例是借助齿轮。在US2009192521中说明了一种手术器械,该手术器械由钳构成,所述钳包括固定的指状物和可运动的指状物。钳的运动指状物被齿轮传动机构驱动。
如在该文献中说明的使用缆索和滑轮或者钳中的齿轮对于从驱动装置传递运动到钳自身以用于定位卡爪以及用于使卡爪运动而言是必要的。这导致钳机构是相当复杂的。该机械复杂性在其中运动传递缆索必须穿过有关节的本体的情况下是显著重要的,该情况通常在上述钳中出现。传递缆索必须穿过有关节的本体的事实需要设置额外的滑轮以用于能够执行这种从驱动装置到卡爪的运动传递。
本发明提供了一种腹腔镜手术钳,其具有这样的构造,即,该构造允许通过包括多种转动构件的运动学组件从驱动装置传递运动到转动构件。钳的该运动学组件包括允许定位钳的构件和允许使钳的卡爪装置运动的构件。如以下将理解,借助本发明的腹腔镜手术钳,可以在简单的、紧凑的和可靠的构造下实现本发明的目的,如以下将理解,得到额外的优点。
发明内容
本发明提供了适于在机械手中使用的钳。更具体地,本发明涉及被机械手驱动的、意在用于执行微创腹腔镜手术操作的钳。
根据本发明,提供用于在机器人腹腔镜手术操作中使用的钳,所述钳包括主本体,所述主本体具有近端端部和远端端部。主本体的近端端部适于接收万向接头,所述万向接头能够执行两个被动转动。在主本体的远端端部处,联接有由转动本体所形成的运动学组件,所述转动本体可转动地安装在该远端端部上并且设有卡爪装置。该转动本体能够执行若干主动转动。
本发明的钳的卡爪装置包括至少两个运动部件或者指状物,所述至少两个运动部件或者指状物可以独立地被转动地驱动。通过第一运动传递装置执行钳的指状物的运动。就其部分而言,通过第二运动传递装置执行转动本体的转动运动。所述第一运动传递装置和第二运动传递装置被驱动装置驱动,所述驱动装置包括例如电动马达。驱动装置和第一运动传递装置及第二运动传递装置的组合允许适当地定位钳,并且允许打开和关闭卡爪装置,使指状物朝向和远离彼此运动。
根据本发明,第一运动传递装置和第二运动传递装置二者在近端端部与远端端部之间包括筋腱(tendon),所述筋腱在主本体内侧沿着主本体延伸。在使用中,所述筋腱可以沿着所述主本体纵向地运动。
更具体地,钳包括与第一运动传递装置相关联的至少一个筋腱和与第二运动传递装置相关联的一个筋腱。第一运动传递装置根据钳的实施例可以包括一个或者两个筋腱,或者根据想要的钳的应用而用于控制钳的一个或者多个指状物。
所述筋腱中的每个都由若干钢缆形成,若干钢缆优选地是三条,所述钢缆布置成被包装在鞘内侧,在所述鞘中包封这些钢缆。形成每个筋腱的钢缆优选地具有圆形的横截面以尽可能获得较大的硬度,并且从而避免当钢缆处于压缩下时钢缆扣紧。在该横截面下,也减小筋腱与筋腱的鞘之间的摩擦。
对形成用于传递钳的运动的每个筋腱的若干缆索的包装提供了必要的硬度,既用于能够进行压缩,也用于能够进行牵引,允许有效的动力传递,就好像是杆传递。
每个筋腱的横截面的几何形状都通过形成筋腱的缆索的布置来限定。根据本发明,缆索布置成使得筋腱在主本体的远端端部附近具有沿着其长度具有可变的几何形状的横截面。这至少满足了与第一运动传递装置相关联的筋腱。因此,筋腱的横截面几何形状的变化允许非常有效地操作卡爪装置。
借助根据本发明所述的构造,钳可以围绕第一轴线转动,并且转动本体可以围绕第二轴线转动。第一轴线和第二轴线可以彼此基本垂直地布置。
在本发明的钳的一个实施例中,优选的是每个筋腱的横截面几何形状的变化如下。如上所述,筋腱通过主本体的内部纵向地延伸,限定了筋腱的第一横截面几何形状布置,在所述第一横截面几何形状布置中布置有相应的缆索,在横截面中,缆索的纵向轴线沿着径向方向分布。然后,筋腱的横截面几何形状改变成第二布置,在所述第二布置中布置有相应的缆索,在横截面中,缆索的纵向轴线沿着第一取向分布。最后,筋腱的横截面几何形状改变成第三布置,在所述第三布置中布置有相应的缆索,在横截面中,缆索的纵向轴线沿着与所述第一取向不同的第二取向分布。
换言之,在筋腱的横截面几何形状的第一布置中,在主本体的大部分长度中辐射状地布置每个筋腱的缆索,以便使筋腱的横截面的形状是基本圆形的。换言之,如果例如如上所述筋腱是由三条缆索形成的筋腱,则将布置缆索,在该情况下,在横截面中,缆索的相应的纵向轴线处于基本三角形的布置中。在主本体的与远端端部附近对应的一个部分中,同一个筋腱的横截面改变成所述第二布置,在所述第二布置中筋腱的缆索布置成使其相应的纵向轴线沿着第一取向横向地排列,例如水平地排列。因此,获得必要的柔度以克服接头沿着与其转动轴线平行的方向的屈曲。最后,筋腱的横截面改变成第三布置,在所述第三布置中筋腱的缆索布置成使其相应的纵向轴线沿着第二取向横向地排列,相对于所述第一取向形成诸如90°的角度,即,竖直地排列。这样,因此获得必要的柔度以克服接头沿着与其转动轴线垂直的方向的屈曲。
包括所述筋腱在内的第一运动传递装置和第二运动传递装置还包括用于相切地缠绕筋腱的转动鼓。这些转动鼓允许在所述组件的远端端部中将来自筋腱的纵向运动转化成沿着两个方向即牵引方向和压缩方向的转动运动以可转动地驱动钳的转动本体及其卡爪装置。所述转动鼓具有适用于缠绕筋腱的带槽周边。钳的转动本体由交叠布置的所述鼓中的两个鼓形成。用于缠绕转动本体的所述两个鼓中的每个都分别与每个卡爪指状物成一体。
筋腱(至少与第一传递装置相关联的筋腱)的横截面构造由于其朝向主本体的远端端部沿着其长度运动而导致的变化允许沿着行进的两个方向在相应的鼓中有效地缠绕和扭曲所述筋腱。
为了如上所述导致每个筋腱的横截面几何形状改变,在主本体的远端端部附近的不同平面处,设置有若干筋腱改变取向模块。每个改变取向模块都包括固定到细长的本体内部的块,在所述细长的本体内形成有细长的通道,所述细长的通道的形状设定成在一个转动(例如90°)中导引每个筋腱的缆索。
每个筋腱都使用两个改变取向模块,这能够使筋腱的横截面形状进行上述两个改变(从圆形横截面形状改变到在第一取向上的直线横截面形状,以及从在所述第一取向上的直线横截面形状改变成在不同的第二取向上的直线横截面形状)。每个改变取向模块都可以具有与例如所使用的缆索的直径对应的第一尺寸(宽度或者高度)和与例如所述直径中的三个对应的第二尺寸(宽度或者高度)。沿着同一个筋腱长度在两个改变取向模块之间,筋腱的缆索被容纳在平坦的鞘内侧,所述平坦的鞘适于维持缆索的构造。
对于通过筋腱位移传递运动而言,如上所述,使用诸如电动马达的细长的本体驱动装置。在本发明的一个实施例中,其它装置可以适于可转动地驱动内螺纹管,所述内螺纹管安装成轴向地保持在主本体内。在这些内螺纹管内侧,接收有对应的外螺纹管,所述外螺纹管固定到内部布置有筋腱的外鞘。外螺纹管可以转动到所述内螺纹管(轴向地保持在主本体内的内螺纹管),以便使通过驱动装置的该转动导致外螺纹管纵向运动,并且结果,导致第一传递装置的筋腱纵向运动(以驱动来自钳卡爪装置的指状物)或者第二传递装置的筋腱纵向运动(用于可转动地驱动运动本体来用于定位卡爪装置)。
借助如根据本发明说明的钳,至此已经使用用于相同目的的具有超过钳的显著的机械简化性的组件,结果节省了成本。在钳的驱动装置使筋腱具有可变的几何横截面构造以用于每次改变所述截面的取向的情况下,根据本发明,能够通过使用惰滑轮或者齿轮来分配筋腱,所述惰滑轮或者齿轮用于横向地转动其上运行有筋腱的部件。本发明的构造还允许获得非常坚固的组件,该非常坚固的组件具有较大的耐用性的缆索以及这些缆索围绕其滚动的鼓。
本发明的微创腹腔镜手术钳的其它目的、优点和特征将从本发明的优选实施例的说明而显而易见。仅通过示例的方式给出说明并且在附图中示出该说明。
附图说明
在附图中,
图1是本发明的微创腹腔镜手术钳的主本体的部分透视图;
图2是用于改变钳的筋腱中的取向的一个模块的一个实施例的透视图;
图3是本发明的微创腹腔镜手术钳的部分透视图,卡爪装置和转动本体安装在该组件的主本体中的远端端部处;以及
图4是本发明的钳的部分透视图,其中示意性地示出筋腱的构造及其取向的改变。
具体实施方式
在本文公开的图1至4中,示出在机械手中的微创腹腔镜手术钳的优选的实施例。在附图中已经总体上用附图标记10指示钳。
在所示的示例性实施例中,钳10包括细长形状的主本体20,其具有近端端部30(附图中的左侧)和远端端部40(附图中的右侧)。图1中部分地示出钳10的主本体20及其近端端部30。图3和4中示出主本体20的远端端部40。
如图1中所示,钳10的主本体20的近端端部30可以通过万向接头55附装到机械手50。为了清楚起见,在所述图1中示出与主本体20分离的万向接头55。万向接头55允许组件执行两个被动转动GP1,GP2,如在图1中由相应的箭头所示。在主本体20的远端端部40处,联接有运动学组件,该运动学组件包括枢转地安装在远端端部40上的本体60。转动本体60设有卡爪装置(卡爪70),以下将更加详细地说明所述卡爪装置。
图3和4中以示例的方式示出的实施例的卡爪70包括两个铲状的指状物71、72。在图3的实施例中,卡爪70的指状物71、72具有平坦的粗糙内表面。在图4的实施例中,卡爪70的指状物71、72具有弯曲的平滑内表面。然而,将应当理解,卡爪70的指状物71、72可以根据要求具有任何其它构造以及具有不同的表面光洁度的内表面。
根据图3中所示的主动转动运动GA2和GA3,卡爪70的指状物71、72可以以协调的且独立的方式围绕第一轴线X被转动地驱动,用于朝向和/或远离彼此运动。这样允许钳10抓紧并且甚至拖住任何有用的工具、本体或器件(未示出)。
根据图1中所示的被动角运动GA4,钳10的运动学组件还可以围绕主本体20的纵向轴线Z转动。该被动转动GA4以大于360°的角度执行并且允许定位钳10的工作平面。
卡爪70的每个指状物71、72都分别与缠绕鼓81、82成一体,以下将更加详细地说明所述缠绕鼓81、82。
在主本体20的近端端部30处设置有驱动装置M,用于控制地驱动卡爪70及其在空间中的取向。以下将更加详细地说明驱动装置M。
与驱动装置M协作地设置有第一运动传递装置100,其用于导致卡爪70的指状物71、72朝向和远离彼此转动,对于每个指状物71、72而言如在图3中分别由GA2和GA3指示。还设置第二运动传递装置200,用于导致转动本体60根据如图3中所示的GA1围绕第二轴线Y转动,用于当腹腔镜插入进行使用时将钳10侧向定位在空间中。在一个实施例中,优选的是第一轴线X和第二轴线Y相对于彼此形成90°的角。
分别地,第一传递装置100包括筋腱300和350,并且第二传递装置包括一个筋腱400。筋腱350相对于筋腱300对称地布置,并且因此,该筋腱350在图3中被隐藏(用虚线示出)。清楚的是在本发明的其它实施例中,钳70可以包括单个可移动的指状物,而另一个指状物被固定,使得在该情况下第一传递装置100将包括单个筋腱(300或者350)。
筋腱300、350、400全部沿着主本体20从近端端部30延伸到远端端部40,如可以参见图3和4。筋腱300、350、400适于在主本体20内沿着该主本体纵向地运动以驱动钳10,如以下将更加详细地说明。
在以示例方式示出的实施例中,传递装置100和200的筋腱300、350、400中的每个都由三条钢缆500形成,所述三条钢缆500具有圆形的横截面并且布置成被包装在鞘(未示出)内,在所述鞘中包封这些钢缆,为牵引和压缩两种工作提供必要的刚度。
图2和4中示出缆索500在一个筋腱300、350、400中的若干布置。图4示出通过与第一传递装置100相关联的至少筋腱300、350所呈现出的横截面几何形状的多种布置A、B、C。筋腱300、350的横截面几何形状的这种变化由形成每个筋腱的缆索500的布置或者取向限定。在所示的实施例中,缆索500在筋腱300、350中布置成使得在主本体20的远端端部40附近筋腱具有随着其朝向钳10的主本体20的远端端部40纵向地前进而改变的横截面几何形状。筋腱300、350的横截面几何形状的这种变化允许卡爪70的指状物71、72围绕轴线X沿着两个方向转动运动GA2和GA3并且允许与第一传递装置100相关联的筋腱300、350穿过转动本体60的接头,如以下将说明。
以下将参照图4说明每个筋腱300、400的横截面几何形状的变化。每个筋腱300、350的横截面几何形状在其路径上改变了两次,所以有筋腱300、350的第一横截面几何形状布置A、筋腱300、350的第二横截面几何形状布置B、以及筋腱300、350的第三横截面几何形状布置C。图4中示意性地示出布置A、B和C。
根据图4,在主本体20的大部分长度中,筋腱300、350在其相应的缆索500辐射状地布置的情况下从近端端部30延伸到远端端部40。如在横截面中看到,缆索500的该辐射状布置通过其基本三角形的布置而实现,限定了用于筋腱300、350的第一横截面几何形状布置A的基本圆形的形状。在主本体20的远端端部40附近,相同的筋腱300、350的横截面几何形状从缆索500的第一布置(辐射状地布置)改变到第二布置B,在所述缆索500的第一布置下缆索500的纵向轴线成三角形地分布,在所述第二布置B下缆索500的纵向轴线以第一取向排列,水平地排列,如在例如图4中所示的横截面看到。最后,筋腱300、350的横截面几何形状再次从缆索500的该第二布置B(沿着第一取向,缆索500的纵向轴线水平地排列)改变到其中所述纵向轴线沿着第二取向排列的布置,从而如图4中所示限定了筋腱300、350的横截面几何形状的第三布置C。对于所公开的实施例而言,筋腱300、350的横截面的第二布置B中的第一取向相对于筋腱300、350的横截面的第三布置C中的第二取向形成了基本90°的角。因此,筋腱300、350的横截面的第三布置C与竖直地排列布置其缆索500的布置对应,如在横截面中看到,如图4中所示。
钳10的筋腱300、350的横截面提供了为牵引和压缩两种工作所需要的刚度,并且因此同时允许筋腱相应地缠绕在每个鼓81、82、83上。至少筋腱300、350在第一传递装置100中的取向的改变(在所示的实施例中,与第二传递装置200相关联的筋腱400不需要)还允许适于使筋腱300、350穿过与轴线Y相关联的接头,即,允许根据转动GA1转动本体60。
如上所述,由相应的筋腱300、350、400所形成的第一运动传递装置100和第二运动传递装置200还包括转动鼓81、82、83,围绕所述转动鼓81、82、83缠绕有上述对应的筋腱300、350、400。尤其,鼓81、82布置成一个鼓共轴地布置在另一个鼓上以形成钳10的转动本体60,并且这些鼓适于独立地通过致动第一传递装置100,即分别通过致动筋腱300和筋腱350(与筋腱300对称的不可见的筋腱),可转动地被驱动。沿着主本体20的内部延伸的筋腱300包围鼓81的周边,而沿着主本体20的内部延伸的筋腱350包围鼓82的周边。最后,也沿着主本体20的内部延伸的筋腱400包围鼓83的周边。与第一传递装置100相关联的筋腱300、350的位移导致钳10的转动本体60的相应鼓81、82相应地独立转动,导致卡爪70的指状物71、72根据图3中所示的相应主动转动运动GA2、GA3围绕轴线X独立地转动,根据期望朝向或者远离彼此围绕轴线X转动,以抓紧、拖住或类似地操作器械、器官等。
与第二传递装置200相关联的筋腱400的位移导致鼓83转动,使钳10的转动本体60根据图3中所示的主动运动GA1围绕轴线Y转动,用于将钳10适当地定位在空间中。
为了使鼓81、82、83适当地转动运动,这些鼓设有适于缠绕相应的筋腱300、350、400的带槽的周边(未示出)。限定转动本体60的每个缠绕鼓81、82都与卡爪70的每个相应的指状物71、72成一体。
在本文参照附图说明的微创腹腔镜手术钳10的实施例中,还设置有用于改变筋腱300、350的取向的模块600。图2中示出这些改变取向模块600中的一个示例。在所述图2中,示出用于改变筋腱300、350的取向的模块600,其设计成用于导致所述第一传递装置100中的每个筋腱300、350的横截面几何形状布置A、B、C在钳10的主本体20的远端端部40附近的不同平面处改变。改变取向模块600包括固定在主本体20的内侧的成一体的块。在改变取向模块600的内侧,设置有细长的内部通道650,其形状设定成导引每个筋腱300、350的缆索500并且随着所述缆索500穿过通道650的内部而强制这些缆索500转动了约90°
对于第一传递装置100的每个筋腱300,350而言,设置有两个改变取向模块600。与所述第一运动传递装置100相关联的模块600,即,当筋腱300和350围绕主本体20纵向地运动时导致筋腱300和350的取向改变的那些模块600布置成一个模块600正处于主本体20的远端端部40处,而另一个模块600处于转动本体60的相应鼓81、82中的每个附近。
对于改变取向模块600所述的构造允许筋腱的横截面布置的两种改变,即,筋腱的横截面布置从圆形布置A改变到水平直线布置B;以及最后,筋腱的横截面布置从水平直线布置B改变到竖直布置C,如图4中用图解法所示的以及如上所述的。
每个改变取向模块600的内部通道650可以具有与所使用的缆索的直径对应的第一尺寸d(典型地,0.3mm)和与所述直径的三倍对应的第二尺寸D(0.9mm)。将应当理解,在特定的取向中的所述直径d、D可以与所示示例中的所述通道650的宽度和高度对应,但模块600的几何形状也可以由其它尺寸限定。
在同一个筋腱300、350中的两个改变取向模块600之间,缆索500被容纳在平坦的鞘的内侧,所述平坦的鞘适于在两个模块600之间沿着该路径维持缆索构造。
现在参照图1,以下将更加详细地说明用于可位移地驱动筋腱300、350、400的装置M。
在以示例的方式示出的实施例中,驱动装置M包括若干电动马达700,所述电动马达700适于转动地驱动外管800。这些外管800设有内螺纹,并且这些外管在主本体20内侧轴向地保持在近端端部30中,如图1中所示。在外管800的内侧中,可经螺纹地接收具有外螺纹850的对应的内管,所述外螺纹850附装到相应的筋腱300、350、400的外部。内管850可以相对于相应的外管800转动,所述相应的外管800如上所述被轴向地保持在主本体20内。从而,每个外管800通过对应的马达700而导致的转动使内管850纵向地运动,并且结果,导致第一传递装置100的筋腱300、350对应地纵向运动以用于围绕轴线X致动钳10的卡爪70的指状物71、72(独立运动GA2、GA3)并且/或者第二传递装置200的筋腱对应地纵向运动,用于可转动地驱动可动本体60以用于围绕轴线Y定位卡爪70(运动GA1)。
虽然已经参照优选的实施例在本说明书中说明了并且在附图中示出了本发明,但是本发明的微创腹腔镜手术钳在没有脱离所附权利要求中限定的保护范围的情况下易受到多种改变。
Claims (10)
1.微创腹腔镜手术钳(10),其包括安装在转动本体(60)上的卡爪装置(70)、用于传递所述卡爪装置(70)的运动的第一装置(100)和用于传递所述转动本体(60)的运动的第二装置(200),其特征在于,所述第一和第二传递装置(100,200)分别包括至少一个筋腱(300,350,400),所述至少一个筋腱中的每个都由若干缆索(500)形成,所述缆索(500)布置成使得与用于传递运动的所述第一装置(100)相关联的至少一个筋腱(300,350)的横截面具有沿着其穿过主本体(20)内部的路径能变化的几何形状(A,B,C)。
2.根据权利要求1所述的钳(10),其中,每个筋腱(300,350)的横截面几何形状都具有第一布置(A)、第二布置(B)和第三布置(C),在所述第一布置(A)中相应缆索(500)布置成使其纵向轴线在横截面中成辐射状布置(A),在所述第二布置(B)中每个筋腱(300,350)的相应缆索(500)布置成使其纵向轴线在横截面中沿着第一取向分布,在所述第三布置(C)中每个筋腱(300,350)的相应缆索(500)布置成使其纵向轴线在横截面中沿着与所述第一取向不同的第二取向分布。
3.根据权利要求2所述的钳(10),其中,所述第二和第三布置(B,C)各自的所述第一取向和第二取向相对于彼此形成基本90°的角。
4.根据以上权利要求中任一项所述的钳(10),其中,所述筋腱(300,350,400)中的至少一个由至少三条缆索(500)形成。
5.根据以上权利要求中任一项所述的钳(10),其中,所述卡爪装置(70)能够围绕第一轴线(X)转动。
6.根据以上权利要求中任一项所述的钳(10),其中,所述转动本体(60)能够围绕第二轴线(Y)转动。
7.根据以上权利要求5和6中任一项所述的钳(10),其中,所述第一轴线(X)和所述第二轴线(Y)相对于彼此形成基本90°的角。
8.根据以上权利要求中任一项所述的钳(10),其中,所述转动本体(60)包括分别与所述卡爪装置(70)相关联的转动鼓(81,82)。
9.根据权利要求8所述的钳(10),其中,所述转动鼓(81,82)能够通过所述第一传动装置(100)的相应的筋腱(300,350)独立地操作。
10.根据以上权利要求中任一项所述的钳(10),其中,所述钳包括用于改变形成每个筋腱(300,350)的所述缆索(500)的取向的模块(600),每个模块(600)都由其中形成有细长的通道(605)的块形成,所述通道的形状设定成导引对应的筋腱的所述缆索(500),导致所述对应的筋腱在其取向上转动。
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US20120209315A1 (en) | 2012-08-16 |
IL219290A (en) | 2016-07-31 |
US9700381B2 (en) | 2017-07-11 |
CA2778665C (en) | 2017-12-05 |
WO2011051253A1 (en) | 2011-05-05 |
BR112012009907B1 (pt) | 2020-01-21 |
CA2778665A1 (en) | 2011-05-05 |
AU2010311589A1 (en) | 2012-06-14 |
AU2010311589B2 (en) | 2013-12-19 |
RU2551932C2 (ru) | 2015-06-10 |
ES2640287T3 (es) | 2017-11-02 |
EP2493410B1 (en) | 2017-06-28 |
CN102639080B (zh) | 2014-11-12 |
IL219290A0 (en) | 2012-06-28 |
JP2013508107A (ja) | 2013-03-07 |
EP2493410A1 (en) | 2012-09-05 |
KR101757009B1 (ko) | 2017-07-26 |
MX2012004823A (es) | 2012-06-12 |
PL2493410T3 (pl) | 2017-12-29 |
BR112012009907A2 (pt) | 2016-03-08 |
ES2388867A1 (es) | 2012-10-19 |
KR20120098744A (ko) | 2012-09-05 |
JP5655085B2 (ja) | 2015-01-14 |
RU2012121809A (ru) | 2013-12-10 |
ES2388867B1 (es) | 2013-09-18 |
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