DE102016108270A1 - Medical holding arm device - Google Patents

Abstract

The invention is based on a medical holding arm device with a holding arm (10a, 10b), at least one further holding arm (12a, 12b) and with a hinge unit (14a, 14b), which articulates the holding arm (10a, 10b) with the at least one further holding arm (12a, 12b) and for an optional Lagearretierung of the holding arm (10a, 10b) relative to the at least one further holding arm (12a, 12b) is provided. It is proposed that the joint unit (14a, 14b) comprises at least one electric motor (16a, 16b) which is provided for changing at least one state of the position locking.

Description

State of the art

The invention relates to a medical Haltearmvorrichtung with a support arm, at least one further support arm and with a hinge unit, which is provided for a hinged connection of the support arm with the at least one further support arm and for an optional Lagearretierung the support arm relative to at least one further support arm.

It is already a medical Haltearmvorrichtung with a support arm, at least one further support arm and with a hinge unit, which is provided for a hinged connection of the support arm with the at least one further support arm and to an optional Lagearretierung of the support arm relative to at least one further support arm has been proposed , In particular, an endoscope guide with such a medical holding arm device is known.

The object of the invention is, in particular, to provide a generic holding arm device which can be produced inexpensively as well as operated in a particularly reliable manner.

The object is achieved by the features of claim 1, while advantageous embodiments and modifications of the invention can be taken from the dependent claims.

Advantages of the invention

The invention relates to a medical Haltearmvorrichtung with a support arm, at least one further support arm and with a hinge unit, which is provided for articulated connection of the support arm with the at least one further support arm and an optional Lagearretierung of the support arm relative to at least one further support arm.

It is proposed that the joint unit comprises at least one electric motor which is provided for changing at least one state of the Lagearretierung. As a result, the holding arm device can be constructed structurally simple and inexpensive. Furthermore, a particularly reliable Lagearretierung can be achieved with particularly high holding forces. The medical holding arm device preferably forms a surgical holding arm device. The holding arm is preferably at least partially tubular. The hinge unit is preferably arranged within a holding arm. Advantageously, the joint unit comprises a ball joint. However, it is also conceivable in this connection that the joint unit comprises another joint which appears expedient to the person skilled in the art, in particular a universal joint, a sliding joint, a swivel joint, a screw joint, and / or a rotary push joint. In this context, "optional" should be understood to be selectable by a user in particular. In particular, the hinge unit is intended to switch between a locked state and a released state. A "Lagearretierung" should be understood in this context in particular a blockade of all degrees of freedom between two retaining arms. The electric motor preferably forms an EC motor or a DC motor. A "change of at least one state of the Lagearretierung" should be understood in this context, in particular a transition from a locked state to a released state and / or a transition from a released state to a locked state. By "provided" is intended to be understood in particular specially programmed, designed and / or equipped. The fact that an object is intended for a specific function should in particular mean that the object fulfills and / or executes this specific function in at least one application and / or operating state.

In a further embodiment of the invention it is proposed that the joint unit comprises at least one cam gear element, which is provided for an axial drive of at least one locking element. As a result, a mechanically particularly reliable and resilient locking between the holding arms can be achieved. An axial direction preferably runs parallel to a working axis of rotation of the at least one electric motor and / or radially to a joint ball to be locked by the at least one locking element.

Furthermore, it is proposed that the joint unit is provided for a passive production of Lagearretierung and for an active release of the Lagearretierung. As a result, a particularly high level of operational reliability, in particular in the case of a fault in a power supply of the holding arm device, can be achieved. The passive production of the Lagearretierung takes place in particular in the absence of active activation of the at least one electric motor. An "active control" should be understood in this context, in particular an electrical energy supply. The active release of Lagearretierung takes place in particular by an active control of the at least one electric motor.

Furthermore, it is proposed that the joint unit comprises a spring unit, which leads to an axial spring load of at least one Arresting element is provided. As a result, a state of the transmission unit can advantageously be maintained and / or changed independently of an external energy source. Particularly advantageously, the spring unit is provided for an axial spring loading of at least one locking element in the direction of a locking position. In this case, a fail-safe locking of the support arms can be achieved. The spring unit advantageously comprises at least one coil spring and / or particularly advantageously at least one plate spring. Preferably, the spring unit on a plurality of disc springs, which form a plate spring package.

Furthermore, it is proposed that the joint unit is provided for an active production of the Lagearretierung and for an active release of the Lagearretierung. As a result, a variety of parts of the joint unit can be advantageously reduced. The active production of the Lagearretierung takes place in particular by an active control of the at least one electric motor. The active release of Lagearretierung takes place in particular by an active control of the at least one electric motor.

In addition, it is proposed that the joint unit comprises at least one drive spindle, which is provided for an axial drive of a locking element. As a result, a particularly large pressing force of the locking element can be achieved on a joint ball. In particular, the at least one drive spindle is rotationally coupled to the at least one electric motor, in particular via a motor drive.

Furthermore, it is proposed that the hinge unit comprises at least one motor gear. As a result, a particularly high torque can be generated with simultaneously small dimensions of the at least one electric motor. A holding force between the holding arms can therefore be particularly high. The motor gear preferably comprises a planetary gear. Further advantageously, the motor gear is arranged directly on the electric motor.

Furthermore, an endoscope guide with a medical holding arm device according to the invention is proposed. In addition, a system is proposed with a medical holding arm device according to the invention and with an endoscope.

Furthermore, a method for adjusting a medical holding arm device is proposed, wherein a state of a Lagearretierung between a holding arm and at least one further holding arm is changed by an electric motor. As a result, a particularly precise and reliable adjustment of the medical holding arm device can be achieved.

drawings

Further advantages emerge from the following description of the drawing. In the drawings, two embodiments of the invention are shown. The drawings, the description and the claims contain numerous features in combination. The person skilled in the art will expediently also consider the features individually and combine them into meaningful further combinations.

Show it:

1 an endoscope guide with a medical holding arm device in a perspective view,

2 a locked joint unit of the medical holding arm device 1 in a schematic sectional view,

3 two cam gear elements of the joint unit in a sectional view,

4 a released joint unit of the medical holding arm device 1 in a schematic sectional view,

5 a further embodiment of a locked joint unit of a medical Haltearmvorrichtung and

6 a released joint unit of the medical holding arm device 5 ,

Description of the embodiments

The 1 shows a first embodiment of a medical Haltearmvorrichtung. The medical holding arm device forms a surgical holding arm device. The medical holding arm device is part of an endoscope guide. The medical holding arm device is for holding an endoscope 30a intended. The medical holding arm device and the endoscope 30a form a system. However, it is also conceivable in this connection that the medical holding arm device is provided for holding another medical or surgical instrument which appears expedient to the person skilled in the art. The medical holding arm device has a holding arm 10a and more holding arms 12a . 32a . 34a on. The total number of support arms can vary, or be chosen freely.

The further arm 32a is arranged on a chassis not shown in detail, on a floor, on a ceiling and / or on a professional appearing to be useful reference device. The holding arm 10a is between the others holding arm 32a and the other arm 12a arranged. The holding arm 12a is between the arm 10a and the other arm 34a arranged. At the further arm 34a is the endoscope 30a arranged. The following is only on the arm 10a and an adjacent thereto further arm 12a Referenced. Of course, the principle of operation on all other support arms 32a . 34a be transmitted.

The medical holding arm device comprises a hinge unit 14a , The joint unit 14a is to a hinged connection of the support arm 10a with the further holding arm 12a intended. The joint unit 14a is to an optional Lagearretierung the support arm 10a relative to the other arm 12a intended. The holding arm 10a is partially tubular. The joint unit 14a is partially within the support arm 10a arranged. The joint unit 14a includes a ball joint 36a , The ball joint 36a partially protrudes from the support arm 10a out. The medical holding arm device includes further hinge units, with ball joints 38a . 40a which will not be discussed here.

The medical holding arm device is provided to the endoscope 30a in a desired position to lead and hold there. The joint unit 14a is intended to the retaining arms 10a . 12a around the ball joint 36a to store freely swiveling. Upon reaching the desired position, the joint unit 14a be lagearretiert by a user, so that all degrees of freedom between the arm 10a and the other arm 12a are completely locked. The joint unit 14a is intended to change a state of a Lagearretierung. The holding arm device has an operating element 48a on. The operating element 48a forms a push button. Upon actuation of the operating element 48a is the joint unit 14a Approved. The holding arms 10a . 12a can then move to each other. When releasing the control 48a locks the joint unit 14a the holding arms 10a . 12a relative to each other. However, in this connection it is also conceivable that another actuation, which appears appropriate to a person skilled in the art, is provided by which the articulation unit is provided 14a locked and / or released.

In the 2 to 4 is the joint unit 14a shown schematically. In the following, the function of the Lagearretierung is explained in more detail. The joint unit 14a includes an electric motor 16a , The electric motor 16a is intended to change the state of the Lagearretierung. The electric motor 16a forms a DC motor. However, it is also conceivable in this connection that the electric motor 16a forms an EC motor. The joint unit 14a includes a motor gearbox 28a , The engine gearbox 28a includes a not-shown planetary gear. The engine gearbox 28a is directly on the electric motor 16a arranged. However, it is also conceivable in this context that the joint unit 14a is formed free of a motor gear. The engine gearbox 28a is driven by a motor shaft, not shown. The engine gearbox 28a has an output shaft 56a on. The output shaft 56a is from a ball bearing 58a stored. The joint unit 14a includes a housing 84a , The electric motor 16a is fixed to the case 84a connected. The engine gearbox 28a is fixed to the electric motor 16a connected. The output shaft 56a is relative to the housing 84a rotatably mounted. A translation of the output shaft 56a relative to the housing 84a in an axial direction 44a is avoided. The axial direction 44a runs parallel to a working axis of rotation 46a of the electric motor 16a ,

The joint unit 14a has another ball joint 62a on. The other ball joint 62a is at one of the ball joint 36a opposite free end of the support arm 10a arranged. The joint unit 14a includes a locking element 18a , The locking element 18a is a frictional locking a ball joint 60a of the ball joint 36a intended. The axial direction 44a runs radially to the ball joint 36a , The joint unit 14a includes another locking element 64a , The further locking element 64a is to a frictional locking another ball joint 66a the further ball joint 62a intended. The locking elements 18a . 64a are axially movable relative to each other. The housing 84a is floating inside the support arm 10a stored. The locking elements 18a . 64a are movable away from each other until the joint balls 60a . 66a with the locking elements 18a . 64a each produce a positive connection. However, it is also conceivable in this connection that the further ball joint 62a permanently locked or deleted.

The joint unit 14a includes a cam gear element 20a , The cam gear element 20a is to a conversion of a rotation of the output shaft 56a in an axial movement of the locking element 18a intended. The cam gear element 20a is to an axial drive of the locking element 18a intended. The cam gear element 20a is an axial distance change of the locking element 18a relative to the further locking element 64a intended.

Like in the 3 shown in more detail, the cam gear element 20a a cylindrical base body 68a on. The cam gear element 20a is relative to the housing 84a rotatably mounted. The cam gear element 20a is relative to the housing 84a mounted axially displaceable. The main body 68a has a cylindrical recess 70a on. A cylinder axis of the recess 70a lies on a cylinder axis of the main body 68a , A recess floor 72a the recess 70a is uneven.

The cam gear element 20a is formed in two parts. The recess floor 72a is in this case of a part of the cam gear element 20a formed, which with another part of the cam gear element 20a is compressed. However, it is also conceivable in this context that the cam gear element 20a is formed in one piece. The recess floor 72a the recess 70a forms wedges all around 74a . 76a out. Along a circular path around the working axis of rotation 46a is the recess floor 72a thus formed jagged. However, it is also conceivable in this context that the recess bottom 72a is formed sinusoidal or rounded. In the recess floor 72a is an output shaft bushing 82a arranged. The output shaft 56a is freely rotatable in the output shaft bushing in an assembled state 82a arranged. The locking element 18a is with the cam gear element 20a firmly coupled. However, it is also conceivable in this context that the cam gear element 20a integral with the locking element 18a is trained.

The joint unit 14a includes another cam gear element 22a , The further cam gear element 22a trains a mother. The further cam gear element 22a is non-rotatable with the output shaft 56a coupled. The further cam gear element 22a has a cam gear surface 86a on. The cam gear area 86a corresponds to the recess bottom 72a the recess 70a , The cam gear area 86a has wedges all around 78a . 80a on. The wedges 74a . 76a . 78a . 80a are wedged into one another such that a rotation of the output shaft 56a only possible in one direction.

The joint unit 14a includes a spring unit 24a , The spring unit 24a serves as energy storage. The spring unit 24a is to an axial spring load of the locking element 18a intended. The spring unit 24a is to an axial spring load of the locking element 18a provided in the direction of a locking position. The spring unit 24a has a variety of springs 50a . 52a . 54a on. The feathers 50a . 52a . 54a are formed by disc springs. The feathers 50a . 52a . 54a form a plate spring package. The feathers 50a . 52a . 54a are arranged in series with each other. The feathers 50a . 52a . 54a lie against each other in the axial direction 44a looks at each other in succession. The spring unit 24a lies on the cam gear element 20a at. The spring unit 24a exerts a spring force on the cam gear element 20a away from the electric motor 16a out.

The joint unit 14a is intended for a passive production of the Lagearretierung. In other words, the joint unit 14a intended to produce the Lagearretierung without an external power supply. The passive production of Lagearretierung takes place in the absence of active control of the electric motor 16a ,

The joint unit 14a is intended for an active release of the Lagearretierung. The output shaft 56a is by an electrical control of the electric motor 16a turned. Upon rotation of the output shaft 56a becomes the cam gear element 20a about an interaction of the wedges 74a . 76a . 78a . 80a first in the direction of the electric motor 16a emotional. This is the spring unit 24a pressed together. The spring unit 24a thus exerts no spring force more on the locking element 18a , The locking element 18a is from the joint ball 60a moved away. A distance 42a between the locking element 18a and the ball of the ball 60a is in the 4 exaggerated for clarity. A condition of a Lagearretierung between the arm 10a and the other arm 12a is thus by the electric motor 16a changed.

Once the wedges 74a . 76a . 78a . 80a slide off each other, moves the spring unit 24a the cam gear element 20a in the axial direction 44a away from the electric motor 16a , This relaxes the spring unit 24a partially. The spring unit 24a exercises at a manufactured Lagearretierung continue a biasing force on the cam gear element 20a out.

The 5 and 6 show a further embodiment of the invention. The following descriptions are essentially limited to the differences between the embodiments, with respect to the same components, features and functions on the description of the embodiment of 1 to 4 can be referenced. To distinguish the embodiments, the letter a in the reference numerals of the embodiment in the 1 to 4 by the letter b in the reference numerals of the embodiment of 5 and 6 replaced. With respect to identically designated components, in particular with regard to components with the same reference numerals, can in principle also to the drawings and / or the description of the embodiment of 1 to 4 to get expelled.

The 4 shows a second embodiment of a medical Haltearmvorrichtung. The medical holding arm device has a holding arm 10b on. The medical holding arm device comprises a hinge unit 14b , The joint unit 14b is to a hinged connection of the support arm 10b provided with a further arm. The joint unit 14b is to an optional Lagearretierung the support arm 10b provided relative to the other arm. The holding arm 10b is partially tubular. The joint unit 14b is partially within the support arm 10b arranged. The joint unit 14b includes a ball joint 36b , The ball joint 36b partially protrudes from the support arm 10b out.

The joint unit 14b includes an electric motor 16b , The electric motor 16b is intended to change the state of the Lagearretierung. The electric motor 16b forms a DC motor. However, it is also conceivable in this connection that the electric motor 16b forms an EC motor. The joint unit 14b includes a motor gearbox 28b , The engine gearbox 28b includes a not-shown planetary gear. The engine gearbox 28b is directly on the electric motor 16b arranged. However, it is also conceivable in this context that the joint unit 14b is formed free of a motor gear. The engine gearbox 28b is driven by a motor shaft, not shown. The engine gearbox 28b has an output shaft 56b on. The output shaft 56b is from a ball bearing 58b stored. The joint unit 14b includes a housing 84b , The electric motor 16b is fixed to the case 84b connected. The engine gearbox 28b is fixed to the electric motor 16b connected. The output shaft 56b is relative to the housing 84b rotatably mounted. A translation of the output shaft 56b relative to the housing 84b in an axial direction 44b is avoided. The axial direction 44b runs parallel to a working axis of rotation 46b of the electric motor 16b ,

The joint unit 14b has another ball joint 62b on. The other ball joint 62b is at one of the ball joint 36b opposite free end of the support arm 10b arranged. The joint unit 14b includes a locking element 18b , The locking element 18b is a frictional locking a ball joint 60b of the ball joint 36b intended. The axial direction 44b runs radially to the ball joint 36b , The joint unit 14b includes another locking element 64b , The further locking element 64b is to a frictional locking another ball joint 66b the further ball joint 62b intended. The locking elements 18b . 64b are axially movable relative to each other. The housing 84b is floating inside the support arm 10b stored. The locking elements 18b . 64b are movable away from each other until the joint balls 60b . 66b with the locking elements 18b . 64b each produce a positive connection. However, it is also conceivable in this connection that the further ball joint 62b permanently locked or deleted.

The joint unit 14b includes a cam gear element 20b , The cam gear element 20b is to a conversion of a rotation of the output shaft 56b in an axial movement of the locking element 18b intended. The cam gear element 20b is to an axial drive of the locking element 18b intended. The cam gear element 20b is an axial distance change of the locking element 18b relative to the further locking element 64b intended. The cam gear element 20b forms a threaded spindle. The cam gear element 20b is integral with the locking element 18b educated.

The cam gear element 20b is relative to the housing 84b rotatably mounted. The cam gear element 20b is relative to the housing 84b mounted axially displaceable. The joint unit 14b includes a drive spindle 26b , The drive spindle 26b is to an axial drive of the locking element 18b intended. The drive spindle 26b is with the electric motor 16b over the engine gearbox 28b rotationally coupled. The drive spindle 26b forms another cam gear element 22b out. The drive spindle 26b forms a threaded rod. The drive spindle 26b is non-rotatable with the output shaft 56b connected. The drive spindle 26b is integral with the output shaft 56b educated. The cam gear element 20b is with the drive spindle 26b screwed.

The joint unit 14b is intended for an active release of the Lagearretierung. The output shaft 56b is by an electrical control of the electric motor 16b turned. Upon rotation of the output shaft 56b in a certain direction is the cam gear element 20b through the rotating drive spindle 26b in the direction of the electric motor 16b emotional. The locking element 18b is from the joint ball 60b moved away. A distance 42b between the locking element 18b and the ball of the ball 60b is in the 6 exaggerated for clarity. A condition of a Lagearretierung between the arm 10b and the other arm 12b is thus by the electric motor 16b changed.

The joint unit 14b is intended for active production of the Lagearretierung. The output shaft 56b is by an electrical control of the electric motor 16b turned in an opposite direction. Upon rotation of the output shaft 56b in the opposite direction becomes the cam gear element 20b through the rotating drive spindle 26b from the electric motor 16b moved away. The locking element 18b gets to the ball joint 60b pressed on ( 5 ).

Claims (10)

Medical holding arm device with a holding arm ( 10a ; 10b ), at least one more Holding arm ( 12a ; 12b ) and with a joint unit ( 14a ; 14b ) leading to an articulated connection of the support arm ( 10a ; 10b ) with the at least one further holding arm ( 12a ; 12b ) and to an optional Lagearretierung of the support arm ( 10a ; 10b ) relative to the at least one further holding arm ( 12a ; 12b ), characterized in that the hinge unit ( 14a ; 14b ) at least one electric motor ( 16a ; 16b ) intended to change at least one state of the positional lock. Medical Haltearmvorrichtung according to claim 1, characterized in that the hinge unit ( 14a ; 14b ) at least one of the at least one electric motor ( 16a ; 16b ) drivable locking element ( 18a ; 18b ), which leads to a frictional Lagearretierung the support arms ( 10a . 12a ; 10b . 12b ) is provided. Medical holding arm device according to claim 1 or 2, characterized in that the hinge unit ( 14a ; 14b ) at least one cam gear element ( 20a . 22a ; 20b . 22b ), which is for an axial drive of at least one locking element ( 18a ; 18b ) is provided. Medical Haltearmvorrichtung according to any one of the preceding claims, characterized in that the hinge unit ( 14a ) is provided for a passive production of the Lagearretierung and for an active release of Lagearretierung. Medical Haltearmvorrichtung according to any one of the preceding claims, characterized in that the hinge unit ( 14a ) a spring unit ( 24a ), which results in an axial spring loading of at least one locking element ( 18a ) is provided. Medical Haltearmvorrichtung according to any one of claims 1 to 3, characterized in that the hinge unit ( 14b ) is provided for an active production of the Lagearretierung and for an active release of Lagearretierung. Medical Haltearmvorrichtung according to any one of the preceding claims, characterized in that the hinge unit ( 14b ) at least one drive spindle ( 26b ), which leads to an axial drive of a locking element ( 18b ) is provided. Medical Haltearmvorrichtung according to any one of the preceding claims, characterized in that the hinge unit ( 14a ; 14b ) at least one motor gear ( 28a ; 28b ).  Endoscope guide with a medical holding arm device according to one of the preceding claims. A method for adjusting a medical holding arm device, in particular a medical holding arm device according to one of claims 1 to 8, wherein a state of a Lagearretierung between a holding arm ( 10a ; 10b ) and at least one further holding arm ( 12a ; 12b ) by an electric motor ( 16a ; 16b ) is changed.

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