CN217593057U

CN217593057U - Catheter transporter control device, slave end operation device and surgical robot system

Info

Publication number: CN217593057U
Application number: CN202123450233.6U
Authority: CN
Inventors: 李东靖; 汪四新
Original assignee: Peijia Medical Technology Suzhou Co ltd
Current assignee: Zhicheng Medical Technology Jiaxing Co ltd
Priority date: 2021-12-30
Filing date: 2021-12-30
Publication date: 2022-10-18
Anticipated expiration: 2031-12-30

Abstract

The utility model discloses a catheter conveyor controlling means, from end operating means and surgical robot system of surgical robot. The catheter transporter control device includes a first base plate, a handle control gear, a drive device, and a transmission assembly. A handle control gear is fixed to the first base plate for meshing with a handle gear of the catheter transporter; the driving device is fixed to the first base plate and used for providing driving force for the handle control gear; the transmission assembly is connected between the driving device and the handle control gear and is used for transmitting the driving force to the handle control gear. According to the utility model, doctors can remotely control the catheter conveyor to avoid receiving radioactive ray radiation in an operating room.

Description

Catheter transporter control device, slave end operation device and surgical robot system

Technical Field

The utility model relates to a surgical robot technical field particularly relates to a catheter conveyor controlling means, from end operating means and surgical robot system of surgical robot.

Background

At present, the aging of the population is continuously aggravated, the incidence of cardiovascular and cerebrovascular diseases is continuously improved, and the life health of people is seriously influenced. And the traditional thoracotomy craniotomy treatment has high wound on patients and long postoperative recovery period.

With the continuous development of science and technology, various cardiovascular minimally invasive implantation interventional operations appear. It is characterized by small wound and short postoperative recovery time. The main operation method is that under the guidance of DSA real-time images, doctors send stents, valves and the like to the lesion position through the blood vessel channel of the human body by guide wires and catheters for relevant treatment. However, current cardiovascular interventional therapies also have their limitations.

DSA can emit X-rays in the operation process, a doctor cannot be completely protected by a lead protective clothing worn by the doctor, and the doctor can easily generate diseases such as cancers after receiving radiation for a long time; the other situation is that the lead protective clothing is heavier, and a doctor also causes certain load on the body after wearing the lead protective clothing for a long time, thereby influencing the operation. In addition, the operation of the partial implantation intervention (such as aortic valve replacement) is complex, multiple doctors are needed to cooperate, sometimes, the doctors are needed to operate according to experience and feeling, the operation difficulty is high, and the risk is high.

Accordingly, there is a need for a catheter transporter control device, a slave end effector, and a surgical robotic system for a surgical robot that at least partially address the above-mentioned problems.

SUMMERY OF THE UTILITY MODEL

A series of concepts in a simplified form are introduced in the summary section, which will be described in further detail in the detailed description section. The inventive content does not imply any attempt to define the essential features and essential features of the claimed solution, nor is it implied to be intended to define the scope of the claimed solution.

In order to solve the problems in the background art at least in part, a first aspect of the present invention provides a catheter feeder control device for a surgical robot, comprising:

a first substrate;

a handle control gear secured to the first base plate for meshing with a handle gear of a catheter feeder;

a driving device fixed to the first base plate for providing a driving force to the handle control gear; and

and the transmission assembly is connected between the driving device and the handle control gear and is used for transmitting the driving force to the handle control gear.

By using the catheter delivery device control device according to the present invention, the doctor can remotely control the catheter delivery device to avoid receiving radioactive rays in the operating room.

Optionally, the first substrate includes a first side surface, a second side surface opposite to the first side surface, and a substrate through hole extending from the first side surface to the second side surface, wherein the handle control gear is fixed to the first side surface, the driving device is fixed to the second side surface, and the transmission assembly connects the driving device and the handle control gear through the substrate through hole.

According to the utility model discloses, handle control gear and drive arrangement install respectively in the both sides of first base plate, consequently can reduce the area of first base plate, make equipment structure compact, miniaturized.

Optionally, the catheter transporter control device further comprises a transporter support secured to the first side for supporting the catheter transporter.

Further, the carrier support includes a groove having elasticity for clamping the catheter carrier.

According to the present invention, the method of fixing the catheter conveyor to the catheter conveyor control device is simple.

Optionally, the slave end effector comprises two of said conveyor supports.

According to the utility model discloses, pipe conveyer controlling means can stably support the pipe conveyer.

Optionally, the handle control gear has a length in the axial direction that is greater than or equal to a maximum distance that the handle moves relative to the conveyor body.

According to the utility model discloses, handle control gear's length can be guaranteed to mesh with the handle gear all the time at the in-process handle control gear of handle for the motion of conveyer body.

Optionally, the drive means comprises a drive motor.

According to the utility model discloses, pipe conveyer controlling means adopts the motor to provide drive power.

Optionally, the transmission assembly includes at least two transmission gears engaged with each other, a first of the transmission gears is coaxially connected with the handle control gear and rotates synchronously with the handle control gear, and a second of the transmission gears is connected with the driving motor and rotates synchronously with an output shaft of the driving motor.

Further, the transmission assembly comprises three transmission gears meshed with each other.

Or the transmission assembly comprises a synchronous belt wheel, and the synchronous belt wheel is connected with the output shaft of the driving motor and the rotating shaft of the handle control gear.

According to the utility model discloses, can adopt multiple mode with driving motor's drive power transmission to handle control gear.

A second aspect of the present invention provides a slave manipulator of a surgical robot, comprising the above-mentioned catheter transporter control device and a second base assembly, wherein the first base plate is detachably connected to the second base assembly.

According to the utility model, doctors can remotely control the catheter conveyor to avoid receiving radioactive ray radiation in an operating room. Meanwhile, the catheter conveyor control device can be in a consumable form, which is beneficial to avoiding infection.

Optionally, the first substrate includes a first connecting portion, the second base assembly includes a second connecting portion, and the first connecting portion is detachably connected to the second connecting portion.

Further, one of the first and second connection portions is configured as a connection pin, and the other of the first and second connection portions is configured as a connection hole for receiving the connection pin.

Furthermore, the end of the connecting pin is provided with a guide inclined plane, and/or the opening of the connecting hole is provided with a guide inclined plane.

According to the utility model discloses, the method that pipe conveyer controlling means installed to from end conveyor is simple.

Optionally, the second base assembly is configured to be movable in a conveying direction of the catheter.

According to the utility model discloses, when the second base subassembly back-and-forth movement, can drive the pipe conveyer and remove to carry the pipe into the blood vessel.

Optionally, the second base assembly further comprises:

a lead screw through hole extending along a conveying direction of the guide tube, the lead screw through hole including a lead screw nut, an

At least one guide through hole extending in a conveying direction of the guide pipe;

the slave-end operation device further includes:

a lead screw extending through the lead screw through-hole, a rear end of the lead screw being connected to the lead screw motor such that the lead screw motor drives the lead screw to rotate, a front end of the lead screw being bridged to a front end of the slave-end operation device,

at least one guide rail extending through the guide rail through-hole, a rear end of the guide rail being fixed to a rear end of the slave end operation device, a front end of the guide rail being fixed to a front end of the slave end operation device, and

and the screw motor is fixed at the rear end of the slave end operation device and is used for driving the screw to rotate.

According to the utility model discloses, mechanism compact structure, the stable performance that control second base subassembly removed.

Optionally, the second base assembly includes two bases disposed at an interval in a conveying direction of the guide pipe, the guide rail through hole extends intermittently in the two bases, and the lead screw through hole extends intermittently in the two bases.

According to the utility model discloses, through two parts around decomposing the second base subassembly into, can alleviate the weight of second base subassembly, save material, save the drive power that is used for driving the removal of second base subassembly simultaneously.

A third aspect of the present invention provides a surgical robotic system comprising a catheter transport control device as described above, or comprising a slave manipulator as described above.

According to the utility model, doctors can remotely control the catheter conveyor to avoid receiving radioactive ray radiation in an operating room. Meanwhile, the catheter transporter control device can be in a consumable form, which is beneficial to avoiding infection.

Drawings

The following drawings of the present invention are used herein as part of the present invention for understanding the present invention. There are shown in the drawings embodiments of the present invention and the description thereof for the purpose of illustrating the principles of the invention.

In the drawings:

fig. 1 is a perspective view of a slave manipulator of a surgical robotic system according to a preferred embodiment of the present invention;

FIG. 2 is a perspective view of the rear end effector of the slave end effector shown in FIG. 1;

FIG. 3 is a perspective view of the slave end effector shown in FIG. 1 with the rear end effector and catheter delivery device omitted

Fig. 4 is a perspective view of a rear end driving portion of the slave end operation device shown in fig. 1;

FIG. 5 is a perspective view of a second base assembly of the slave end effector shown in FIG. 1;

FIG. 6 is a perspective view of a portion of the components of the slave end effector of FIG. 1, showing a first substrate;

fig. 7 is a perspective view of a catheter feeder control apparatus of a surgical robot according to a preferred embodiment of the present invention, in which a first base plate is omitted.

Description of reference numerals:

11: first substrate

12: first connecting part

13: first side surface

14: second side surface

15: substrate through-hole

16: conveyor support

16a: groove

17: rear end operating device

20: rear end driving part

21: rear end base

22: rear guide rail hole

23: lead screw bearing

24: coupling device

25: screw motor supporting seat

26: front end base

27: front guide rail hole

30: catheter delivery device

31: handle (CN)

32: handle gear

33: catheter conveyor body

40: handle control gear

42: handle control gear mounting base

50: second base assembly

52: second connecting part

55: front seat

56: rear seat

58: lead screw through hole

58a: screw nut

59: guide rail through hole

59a: linear bearing

60: driving device

61: driving motor

62: motor base

71: catheter tube

72: catheter delivery device

73: guide wire

74: guide wire conveying device

80: transmission assembly

83: transmission gear

84: transmission gear mounting base

92: guide rail

94: screw rod

95: lead screw motor

100: control device for catheter conveyer

200: slave end operating device

Detailed Description

In the following description, numerous specific details are set forth in order to provide a more thorough understanding of the present invention. It will be apparent, however, to one skilled in the art, that embodiments of the invention may be practiced without one or more of these specific details. In other instances, well-known features have not been described in order to avoid obscuring embodiments of the present invention.

For a thorough understanding of the embodiments of the present invention, the detailed procedures will be described in the following description. It is apparent that the implementation of the embodiments of the present invention is not limited to the specific details familiar to those skilled in the art.

In order to solve the technical problem provided in the background art, the utility model provides a catheter conveyor control device of a surgical robot, a slave end operation device of the surgical robot with the catheter conveyor control device and a surgical robot system.

In a preferred embodiment, a surgical robotic system according to the present invention includes a slave manipulator 200 (shown in fig. 1) and a telemanipulation system (not shown). The end-effector 200 is used to deliver the equipment for the interventional procedure into the blood vessel. Preferably, the end-effector 200 is used to deliver cardiovascular implant interventional surgical instruments into a blood vessel. In use, the slave-end operation device 200 is placed beside an operating table, the remote control system (including the control device) is placed in a control room, and a doctor operates the remote control system in the control room to remotely control the slave-end operation device 200, so that the doctor can avoid receiving radiation in the operating room.

As shown in fig. 1, it is preferable that the front end of the slave end effector 200 is provided with a catheter delivery device 72 for delivering the catheter 71. The rear end of the slave end operation device 200 is provided with a rear end operation device 17. The rear end effector 17 includes a catheter transporter control device 100 and a guidewire delivery device 74 in accordance with a preferred embodiment of the present invention. Wherein the catheter transporter control device 100 is used to operate the catheter transporter 30 and the guidewire delivery device 74 is used to deliver a guidewire 73. Thus, the catheter 71 extends between the catheter delivery device 72 and the catheter transporter control device 100 (specifically, the catheter transporter 30), and the guidewire 73 extends between the catheter delivery device 72 and the guidewire delivery device 74. The specific control method of the catheter transport control device 100 for controlling the catheter transport device 30 will be described later.

In the present application, the direction of delivery of the catheter 71 is also referred to as the anterior-posterior direction, wherein the direction in which the catheter 71 enters the blood vessel is the anterior or front end, and the opposite direction to the anterior is the posterior and rear end.

As shown in fig. 2, the catheter transport control device 100 has a first base plate 11. As shown in fig. 3, the slave end operation device 200 further includes a front end base 26, a second base assembly 50, a lead screw 94, at least one guide rail 92, and a rear end drive section 20. The front end base 26 is fixed to the front end of the slave end operation device 200, and the rear end driving unit 20 is fixed to the rear end of the slave end operation device 200. The lead screw 94 and the guide rail 92 extend between the front end and the rear end of the slave end effector 200, which are parallel to each other. The second base assembly 50 is movable along the guide rail 92 in the conveying direction of the conduit 71. The first base plate 11 is connected to the second base assembly so that the conduit feeder control device 100 is also movable in the conveying direction of the conduit 71.

As shown in fig. 4, the rear end driving section 20 includes a rear end base 21 and a lead screw motor 95. The screw motor 95 is fixed to the rear end base 21 through the screw motor support base 25. The lead screw 94 is connected to an output shaft of the lead screw motor 95 at a rear end through the lead screw bearing 23 and the coupling 24, so that the lead screw motor 95 can drive the lead screw 94 to rotate. Wherein the screw bearing 23 is provided in a through hole of the rear end base 21. The front end of lead screw 94 is mounted to front end base 26 (shown in FIG. 3). The rear end base 21 is provided with at least one rear guide hole 22 for fixing the guide rail 92 at the rear end of the guide rail 92. The front end of the rail 92 is secured to the front rail hole 27 of the front end base 26 (as shown in fig. 2). The front end base 26 is fixed to the front end of the slave end operation device 100.

As shown in fig. 5, the second base assembly 50 includes a lead screw through hole 58 allowing the lead screw 94 to pass therethrough and at least one rail through hole 59 allowing the at least one rail 92 to pass therethrough, respectively. Wherein the lead screw through hole 58 includes a lead screw nut 58a. The rear end of the lead screw 94 is connected to a lead screw motor 95. When the lead screw motor 95 operates, the lead screw 94 rotates in synchronization with the output shaft of the lead screw motor 95. The second base assembly 50 is movable in the forward and rearward directions by the guide rails 92 and the lead screw nut 58a. Preferably, the second base assembly 50 includes two base front seats 55 and two base rear seats 56 provided at intervals in the conveying direction of the guide pipe 71, the rail through hole 59 intermittently extends in the two base seats, and the lead screw through hole 58 intermittently extends in the two base seats. A linear bearing 59a is provided in the guide through hole 59.

Preferably, the slave end effector 200 includes two rails 92, the second base assembly 50 includes two intermittently extending rail through holes 59, the front end base 26 includes two front rail holes 27, and the rear end base 21 includes two rear rail holes 22.

As shown in fig. 6, the first substrate 11 includes a first side 13 and a second side 14 opposite to the first side 13, and the second side 14 is configured to face the second susceptor assembly 50. The first substrate comprises first connections 12, the first connections 12 being arranged at the second side 14. As shown in fig. 5, the second base member 50 includes a second connecting portion 52, and the first connecting portion 12 is detachably connected to the second connecting portion 52. Preferably, one of the first connecting portion 12 and the second connecting portion 52 is configured as a connecting pin, and the other of the first connecting portion 12 and the second connecting portion 52 is configured as a connecting hole for receiving the connecting pin. Preferably, the second base member 50 includes a connection pin 52, and the first substrate 11 includes a connection hole 12 for receiving the connection pin 52, so that the first substrate 11 is detachably connected to the second base member 50. Preferably, the end of the connecting pin 52 is provided with a guide slope, and the opening of the connecting hole 12 is provided with a guide slope.

As shown in FIG. 1, the guide wire delivery device 74 is also secured to the first base plate 11, and thus, both the catheter transporter control device 100 and the guide wire delivery device 74 are connected to the second base assembly 50. When the second base member 50 is moved forward, the catheter transport device 72 transports the catheter 71 forward, allowing the catheter 71 to enter the blood vessel. Wherein the movement of the second base assembly 50 and the operation of the catheter transportation device 72 are coordinated by the control device in a unified manner, so that the movement amplitude of the second base assembly 50 is consistent with the length direction of the transportation catheter 71 of the catheter transportation device 72, so as to keep the catheter 71 straight. At the same time, the control device also coordinates the operation of the guidewire delivery device 74 in synchronization to keep the guidewire 73 straight for better support of the catheter 71.

Catheter transport control device 100 is used to operate catheter transport 30, and in particular, catheter transport control device 100 operates catheter transport 30 by controlling handle gear 32 (shown in FIG. 1) of catheter transport 30.

As shown in FIGS. 2 and 7, in a preferred embodiment, catheter transporter control device 100 further includes a handle control gear 40, a drive device 60, and a transmission assembly 80. Handle control gear 40 is secured to first base plate 11 by two handle control gear mounts 42 for engagement with handle gear 32 of catheter carrier 30. A driving device 60 is fixed to the first base plate 11 for providing a driving force to the handle control gear 40. The transmission assembly 80 is connected between the driving device 60 and the handle control gear 40 for transmitting the driving force of the driving device 60 to the handle control gear 40.

Preferably, the handle control gear 40 is fixed to the first side 13 of the first base plate 11 and the driving device 60 is fixed to the second side 14 of the first base plate 11. As shown in fig. 6, the first substrate 11 includes a substrate through hole 15 extending from the first side 13 to the second side 14, and the transmission assembly 80 connects the driving device 60 and the handle control gear 40 through the substrate through hole 15.

As shown in FIG. 2, catheter delivery device 100 also includes a delivery device support 16 for supporting catheter delivery device 30. The conveyor support is fixed to the first side 13. Preferably, catheter introducer control device 100 includes front and rear two introducer supports 16 for supporting catheter introducer 30 at the front and rear ends, respectively. In end-effector 200, handle control gear 40 engages handle gear 32 when catheter carrier 30 is placed onto carrier support 16.

As shown in fig. 7, the driving device 60 includes a driving motor 61 for providing a driving force. The drive motor 61 is fixed to the second side face 14 by a motor mount 62. The transmission assembly 80 includes at least two transmission gears 83 engaged with each other, wherein a first transmission gear 83a is coaxially connected with the handle control gear 40 and rotates in synchronization with the handle control gear 40, and a second transmission gear 83b is connected with the driving motor 61 and rotates in synchronization with the output shaft of the driving motor 61.

Preferably, the transmission assembly 80 includes three intermeshing drive gears 83a, 83b and 83c. The transmission gear 83c simultaneously meshes with the transmission gears 83a and 83b, thereby transmitting the rotational motion of the output shaft of the drive motor 61 to the handle control gear 40, that is, the driving force to the handle control gear 40. Wherein the transmission gear 83c is fixed to the first substrate 11 through the transmission gear mount 84. The transmission gear mount 84 is fixed to the second side 14 of the first substrate 11. As shown in fig. 2, the transmission gears 83c extend through the substrate through-holes 15 to be engaged with the transmission gears 83a and 83b at both sides of the first substrate 11, respectively.

Or alternatively, in an embodiment not shown in the present invention, the transmission assembly 80 includes a synchronous pulley that connects the output shaft of the driving motor 61 and the rotation shaft of the handle control gear 40, thereby transmitting the driving force of the driving motor 61 to the handle control gear 40.

When the driving motor 61 is operated, the output shaft of the driving motor 61 drives the plurality of transmission gears 83 to rotate, thereby driving the handle control gear 40 to rotate, and finally rotating the handle gear 32. When the handle gear 32 is rotated, the catheter transport 30 performs manipulation of the catheter 71 by its internal mechanisms, such as relative movement of the inner and outer sheath, bending of the distal end of the catheter, etc.

As shown in FIG. 1, catheter carrier 30 includes a carrier body 33 and a handle 31. The handle 31 is fitted over the outer peripheral surface of the carrier body 33. The handle gear 32 is provided on the outer peripheral surface of the handle. When the handle gear 32 is rotated, the handle 31 moves forward and backward with respect to the conveyer body. Therefore, the length of the handle control gear 40 in the axial direction is greater than or equal to the maximum distance that the handle 31 moves relative to the carrier body 33 to ensure constant engagement with the handle gear 32.

The carrier support 16 supports the carrier body 33 in front of and behind the handle 31 and does not interfere with the movement of the handle 31. In other words, the handle 31 moves relative to the carrier body 33 between the first position and the second position of the carrier body 33, and the carrier support 16 supports the carrier body 33 at portions of the carrier body 33 other than the portions between the first position and the second position. In other words, the distance between the two conveyor supports 16 is greater than the distance between the first position and the second position, and the distance between the two conveyor supports 16 is greater than the sum of the maximum distance that the handle 31 moves relative to the conveyor body 33 and the axial length of the handle 31.

Preferably, the carrier support 16 is configured to be able to grip the carrier body 33 such that the handle 31 is able to move relative to the carrier body 33. As shown in fig. 2, the conveyor support 16 is configured to include a groove 16a, and the groove 16a has a certain elasticity. When the carrier body 33 is placed in the carrier support 16, the notch can be pushed open by the elasticity of the groove 16a, and then the groove 16a also elastically clamps the carrier body 33 placed therein. When the conveyor body 33 is cylindrical, the groove 16a may be configured as a u-arc groove that matches the outer diameter of the conveyor body 33 radially.

By using the catheter transporter control device according to the present invention, a doctor can remotely control the catheter transporter, thereby avoiding the reception of radiation in the operating room.

According to the utility model discloses a from end operating means and according to the utility model discloses a surgical robot system all includes according to the utility model discloses a pipe conveyer controlling means, therefore possess according to the utility model discloses a pipe conveyer controlling means's whole characteristics and effect.

Unless defined otherwise, technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention.

The present invention has been described in terms of the above embodiments, but it should be understood that the above embodiments are for purposes of illustration and description only and are not intended to limit the invention to the described embodiments. It will be appreciated by those skilled in the art that many more modifications and variations are possible in light of the above teaching and are intended to be included within the scope of the invention.

Claims

1. A catheter feeder control device of a surgical robot, comprising:

a first substrate;

a handle control gear fixed to the first base plate for meshing with a handle gear of a catheter feeder;

2. The catheter transporter control device of claim 1, wherein the first base plate comprises a first side, a second side opposite the first side, and a base plate through-hole extending from the first side to the second side, wherein the handle control gear is secured to the first side and the drive device is secured to the second side, and wherein the transmission assembly connects the drive device and the handle control gear through the base plate through-hole.

3. The conduit feeder control device of claim 2, further comprising a feeder mount secured to said first side for supporting said conduit feeder.

4. The catheter feeder control device of claim 3, wherein the feeder mount includes a resilient recess for gripping the catheter feeder.

5. The catheter conveyor control device of claim 3 comprising two of said conveyor supports.

6. The catheter feeder control device of claim 1, wherein the handle control gear has a length in the axial direction that is greater than or equal to a maximum distance that the handle of the catheter feeder moves relative to the feeder body of the catheter feeder.

7. The catheter conveyor control device of any one of claims 1-6 wherein said drive means comprises a drive motor.

8. The catheter feeder control device of claim 7, wherein the transmission assembly comprises at least two intermeshing drive gears, a first of the drive gears being coaxially connected to and rotating synchronously with the handle control gear, and a second of the drive gears being connected to and rotating synchronously with the output shaft of the drive motor.

9. The catheter feeder control device of claim 8, wherein the drive assembly includes three intermeshing drive gears.

10. The catheter feeder control device of claim 7, wherein the transmission assembly includes a synchronous pulley connecting the output shaft of the drive motor and the shaft of the handle control gear.

11. A slave-end-effector for a surgical robot, comprising a catheter feeder control device according to any one of claims 1-10 and a second base assembly, wherein the first base plate is detachably connected to the second base assembly.

12. The slave end control device of claim 11, wherein the first substrate includes a first connection portion and the second base assembly includes a second connection portion, the first connection portion being removably connected with the second connection portion.

13. The slave end operation device of claim 12, wherein one of the first connection portion and the second connection portion is configured as a connection pin, and the other of the first connection portion and the second connection portion is configured as a connection hole for receiving the connection pin.

14. The device of claim 13, wherein the connecting pin is provided with a guiding bevel at its end and/or a guiding bevel at the opening of the connecting hole.

15. A device as claimed in any of claims 11 to 14, wherein the second base assembly is configured to be movable in the direction of transport of the catheter.

16. The slave end operation device of claim 15,

the second base assembly further comprises:

the slave-side operation device further includes:

17. The tip end effector as claimed in claim 16, wherein the second base member includes two bases provided at intervals in the conveying direction of the guide tube, the guide through-hole intermittently extends in the two bases, and the lead screw through-hole intermittently extends in the two bases.

18. A surgical robotic system comprising a catheter transporter control device according to any one of claims 1-10 or a slave end effector device according to any one of claims 11-17.