DE102019111101A1 - Endoscopic device - Google Patents

Abstract

The invention relates to an endoscopic device with at least one Bowden cable (10) designed for power transmission, which has at least one inner cable (12) and at least one outer cable (14) designed to guide the inner cable (12) and to support a force to be transmitted, and with at least one sensor unit (16, 18) which comprises at least one contactless sensor (20, 22) which is designed to sense at least one displacement of the inner cable (12) relative to the outer cable (14) that occurs during the transmission of the force and is at least partially in the Bowden cable (10) is integrated.

Description

State of the art

The invention relates to an endoscopic device according to claim 1.

Endoscopic devices are already known from the prior art which comprise contact sensors for sensing a displacement of an inner cable relative to an outer cable of a Bowden cable during a power transmission. However, such contact sensors, whose functionality is based on measuring a portion of a rolled-up inner cable, require a relatively large amount of space. In the case of an endoscopic device that is used, inter alia, in minimally invasive surgical interventions, due to the increased installation space associated therewith, this leads to problems with miniaturization. However, miniaturization is particularly important precisely when determining a displacement on a distal end section of a shaft of an endoscopic device, which is of particular interest for functionality. Precisely there, due to the elasticity of the Bowden cable as well as tensions and friction losses, it cannot be predicted whether a displacement of the inner cable relative to the outer cable at the proximal end of a Bowden cable also corresponds to a displacement of the Bowden cable at the distal end. In particular in the case of an actuator control of an endoscopic instrument in the sense of X-By-Wire, it would be desirable to be able to provide an operator with feedback for the degree of a preferably distal displacement and the associated deflection or transmitted force.

The object of the invention is, in particular, to provide a device of the generic type with improved properties in terms of functionality as well as an installation space associated with this functionality. The object is achieved according to the invention by the features of claim 1, while advantageous configurations and developments of the invention can be found in the subclaims.

Advantages of the invention

An endoscopic device is proposed with at least one Bowden cable designed for a force transmission, which has at least one inner cable and at least one outer cable designed to guide the inner cable and to support a force to be transmitted, and with at least one sensor unit, which comprises at least one contactless sensor , which is designed to sense at least one displacement of the inner cable relative to the outer cable that occurs during the transmission of the force and is at least partially integrated into the Bowden cable.

As a result, functionality can advantageously be improved with minor changes to the structural space. In particular, through clever integration, installation space with comparable sensors can be reduced.

An “endoscopic device” is to be understood as meaning, in particular, a preferably functional component, in particular a subassembly and / or a construction and / or a functional component of an endoscopic instrument. The endoscopic device can preferably form the endoscopic instrument at least partially, preferably at least to a large extent and particularly preferably completely. The endoscopic device is designed to be inserted at least partially and preferably at least for the most part into an in particular artificial and / or natural opening, in particular a body opening, in order to examine an artificial and / or natural cavity, in particular a body cavity. The endoscopic device can be a medical and / or industrial endoscopic device. The endoscopic device is particularly preferably designed for a surgical intervention, in particular a minimally invasive procedure. The endoscopic instrument can be, for example, an endoscope, endoscopic forceps, endoscopic scissors, an endoscopic coagulator or the like. “Designed” is to be understood in particular as specifically programmed, designed and / or equipped. The fact that an object is designed for a specific function is to be understood in particular to mean that the object fulfills and / or executes this specific function in at least one application and / or operating state. The expression “at least a large part” should be understood to mean in particular at least 55%, preferably at least 65%, preferably at least 75%, particularly preferably at least 85% and very particularly preferably at least 95% and advantageously completely in particular with reference to a volume and / or a mass of an object. The endoscopic device has at least one shaft. The shaft is at least in particular partially, preferably at least to a large extent and particularly preferably completely formed by the Bowden cable. A “shaft” is to be understood in particular as an elongated part of the endoscope which is approximately designed to be inserted into an in particular artificial and / or natural opening, in particular a body opening. An "elongated part" is to be understood in particular as an object whose main extent is at least a factor of five, preferably at least a factor of ten and particularly preferably at least a factor of twenty greater than a largest extent of the object perpendicular to its main extent, i.e. in particular a diameter of the object. A “main extension” of an object is to be understood in particular to mean its longest extension along its main extension direction. A “main direction of extent” of a component is to be understood in particular as a direction which runs parallel to a longest edge of a smallest imaginary cuboid which just completely encloses the component. The shaft in particular has a diameter of at least 2 mm, preferably at least 4 mm and particularly preferably at least 8 mm. Furthermore, the shaft in particular has a diameter of at most 18 mm, preferably at most 16 mm and particularly preferably at most 12 mm. Very particularly preferably, the shaft has a diameter of at least substantially 10 mm. “At least essentially” is to be understood to include, in particular, a maximum deviation of at most 10%, preferably of at most 5% and particularly preferably of at most 2%. In particular, the shaft is at least partially flexible. The shaft consists in particular at least partially, preferably at least to a large extent and particularly preferably completely, from a plastic. Alternatively, the shaft could also be made at least partially rigid. The shaft consists in particular at least partially, preferably at least to a large extent and particularly preferably completely of metal, in particular steel, preferably stainless steel, and / or titanium. In particular, the shaft has a distal end section and a proximal end section. An “end section” of a component is to be understood in particular as a section which, starting from one end of the component to the center of the component, extends by at most 10 cm, preferably by at most 5 cm and particularly preferably by at most 3 cm. A “distal end section” of a component is to be understood in particular as an end section which, starting from a distal end of the component, extends in the proximal direction. A “proximal end section” of a component is to be understood in particular as an end section which, starting from a proximal end of the component, extends in the distal direction. “Distal” is to be understood to mean facing a patient and / or facing away from an operator, in particular during operation. In particular, proximal is the opposite of distal. “Proximal” should be understood to mean facing away from a patient and / or facing towards an operator during operation. The endoscopic device comprises in particular at least one functional head. The functional head is arranged in particular in the area of the distal end section. Furthermore, the functional head can be arranged on the distal end section. A “functional head” is to be understood in particular as a unit which provides functionality of the instrument. The functional head can comprise a tool such as scissors, pliers, a coagulator or the like. Alternatively or additionally, the functional head can comprise an optical system, a camera, lighting or the like. The functional head has, in particular, at least one bendable section which can be bent relative to the shaft by at least 45 °, preferably at least 180 ° and particularly preferably at least 270 °. In particular, the Bowden cable is functionally connected to the functional head. The Bowden cable is designed in particular to actuate the functional head at least. The Bowden cable is preferably designed to actuate the tool of the functional head. Alternatively or additionally, the Bowden cable is designed to bend the bendable section of the functional head. Furthermore, the endoscopic device has in particular at least one handle. The handle is arranged approximately on the proximal end section of the shaft. The handle is designed in particular for manual operation of the endoscopic device, in particular the Bowden cable. The handle includes approximately at least one handle and / or at least one operating element, such as a switch, button or the like, which is preferably arranged on the handle. The endoscopic device can have at least one actuator. The actuator is designed in particular to actuate the Bowden cable and / or the functional head at least. The actuator could, for example, be designed as a linear actuator. A “Bowden cable” is to be understood in particular as a movable element which is designed to mechanically transmit a movement, displacement, force, in particular pressure or tensile force. The Bowden cable can in particular comprise at least two, preferably at least three and particularly preferably a multiplicity of inner cables, which preferably extend through the sensor unit and / or can be detected with it. The inner cable of the Bowden cable consists in particular at least partially of metal. The inner cable in particular has at least one base body, which preferably has at least one stranded wire, which is particularly preferably made of metal. The outer cable of the Bowden cable consists at least partially of metal and / or plastic. In particular, the outer cable can have a base body, preferably in the form of reinforcement or braiding, and preferably a casing which encloses the base body. The reinforcement can be designed as a metal coil, for example. The sheath can be made of plastic. A “sensor unit” is to be understood in particular as a unit which is provided to record at least one parameter and / or a physical property, the recording being active, such as in particular by generating and transmitting an electrical measurement signal, and / or passively, such as in particular by detecting changes in the properties of a sensor. The sensor unit can comprise at least two sensors and particularly preferably a plurality of sensors. The sensor unit is arranged in particular in the area of a distal end section and / or the proximal end section of the shaft. In particular, the sensor unit is at least partially, preferably at least to a large extent and particularly preferably completely integrated into the Bowden cable. Preferably, at least the contactless sensor of the sensor unit is at least largely and particularly preferably completely integrated into the Bowden cable. The fact that “an object is at least partially integrated into a further object” is to be understood in particular as meaning that at least one element of the object is integrated into the further object, for example through a shared arrangement in the same installation space, housing of the further object or like that. Furthermore, at least partially integrated is also to be understood to mean at least partially integrally formed. The fact that “an object and a further object are at least partially designed / connected in one piece” should be understood in particular to mean that at least one element and / or part of the object and at least one element and / or part of the further object are designed / connected in one piece . “In one piece” is to be understood in particular to be at least cohesively connected, for example by a welding process, an adhesive process, an injection molding process and / or another process that appears sensible to a person skilled in the art, and / or advantageously formed in one piece, for example by a production from a casting and / or by production in a single or multi-component injection molding process and advantageously from a single blank. A “contactless sensor” is to be understood as meaning, in particular, a sensor which senses a displacement and / or force between two components without touching the two components, as is the case, for example, with capacitive sensors, inductive sensors, laser sensors, acceleration sensors or the like. In order to sense a displacement, the contactless sensor detects at least one, in particular time-dependent, displacement parameter. A “displacement parameter” is to be understood in particular as a parameter which is correlated with a displacement of the inner slide relative to the outer slide. The shift parameter can in particular be a current, a voltage, a phase shift, an inductance and / or a capacitance.

It is proposed that the contactless sensor is designed as a capacitive sensor, in particular of the type of a cylinder capacitor. A functionality can be improved. In particular, a particularly compact sensor can be provided. The accuracy of a measurement of the displacement and / or the acting force can also advantageously be improved. A “capacitive sensor” is to be understood in particular as a sensor whose principle of action is based on a change in a capacitance of the sensor when sensed. The capacitive sensor has, in particular, at least one electrode, which is preferably designed as a cylinder jacket. The electrode is assigned in particular to the outer cable. The fact that “an object is assigned to a further object” is to be understood in particular to mean that the object is arranged on the further object, connected to it, attached to it, formed by it and / or integrated into it. Furthermore, the capacitive sensor has in particular at least one further electrode, which is preferably designed as a cylinder jacket or a rod. The further electrode is preferably arranged within the electrode so that the electrode surrounds the further electrode in the circumferential direction. The further electrode is assigned in particular to the inner cable. Furthermore, the capacitive sensor can comprise a dielectric element which is preferably designed as a cylinder jacket. A dielectric element is to be understood in particular as an element which has a dielectric constant of at least 2, preferably at least 20, and particularly preferably at least 40. Furthermore, the dielectric element could be designed as a superdielectric element and have a dielectric constant of at least 1000, preferably at least 1000, and particularly preferably at least 10,000. The dielectric element can be assigned to the inner cable and / or the outer cable. The dielectric element is surrounded by the electrode in particular in the circumferential direction. The dielectric element surrounds the further electrodes in particular in the circumferential direction. The dielectric element is preferably arranged between the electrode and the further electrode. For sensing, the dielectric element can be displaced relative to the electrode and / or to the further electrode and in this way can be pushed in and / or out preferably between the electrode and / or the further electrode.

It is proposed that the contactless sensor be an inductive sensor, in particular is designed according to the design of a solenoid. A functionality can be improved. In particular, a particularly compact sensor can be provided. The accuracy of a measurement of the displacement and / or the acting force can also advantageously be improved. An “inductive sensor” is to be understood in particular as a sensor whose principle of action is based on a change in an inductance of the sensor during sensing. The inductive sensor has in particular at least one coil, which is preferably designed as a cylinder jacket. Furthermore, the capacitive sensor could in particular have at least one further coil, which is preferably designed as a cylinder jacket or a rod. The further coil is preferably arranged within the coil so that it surrounds the further coil in the circumferential direction. Furthermore, the capacitive sensor can comprise a ferromagnetic element, which is preferably designed as a cylinder jacket. A “ferromagnetic element” is to be understood in particular as an element which has a magnetic permeability of at least 50, preferably at least 500 and particularly preferably at least 5000. The ferromagnetic element is surrounded by the coil in particular in the circumferential direction. The ferromagnetic element surrounds the further coil in particular in the circumferential direction. The ferromagnetic element is preferably arranged between the coil and the further coil. For sensing purposes, the ferromagnetic element is in particular displaceable relative to the coil and / or to the further coil and in this way preferably can be pushed in and / or out between the coil and / or further coil. A combination of the inductive sensor and the capacitive sensor to form a one-piece contactless sensor is also conceivable. The dielectric and the ferromagnetic element could be formed in one piece and in particular consist of a dielectric and ferromagnetic hybrid material, which exhibits both ferromagnetic and dielectric properties. The hybrid material could in particular be a ferromagnetic and dielectric composite, such as Ti _x (MFe ₂ O _{4 + 2x / y} ) _y , where: x + y = 1.0 <x < ₁ and M is is a metal from the group of Mn, Ni, Cu, Mg, Li and Zn.

It is proposed that the contactless sensor has at least one electrical conductor section which is at least partially integrated into the outer cable. A construction space can advantageously be reduced. The electrical conductor section in particular forms the electrode of the capacitive sensor and / or the coil of the inductive sensor. In particular, to integrate the electrical conductor section, a piece of a base body of the outer cable is removed and replaced by the electrical conductor section, which is preferably provided with a sheathing. The sheathing can at least partially, preferably at least a large part and particularly preferably completely consist of a non-conductive material, such as, for example, plastic and particularly preferably ceramic. As an alternative or in addition, it is conceivable that the electrical conductor section is embedded in the outer cable when the outer cable is manufactured by primary molding, such as, for example, when it is cast or encapsulated.

It is further proposed that the contactless sensor comprises at least one further conductor section which is integrated into the inner cable. A construction space can advantageously be further reduced. The further electrical conductor section forms in particular the further electrode of the capacitive sensor and / or the further coil of the inductive sensor. The further conductor section can, for example, be incorporated into the inner cable when it is manufactured. It is conceivable that the conductor section is let into the base body when it is reshaped. Particularly preferably, the inner cable itself forms the further conductor section.

It is further proposed that the contactless sensor comprises at least one dielectric element, in particular the aforementioned dielectric element, and / or at least one ferromagnetic element, in particular the aforementioned ferromagnetic element, which is assigned to the inner cable or the outer cable and whose main extension is smaller than a main extension of the Bowden cable. A construction space can advantageously be further reduced. The dielectric element and / or the ferromagnetic element can be designed as a shrink tube which preferably surrounds the inner cable. Furthermore, the dielectric element and / or the ferromagnetic element could / could be designed as a sleeve. The dielectric element and / or the ferromagnetic element comprise / comprises at least one dielectric material, such as, for example, a plastic, a ceramic and / or a previously mentioned dielectric and / or ferromagnetic hybrid material. The dielectric element and / or the ferromagnetic element comprises at least one ferromagnetic material such as iron, nickel, cobalt or the like. The dielectric element and / or the ferromagnetic element comprises at least one dielectric material, such as ceramic, polystyrene, polyvinyl chloride, polyethylene, polyester, polyvinylidene fluoride, polytetrafluoroethylene, ceramic-plastic composite materials, in particular ferromagnetic and dielectric composite materials or the like.

It is also proposed that, in a rest state, the dielectric element and / or the ferromagnetic element are / is arranged partially overlapping with at least one electrical conductor section of the contactless sensor in the main direction of extent of the Bowden cable. A functionality can be improved. A direction of movement of a shift out of the rest position can further advantageously be recognized on the basis of an increase or decrease in a value of the capacitance and / or the inductance of the contactless sensor. In particular, the dielectric element and / or the ferromagnetic element are / is arranged in the main direction of extent of the Bowden cable at least substantially to 50% of a longitudinal extent of the conductor section. “At least essentially” is to be understood to include, in particular, a maximum deviation of at most 10%, preferably of at most 5% and particularly preferably of at most 2%.

It is proposed that the sensor unit comprises at least one further contactless sensor which is offset in the main direction of extent of the Bowden cable, in particular adjacent to the contactless sensor. A functionality can advantageously be improved. The further contactless sensor is designed at least essentially identical to the contactless sensor. “At least essentially identical” is to be understood to mean identical, but preferably also completely identical, except for manufacturing and / or assembly tolerances. For example, both the contactless sensor and the further contactless sensor are designed as capacitive sensors. Alternatively, the contactless sensor and the further contactless sensor can also be designed as inductive sensors. Furthermore, the use of differently designed contactless sensors is also conceivable, so that, for example, a contactless sensor could be designed as a capacitive sensor and another contactless sensor as an inductive sensor. The further contactless sensor is arranged in particular along the main direction of extent of the Bowden cable directly next to the contactless sensor.

It is also proposed that the contactless sensor and the further contactless sensor are electrically connected to one another, in particular in series and / or in parallel. A functionality can advantageously be further improved. The accuracy of the sensor unit can advantageously be improved, since external measuring influences, drift effects or the like, which would falsify the sensing of the sensor, can be averaged out and / or cancel each other out. The contactless sensor and the further contactless sensor are preferably electrically connected to one another by electrically connecting their respective further conductor sections, in particular connected in series and / or in parallel. In particular when the contactless sensor and the further contactless sensor are configured as a capacitive sensor, these are connected to one another in series. In particular when the contactless sensor and the further contactless sensor are configured as an inductive sensor, these are connected to one another in parallel. As an alternative or in addition, combination solutions of series and / or parallel connection are conceivable, in particular when differently designed contactless sensors or more than two contactless sensors are used.

In order to advantageously save installation space and components, it is proposed, in particular, that the contactless sensor and the further contactless sensor are at least partially designed in one piece. In particular, the common conductor section of the further conductor section of the contactless sensor and the further conductor section of the further contactless sensor is formed / connected to one another in one piece. In particular, a dielectric element and / or ferromagnetic element of the contactless sensor and the further dielectric element and / or ferromagnetic element of the further contactless sensor are designed / connected to one another in one piece.

In one embodiment of the invention, it is proposed that the contactless sensor and the further contactless sensor comprise a common conductor section. Further components can advantageously be saved and installation space can be reduced. In particular, the common conductor section is formed by the further conductor section of the contactless sensor and the further conductor section of the further contactless sensor, which are preferably formed / connected to one another in one piece.

In a preferred embodiment of the invention it is proposed that the contactless sensor and the further contactless sensor comprise at least one common dielectric element and / or ferromagnetic element. Further components can advantageously be saved and installation space can be reduced. In particular, the common dielectric element and / or ferromagnetic element is formed by a dielectric element and / or ferromagnetic element of the contactless sensor and a dielectric element and / or ferromagnetic element of the further contactless sensor, which are preferably formed / connected to one another in one piece.

In order to achieve a particularly accurate and interference-free sensor unit, it is proposed in particular that, in a state of rest, the common dielectric element and / or ferromagnetic element are arranged partially overlapping with conductor sections of the contactless sensor and the further contactless sensor in the main direction of extent of the Bowden cable. The dielectric element and / or the ferromagnetic element are / is preferably arranged in the main direction of extent of the Bowden cable in each case at least substantially to 50% of a respective longitudinal extent of the conductor sections of the contactless sensor and the further contactless sensor.

It is proposed that the endoscopic device comprises at least one measuring unit which comprises at least one resonant circuit which is at least partially formed by at least one contactless sensor. A particularly compact measuring unit can advantageously be provided. A number of components can also advantageously be reduced. A “measuring unit” is to be understood in particular as a unit which is designed to read out a value of a displacement parameter sensed by the sensor. In particular, at least one capacitor and / or one coil of the resonant circuit are / is at least partially formed by the contactless sensor. Furthermore, the measuring unit has at least one signal generator, which is designed to provide the resonant circuit with an electrical signal to excite it. The electrical signal is given to the signal generator by a control unit of the endoscopic device of the measuring unit. The signal generator can be, for example, a switching element such as, in particular, a transistor. In addition, the measuring unit has at least one signal meter which is provided to measure a further electrical signal applied to and / or falling on the capacitor and / or the coil. The measuring unit is designed to make the further electrical signal available to a control unit of the endoscopic device. A “control unit” should in particular be understood to mean an electrical and / or electronic unit with at least one control electronics. “Control electronics” should be understood to mean, in particular, a unit with at least one processor and with at least one memory. Furthermore, the control electronics comprise at least one operating, control and / or regulating program which is stored in the memory, the processor being designed to execute the operating, control and / or regulating program. The control unit could be arranged at least partially, preferably at least to a large extent and particularly preferably completely in the handle. The control unit is designed to determine at least one value of the displacement parameter based on the electrical signal and the further electrical signal. In particular, the control unit determines the value of the shift parameter from a phase shift between the electrical signal and the further electrical signal. Furthermore, a control of the signal generator and the measuring unit in the manner of the phase-locked loop is conceivable, in which a phase position of the electrical signal and the further electrical signal with respect to one another and, related to this, their frequency is regulated so that the phase deviation between an external electrical signal and the further electrical signal is essentially constant. The resonance frequency and, on the basis of this, the displacement parameter could be determined from this. Alternatively, configurations without an oscillating circuit are also conceivable, in which, for example, the sensor unit is charged or discharged alternately back and forth between two voltage values in a controlled manner, the shift parameter being derived from the change between the voltage values.

In one embodiment of the invention, it is proposed that the sensor unit comprises at least one compression and / or expansion sensor which is designed to sense the force supported by the outer pull during the force transmission. A functionality can advantageously be further improved. In particular, by means of a combined measurement by means of the contactless sensor and the compression and / or strain measurement sensor, a frictional force within the Bowden cable directed against the acting force can be determined and taken into account. A modulus of elasticity of the Bowden cable can also be determined advantageously. In particular, the compression and / or strain sensor is assigned to the inner pull or the outer pull. For example, the compression and / or strain sensor is glued onto the inner cable and / or the outer cable. It is also conceivable that the sensor unit has a compression and / or expansion sensor assigned to the inner tension and a compression and / or expansion sensor assigned to the outer tension. The compression and / or expansion sensor is in particular at least partially integrated into the Bowden cable. The compression and / or strain sensor measures a force parameter of the supported force. A “force parameter” should in particular be understood to mean a parameter which is correlated with the supported force. For example, the force parameter is a resistance value of the compression and / or strain sensor.

In order to advantageously achieve a particularly compact arrangement, it is proposed in particular that the compression and / or expansion sensor be integrated into the outer cable, in particular in an equivalent manner to the contactless sensor. Alternatively or in addition, the compression and / or strain sensor could also be integrated into the inner cable.

It is proposed that the compression and / or strain sensor is at least partially formed in one piece with the contactless sensor. A particularly compact design can advantageously be achieved. In particular, the compression and / or strain sensor could be designed in one piece with the dielectric element and / or the ferromagnetic element of the contactless sensor.

It is also proposed that the compression and / or strain sensor at least partially form a conductor section, in particular the aforementioned conductor section and / or the further conductor section, of the contactless sensor. A particularly compact design can advantageously be achieved.

It is proposed that the compression and / or strain sensor be designed as a strain gauge. A transmitted force can be determined in a simple manner.

It is proposed that the endoscopic device comprises at least one further sensor unit which is arranged offset from the sensor unit in the main direction of extent of the Bowden cable. A functionality can advantageously be further improved. In particular, an elastic deflection of the Bowden cable can be determined on the basis of various measurements at various positions. The sensor unit is arranged in particular in the area of the distal end section of the shaft. The further sensor unit is preferably arranged in the region of the proximal end section.

It is proposed that the endoscopic device includes at least one control unit, in particular the aforementioned control unit, which is designed to detect a deviation of the transmitted force and / or displacement from a force provided for the transmission on the basis of at least one sensing performed at least by the sensor unit and / or to determine displacement. A functionality can advantageously be further improved. The control unit comprises in particular a characteristic curve, a data collection and / or a mathematical formula with the aid of which the control unit is designed to translate a value of a parameter into a value of the displacement and / or force. The control unit is designed to determine the supported force on the basis of a value of a force parameter. The control unit determines the deviation of the displacement on the basis of the deviation of values of a value of the displacement parameter made available by the contactless and the further contactless sensor. The control unit is designed to deduce a value of a force parameter from the value of the displacement, for example by applying Hook's law. Furthermore, the control unit is designed to determine a deviation in the force from the further value of a force parameter provided by the compression and / or strain sensor and the value of a force parameter.

It is proposed that the control unit is designed to adapt the force and / or displacement provided for transmission on the basis of the determined deviation. A functionality can advantageously be further improved. In addition, errors in activation can be correlated in particular. A frictional resistance and / or wear of the Bowden cable can also advantageously be recognized. The control unit is designed, in particular, to control the actuator in order to compensate for the previously determined deviation.

An endoscopic instrument, in particular an endoscope, is proposed with at least one endoscopic device. As a result, functionality can advantageously be improved with minor changes to the structural space. In particular, through clever integration, installation space with comparable sensors can be reduced.

A method for operating an endoscopic device is proposed in which, in at least one process step, at least one Bowden cable, at least partially in at least one power transmission, has at least one inner cable and at least one for guiding the inner cable and for supporting a force to be transmitted has formed outer cable, integrated contactless sensor of at least one sensor unit, at least one displacement of the inner cable that occurs when the force is transmitted relative to the outer cable is sensed. As a result, functionality can advantageously be improved with minor changes to the structural space. In particular, through clever integration, installation space with comparable sensors can be reduced.

A method for producing an endoscopic device is proposed in which at least one method step At least one contactless sensor of at least one sensor unit, which is at least partially integrated into the Bowden cable for at least a displacement of an inner cable that occurs when a force is transmitted relative to at least one outer cable of a Bowden cable designed to guide the inner cable and to support the force to be transmitted. As a result, functionality can advantageously be improved with minor changes to the structural space. In particular, through clever integration, installation space with comparable sensors can be reduced.

The endoscopic device according to the invention, the endoscopic instrument according to the invention and / or the method according to the invention for operating an endoscopic device, as well as the method according to the invention for producing an endoscopic device should / should not be limited to the application and embodiment described above. In particular, the endoscopic device according to the invention, the endoscopic instrument according to the invention and / or the method according to the invention for operating an endoscopic device, as well as the method according to the invention for producing an endoscopic device to fulfill a mode of operation described herein can be one of a number of individual elements, components mentioned herein and units, as well as process steps have a different number. In addition, in the case of the value ranges specified in this disclosure, values lying within the stated limits should also be deemed disclosed and can be used as desired.

It is pointed out in particular that all the features and properties described in relation to the device, but also procedures, can be applied to the method according to the invention and can be used in the sense of the invention and are considered to be also disclosed. The same also applies in the opposite direction. This means that the structural features mentioned in relation to the method, that is, features according to the device, can be taken into account, claimed and also counted as part of the disclosure within the scope of the device claims.

Figure list

Further advantages emerge from the following description of the drawings. Exemplary embodiments of the invention are shown in the drawings. 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 useful further combinations.

• 1 eine schematische Darstellung eines endoskopischen Instruments mit einer endoskopischen Vorrichtung in einer perspektivischen Ansicht,
• 2 eine schematische Darstellung eines Teils der endoskopischen Vorrichtung mit einem Bowdenzug in einer Schnittansicht,
• 3 ein schematisches Schaltbild eines Teils der endoskopischen Vorrichtung,
• 4 einen schematischen Ablaufplan eines beispielhaften Verfahrens zum Betrieb der endoskopischen Vorrichtung,
• 5 einen schematischen Ablaufplan eines beispielhaften Verfahrens zur Herstellung der endoskopischen Vorrichtung,
• 6 eine schematische Darstellung eines Endoskops mit einer alternativen Ausgestaltung einer endoskopischen Vorrichtung, welche zumindest teilweise ein Endoskop ausbildet,
• 7 eine schematische Darstellung eines Teils einer weiteren Ausgestaltung einer endoskopischen Vorrichtung mit einem als Induktivsensor ausgebildeten berührungslosen Sensor,
• 8 eine schematische Darstellung eines Teils einer weiteren Ausgestaltung einer endoskopischen Vorrichtung mit einer Sensoreinheit, welche zwei berührungslose Sensoren umfasst in einer Schnittansicht,
• 9 ein schematisches Schaltbild eines Teils der endoskopischen Vorrichtung aus 8 und
• 10 eine schematische Darstellung einer weiteren Ausgestaltung eines Teils einer endoskopischen Vorrichtung.

Show it:

• 1 a schematic representation of an endoscopic instrument with an endoscopic device in a perspective view,
• 2 a schematic representation of part of the endoscopic device with a Bowden cable in a sectional view,
• 3 a schematic circuit diagram of part of the endoscopic device,
• 4th a schematic flow chart of an exemplary method for operating the endoscopic device,
• 5 a schematic flow chart of an exemplary method for producing the endoscopic device,
• 6th a schematic representation of an endoscope with an alternative embodiment of an endoscopic device, which at least partially forms an endoscope,
• 7th a schematic representation of part of a further embodiment of an endoscopic device with a contactless sensor designed as an inductive sensor,
• 8th a schematic representation of part of a further embodiment of an endoscopic device with a sensor unit which comprises two contactless sensors in a sectional view,
• 9 a schematic circuit diagram of part of the endoscopic device 8th and
• 10 a schematic representation of a further embodiment of a part of an endoscopic device.

Description of the exemplary embodiments

1 shows a schematic representation of an endoscopic instrument 84a in a perspective view. The endoscopic instrument 84a is trained for minimally invasive surgery. In the present case, the endoscopic instrument is 84a as an endoscopic biopsy forceps 88a educated. Alternatively, it could be the endoscopic instrument 84a can also be designed as another endoscopic instrument, such as an endoscopic clamp, an endoscopic coagulator, endoscopic scissors or the like. Alternatively, it could be the endoscopic instrument 84a than an endoscope 86b be trained (cf. 6th ).

The endoscopic instrument 84a includes an endoscopic device. In the present case, the endoscopic device forms the endoscopic instrument 84a completely off. Alternatively the endoscopic device could also be just a part of the endoscopic instrument 84a form.

The endoscopic device has at least one handle 90a on. The handle 90a is designed to operate the endoscopic device. The handle 90a comprises at least one handle 92a . The handle 92a is designed to be operated manually by an operator during operation. Alternatively, particularly in the case of a robotic control of the endoscopic device, a handle could also be used 90a be waived.

The endoscopic device comprises at least one operating element 94a . The control element 94a is designed to operate other components of the endoscopic device. The control element 94a is in the present case on the handle 90a arranged. Alternatively, it is conceivable that an external device, such as a computer, a hand-held device, in particular a smartphone, a tablet or the like, can be operated.

The control element 94a is designed in the present case according to the X-By-Wire type. The control element 94a is free from a mechanical connection to other mechanical components, such as a Bowden cable 10a or a function head 102a the endoscopic device. In the present case, the control element is 94a electrically and / or electronically connected to other components of the endoscopic device. Alternatively, however, it could also be a mechanically connected control element 94a act.

To give an operator feedback for a degree of operation by means of the operating element 94a provide, includes the control element 94a at least one feedback module 96a . The feedback module 96a is designed to provide a feedback function. In the present case it is the feedback module 96a designed to provide a haptic feedback function. The feedback module 96a includes a vibration actuator 98a . The vibration actuator 98a leaves the control element 94a depending on a degree of displacement and / or applied force of a Bowden cable 10a vibrate of the endoscopic device. Alternatively or additionally, the feedback module could 96a be designed for an optical or acoustic feedback function and for this purpose, for example, have a loudspeaker, display or the like.

The endoscopic device comprises at least one control unit 49a . The control unit 49a comprises at least one processor. The control unit also includes 49a at least one memory. The control unit 49a has an operating program. The operating program is stored in the memory. The operating program can be executed with the processor. Furthermore, the control unit 49a include logic operators in particular for evaluating measurement results from sensor units. The control unit 49a is electrical and / or electronic with the control element 94a connected.

The endoscopic device has an actuator 100a on. The actuator 100a is at least to actuate the Bowden cable 10a and / or the function head 102a the endoscopic device provided. The actuator 100a is designed in the present case as an electric motor. The actuator 100a is designed as a linear motor in the present case.

The actuator 100a has at least one adjusting element 104a on. The actuator moves with an actuator movement 100a the actuator 104a on or off. Furthermore, the actuator 100a at least one support element 106a on. The actuator 104a is relative to the support element 106a movable. The actuator 100a generated by moving the control element 104a relative to the support element 106a a shift. The support element 106a stores the actuator 104a movable. The actuator 104a is designed in the present case as a movably mounted bolt. The support element 106a is in the present case as a housing of the actuator 100a educated. The support element 106a serves to support the actuator 100a against a displacement of the adjusting element 104a relative to the support element 106a on the actuator 100a self acting force.

The endoscopic device comprises at least one shaft 108a . The shaft 108a is designed as an elongated element. The shaft 108a has a proximal end portion 110a on. Furthermore, the shaft 108a a distal end portion 112a on. The shaft 108a is with the handle 90a connected. The proximal end section 110a of the shaft 108a is with the handle 90a connected. The shaft 108a is flexible in the present case. Alternatively, the shaft 108a also be rigid.

2 shows a schematic representation of part of the endoscopic device in a sectional view. The endoscopic device comprises at least one Bowden cable 10a . The bowden cable 10a at least partially forms the shaft 108a from (cf. 1 ). The bowden cable 10a has at least one inner cable 12a on. The inner train 12a has a base body 122a on. The basic body 122a consists at least partially of a braid, in particular a metal braid. Furthermore, the Bowden cable could have several inner cables.

Furthermore, the Bowden cable 10a at least one outer move 14a on. The outer train 14a is to Inner cable guidance 12a educated. The inner train 12a is in the outer train 14a movably mounted. Further is the outer train 14a designed to support a force to be transmitted. The outer train 14a has a base body 120a on. The basic body 120a consists at least partially of a metal spiral and / or a braiding. Alternatively or additionally, the base body 120a consist at least partially of plastic. Furthermore, the base body 120a be provided with a coating, in particular a plastic coating.

The bowden cable 10a is with the actuator 100a connected. The inner train 12a is with the actuator 100a effectively connected. The inner train 12a is with the actuator 104a connected. The outer train 14a is with the actuator 100a connected. The outer train 14a is with the support member 106a of the actuator 100a firmly connected. In an operating state, the actuating element is actuated 104a of the actuator 100a the inner cable in the event of an actuator movement 12a . The actuator 100a a force acts on the inner cable 12a . The actuator is also supported 100a in the opposite direction of the force transmitted via the support element 106a on the outer train 14a from. The actuator 100a creates a shift in the inner cable 12a relative to the outer move 14a .

The endoscopic device comprises a functional head 102a (see. 1 ). The functional head 102a has at least one tool 114a on. In the present case, the tool is 114a than a pair of pliers 116a educated. The functional head 102a is at the distal end portion 112a of the shaft 108a arranged. Furthermore, the functional head 102a have further components, in particular in an embodiment of the endoscopic instrument 84a than an endoscope 86b . For example, the function head 102a have a camera, lighting or the like.

The functional head 102a is by means of the Bowden cable 10a operable. In the present case, the Bowden cable 10a the surgical tool 114a of the function head 102a to be served. By moving the inner cable 12a relative to the outer move 14a is the tool 114a transferable from one operating state to another operating state or vice versa. In the present case, the tool is 114a by means of the Bowden cable 10a can be opened or closed. For the case of an embodiment of the endoscopic instrument 84a than an endoscope 86b could be a curvature of the functional head 102a and / or the distal end portion 112a through the bowden cable 10a be adjustable.

The endoscopic device comprises at least one sensor unit 16a . The sensor unit 16a is in the present case at the distal end section 112a arranged. The sensor unit 16a comprises at least one contactless sensor 20a . The non-contact sensor 20a is for sensing at least the displacement of the inner cable that occurs when the force is transmitted 12a relative to the outer move 14a educated.

The non-contact sensor 20a is in the present case as a capacitive sensor 26a educated. The non-contact sensor 20a is designed like a cylinder capacitor. Furthermore, the non-contact sensor 20a at least partially in the Bowden cable 10a integrated. Alternatively or additionally, the contactless sensor could 20a be designed as an inductive sensor, in particular in the form of a magnetic coil.

The non-contact sensor 20a has at least one electrical conductor section 34a on. The electrical conductor section 34a extends at least substantially parallel to a main direction of extent 60a of the Bowden cable 10a . In the present embodiment, the electrical conductor section is 34a designed as an electrode. The electrical conductor section 34a is designed in the form of a hollow cylinder. Alternatively or additionally, the electrical conductor section could 34a be designed as an inductor. This could be the electrical conductor section 34a be designed in the form of a coil. This is the case, for example, in an embodiment in which the contactless sensor 20a is designed as an inductive sensor. There are also combinations of configurations of the contactless sensor 20a conceivable as a capacitive sensor and inductive sensor, in which the electrical conductor section 34a can be designed or used both as an electrode and inductor. For example, the ladder section could 34a be partially designed as a hollow cylinder or coil and / or in particular the hollow cylinder be designed in the form of a wound coil.

The electrical conductor section 34a is the outer train 14a assigned. In the present case, the electrical conductor section is 34a in the outer train 14a integrated. A piece of the body 120a of the outer train 14a is removed and through the electrical conductor section 34a replaced. The electrical conductor section 34a is with a sheath 124a Mistake. The sheath 124a consists at least partially of a ceramic. It is also conceivable that the casing 124a at least partially consists of a plastic. Alternatively or additionally, it is conceivable that the electrical conductor section 34a when producing the outer cable 14a is let into this. This could be done, for example, by overmolding the electrical conductor section 34a will be realized.

The contactless sensor also includes 20a at least one more electrical Ladder section 38a . The further electrical conductor section 38a extends at least substantially parallel to the main direction of extent 60a of the Bowden cable 10a . The further electrical conductor section also extends 38a at least substantially parallel to the electrical conductor section 34a . The electrical conductor section 34a surrounds the further electrical conductor section 38a in the circumferential direction. The further electrical conductor section 38a is designed as a further electrode in the present embodiment. The further electrical conductor section 38a is designed in the form of a full cylinder. Furthermore, the further electrical conductor section could 38a be designed in the form of a hollow cylinder. Alternatively or additionally, the further electrical conductor section could 38a be designed as a coil, in particular in an embodiment of the contactless sensor 20a than an inductive sensor. Alternatively, the further electrical conductor section could be dispensed with in the case of an inductive sensor.

The further electrical conductor section 38a is the inner train 12a assigned. In the present case, the further electrical conductor section is 38a in the inner cable 12a integrated. The basic body 122a of the inner cable 12a forms at least partially the further electrical conductor section 38a out. Alternatively, a piece of the inner cable could be used 12a removed and through the electrical conductor section 34a be replaced.

The non-contact sensor 20a comprises at least one dielectric element 42a . The dielectric element 42a is between the electrical conductor section 34a and the further electrical conductor section 38a arranged. The dielectric element 42a is from the electrical conductor section 34a surround. It also surrounds the dielectric element 42a the further electrical conductor section 38a . Furthermore, instead of a dielectric element 42a a ferromagnetic element 46c Find application. For example, in one embodiment of the contactless sensor 20a a ferromagnetic element as an inductive sensor 46c can be used. Furthermore, there are combination solutions of a dielectric element 42a and ferromagnetic element 46c for designing the contactless sensor 20a conceivable.

The dielectric element 42a is the inner train 12a assigned. The dielectric element 42a is in the present case on the inner cable 12a arranged. In the present case, the dielectric element is 42a designed as a tube, in particular a shrink tube, which the inner cable 12a surrounds. Furthermore, the dielectric element 42a be designed as a sleeve. The dielectric element 42a comprises at least one dielectric material, such as a plastic, a ceramic or a composite material of these.

A dimensioning of the dielectric element 42a is chosen so that one main extension 50a of the dielectric element 42a is smaller than a main extension 58a of the Bowden cable 10a . In the present case, the main extension is 50a of the dielectric element 42a much smaller than the main extent 58a of the Bowden cable 10a . The main extension 52a of the dielectric element 42a essentially corresponds to a main extension 53a of the electrical conductor section 34a , which is advantageous in the outer train 14a is integrated. The dielectric element is in an idle state of the endoscopic device 42a arranged in such a way that this extends in the main direction of extent 60a of the Bowden cable 10a partially with at least the electrical conductor section 34a of the contactless sensor 20a overlaps. In the present case, the dielectric element overlaps in the idle state 42a at least substantially to 50% of its main extent 52a with the further electrical conductor section 38a .

Sensing by means of the contactless sensor 20a is based in the present case on the principle of varying a capacitance of the contactless sensor 20a . The capacity of the non-contact sensor 20a is through movement, in particular an insertion and / or removal of the dielectric element between the electrical conductor section 34a and the further electrical conductor section 38a realized. The assignment of the dielectric element 42a as well as the further electrical conductor section 38a to the inner cable 12a and the electrical conductor section 34a to the outer train 14a allows a conclusion about a relative displacement of the inner cable when moving these towards each other 12a relative to the outer move 14a . In a further embodiment of the contactless sensor 20a the same principle can be used, with an inductance of the contactless sensor instead of a capacitance 20a is variable.

The endoscopic device further comprises at least one further sensor unit 18a (see. 1 ). The further sensor unit 18a is essentially identical to the sensor unit in the present case 16a educated. The further sensor unit 18a is in the main direction of extent 60a of the Bowden cable 10a offset to the sensor unit 16a arranged. The further sensor unit 18a is at the proximal end portion 110a of the shaft 108a arranged. The further sensor unit 18a comprises at least one further contactless sensor 22a .

3 shows a schematic circuit diagram of part of the endoscopic device. The endoscopic device includes at least one Measuring unit 62a . The unit of measurement 62a is for reading out the sensor unit 16a educated. The unit of measurement 62a is electrical and / or electronic with the control unit 49a connected.

The unit of measurement 62a comprises at least one signal generator 126a on. The signal generator 126a is electrical and / or electronic with the control unit 49a connected. The control unit 49a controls the signal generator 126a at. The signal generator 1126a is designed to provide an electrical signal. The electrical signal is from the control unit 49a given. The electrical signal has an alternating voltage.

The measuring unit also includes 62a at least one signal meter 128a . The signal meter 128a is electrical and / or electronic with the control unit 49a connected. The signal meter 128a is designed to send a further electrical signal, which is transmitted to at least one electrical component of the measuring unit 62a applied / falling to measure. The signal meter 128a is designed to send the further electrical signal to the control unit 49a to pass on. The signal meter 128a is designed in the present case as a voltmeter. It can be designed to measure at least one frequency or at least one phase.

The unit of measurement 62a has an oscillating circuit 66a on. A first contact of the oscillating circuit 66a is with a first contact of the signal generator 126a connected. A second contact of the oscillating circuit 66a is with a second contact of the signal generator 126a connected. A third contact of the resonant circuit 66a is with a first contact of the signal meter 128a connected. A fourth contact of the oscillating circuit 66a is with a second contact of the signal meter 128a connected.

The oscillating circuit 66a has at least one coil 130a on. A first contact of the coil 130a is with a first contact of the signal generator 126a connected. A second contact of the coil 130a is with a first contact of the signal meter 128a connected.

The oscillating circuit 66a has at least one capacitor 132a on. A first contact of the capacitor 132a is with the second contact of the coil 130a connected. The first contact of the capacitor 132a is with the first contact of the signal meter 128a connected. A second contact of the capacitor 132a is with a second contact of the signal meter 128a connected.

The oscillating circuit 66a has at least one resistance 134a on. A first contact of the resistance 134a is with the second contact of the signal meter 128a connected. The first contact of the resistance 134a is to the second contact of the capacitor 132a connected. A second contact of the resistor 134a is with the second contact of the signal generator 126a connected.

In the present case, these are the components of the resonant circuit 66a connected in series with each other. There are also circuits of the components of the oscillating circuit 66a conceivable in parallel.

The oscillating circuit 66a is at least partially from the non-contact sensor 20a educated. In the present case, the capacitor is 132a of the oscillating circuit 66a from the contactless sensor 20a educated. The signal meter 128a measures the further electrical signal which is transmitted via the contactless sensor 20a or the capacitor 132a falls / is present. In the present case, the signal meter measures 128a Another electrical signal is the voltage, which is transmitted via the contactless sensor 20a or the capacitor 132 falls / is present.

In an alternative embodiment, which is the contactless sensor 20a is designed as an inductive sensor, forms the contactless sensor 20a the sink 130a of the oscillating circuit 66a out. In this case, the signal meter would make a first contact 128a with a first contact of the coil 130a connected. There would also be a second contact of the signal meter 128a with a second contact of the coil 130a connected.

The endoscopic device comprises at least one further measuring unit 64a . The further unit of measurement 64a is for reading out the other sensor unit 18a educated. The unit of measurement 62a is electrical and / or electronic with the control unit 49a connected. The further unit of measurement 64a is at least essentially identical to the measuring unit 62a educated.

The control unit 49a has at least one comparator 136a on. The comparator 136a is the unit of measurement 62a assigned. The comparator 136a is electrical and / or electronic with the measuring unit 62a connected. The control unit 49a has at least one further comparator 138a on. The further comparator 138a is the further unit of measurement 64a assigned. The further comparator 138a is electrical and / or electronic with the further measuring unit 64a connected.

4th shows a schematic flow chart of an exemplary method for operating the endoscopic device.

The method comprises at least one method step 140a . The control unit controls in the method step 49a the actuator 100a to a Shifting the inner cable 12a relative to the outer move 14a at.

The method comprises at least one further method step 142a . In the further process step 142a the measuring unit senses 62a the displacement of the inner cable 12a relative to the outer move 14a at least by means of the sensor unit 16a , especially the non-contact sensor 20a . The sensor unit 16a determines the displacement of the inner cable based on its arrangement 12a relative to the outer move 14a in the area of the distal end section 112a . The comparator 136a determines a displacement parameter based on the measurement. The unit of measurement 62a represents the comparator 136a the electrical signal and the further electrical signal are available. In the present case, the shift parameter is a phase shift between the electrical signal and the further electrical signal. The comparator 136a compares the phases of the electrical signal and the further electrical signal with one another. The comparator 136a determines the phase shift between the electrical signal and the additional electrical signal. The phase shift is correlated with a value of a capacitance of the capacitor 132a , i.e. the contactless sensor 20a . Based on in the control unit 49a The control unit closes stored correlation data, correlation characteristic curves or the like 49a from the displacement parameter to the displacement of the inner cable 12a relative to the outer move 14a of the Bowden cable 10a . In the present case, the inference is made in two steps, namely once from the phase shift to a capacitance of the contactless sensor 20a and from the capacity to the displacement of the inner train which is correlated with the capacity 12a relative to the outer move 14a . The displacement parameter corresponds to the displacement of the inner cable 12a relative to the outer move 14a in the area of the distal end section 112a . The further measuring unit also determines 64a the displacement of the inner cable 12a relative to the outer move 14a at least by means of the further contactless sensor 22a . The further comparator 138a determines a further displacement parameter at least essentially identically. The further displacement parameter corresponds to the displacement of the inner cable 12a relative to the outer move 14a in the area of the proximal end section 110a .

The method comprises at least one further method step 144a . In the further process step 144a determines the control unit 49a an acting force. The control unit 49a determines a force parameter from a difference between the displacement parameter and the further displacement parameter. Based on in the control unit 49a The control unit is the stored correlation data, correlation characteristics or the like 49a designed to determine an acting force of the inner cable from the force parameter 12a or on the one on the outer train 14a supporting force of the bowden cable 10a close. In the present case, the force parameter is the difference between the displacement parameter and the further displacement parameter, ie in particular the displacement of the inner pull 12a relative to the outer pull 14a . In the area of the proximal end section 110a and the displacement of the inner cable 12a relative to the outer move 14a in the distal end section 110a .

The method comprises at least one further method step 146a . In the further process step 146a compares the control unit 49a the specified force with the actual force determined by means of the force parameter. The control unit also fits 49a the force intended for transmission, which is applied to the Bowden cable 10a acts on the basis of the specific deviation.

5 shows a schematic flow chart of a method for producing the endoscopic device. In the manufacturing process, the non-contact sensor 20a at least partially in the Bowden cable 10a integrated. A Bowden cable is used for this 10a remodeled.

The method comprises at least one method step 148a . In the process step 148a becomes the inner cable 12a remodeled. The further electrical conductor section 38a becomes the inner cable 12a assigned. The further electrical conductor section 38a is in the inner cable 12a integrated. In the present case, the electrical conductor section 34a from a strand of the inner cable 12a educated.

The method comprises at least one further method step 150a . In the further process step 150a becomes the inner cable 12a further reworked. The dielectric element 42a becomes the inner cable 12a assigned. The dielectric element 42a is on the inner cable 12a arranged. In the present case, the dielectric element 42a on the inner cable 12a arranged. The dielectric element 42a is used as a shrink tube on the inner cable 12a pushed. The dielectric element 42a is made by heat treatment with the inner cable 12a connected.

The method comprises at least one further method step 152a . In the further process step 152a becomes the outer train 14a remodeled. The electrical conductor section 34a becomes the outer train 14a assigned. The electrical conductor section 34a is in the outer train 14a integrated. For integration of the electrical conductor section 34a becomes a piece of the main body 120a of the outer train 14a removed and through the electrical conductor section 34a replaced. The electrical conductor section 34a comes with the main body 120a connected, for example by welding. The electrical conductor 34a is covered with a preferably insulating sheath 124a Mistake. The sheath 124a consists at least partially of ceramic.

In the 6th to 10 further embodiments of the invention are shown. The following descriptions and the drawings are essentially limited to the differences between the exemplary embodiments, whereby with regard to components with the same designation, in particular with regard to components with the same reference symbols, in principle also to the drawings and / or the description of the other exemplary embodiments, in particular the 1 to 5 is referred. To distinguish the exemplary embodiments, the letter a is the reference number of the exemplary embodiment in FIG 1 to 5 adjusted. In the embodiments of 6th to 10 the letter a is replaced by the letters b, c, d and e.

6th shows a schematic representation of a further endoscopic device in a sectional view. The present exemplary embodiment of the endoscopic device differs from the previous ones in a configuration of an endoscopic instrument comprising the endoscopic device.

The endoscopic instrument 84b is in the present case as an endoscope 86b educated. The endoscopic device also has a functional head 120b an angled functional head 120b on. The functional head 102b is via a bowden cable 10b the endoscopic device can be bent. An angle of the functional head 102b is correlated with a displacement and / or an exerted force of an inner cable of the Bowden cable 10b relative to an outer cable of the Bowden cable 10b .

7th shows a schematic representation of a further endoscopic device in a sectional view. The present exemplary embodiment of the endoscopic device differs from the preceding ones in the configuration of at least one sensor unit 16c the endoscopic device.

The sensor unit 16c comprises at least one contactless sensor 20c . The non-contact sensor 20c is at least partially in a Bowden cable 10c integrated into the endoscopic device. In the present case, the contactless sensor is 20c than an inductive sensor 30c educated. The non-contact sensor 20c is designed like a solenoid.

The non-contact sensor 20c has an electrical conductor section 34c on. The electrical conductor section 34c is an outside move 14c a Bowden cable 10c assigned. The electrical conductor section 34c is in the outer train 14c integrated. The electrical conductor section 34c is designed as an inductor. The electrical conductor section 34c is in the form of a coil 130c educated.

In comparison to the previous exemplary embodiment, the contactless sensor 20th instead of a dielectric element 42a in the present embodiment a ferromagnetic element 46c on (cf. 2 ). The ferromagnetic element 46c is an inner train 12c of the Bowden cable 10c assigned. The ferromagnetic element 46c is on the inner cable 12c arranged. The ferromagnetic element 46c is designed as a sleeve. The ferromagnetic element 46c is with the inner cable 12c connected. For example, the ferromagnetic element 46c with the inner cable 12c are fused or the like. It is also conceivable that a ferromagnetic section of the inner cable 12c even the ferromagnetic element 46c trains.

Furthermore, in the present case, compared to the previous exemplary embodiment, a further electrical conductor section can be used 38a which is otherwise the inner cable 12a assigned is to be waived.

In comparison to the previous exemplary embodiment, a measuring unit of the endoscopic device has an oscillating circuit, the coil of which is at least partially controlled by the contactless sensor 20c is trained.

8th shows a schematic representation of a further endoscopic device in a sectional view. The present exemplary embodiment of the endoscopic device differs from the preceding ones in the configuration of at least one sensor unit 16d the endoscopic device.

In the present case, the sensor unit comprises 16d at least one contactless sensor 20d on. The non-contact sensor 20d is as in the previous embodiment a as a capacitive sensor 26d educated. The endoscopic device further comprises at least one further contactless sensor 22d . The other non-contact sensor 22d is essentially identical to the non-contact sensor 20d educated. Alternatively, the additional contactless sensor 22d also as an inductive sensor 30c be trained.

The other non-contact sensor 22d is in a main direction of extent 60d of Bowden cable 10d staggered. The other non-contact sensor 22d is in the main direction of extent 60d of the Bowden cable 10d adjacent to the non-contact sensor 20d is arranged.

Furthermore, the further contactless sensor 22d an electrical conductor section 36d on. The electrical conductor section 36d further non-contact sensor 22d is essentially identical to the electrical conductor section 34d of the contactless sensor 20d educated. The electrical conductor section 36d further non-contact sensor 22d is in the main direction of extent 60d of the Bowden cable 10d offset to the electrical conductor section 34d of the contactless sensor 20d educated. The electrical conductor section 36d further non-contact sensor 22d and the electrical conductor section 34d of the contactless sensor 20d are arranged adjacent to one another.

Furthermore, the further contactless sensor 22d another electrical conductor section 40d on. The further electrical conductor section 40d further non-contact sensor 22d is essentially identical to the other electrical conductor section 38d of the contactless sensor 20d educated.

In the present case, the contactless sensor 20d and the other non-contact sensor 22d connected in series. The further electrical conductor section 40d further non-contact sensor 22d is with the further electrical conductor section 38d of the contactless sensor 20d electrically connected.

The non-contact sensor 20d and the other non-contact sensor 22d are at least partially formed in one piece. The further electrical conductor section 38d further non-contact sensor 22d is with the further electrical conductor section 40d of the contactless sensor 20d connected in one piece. In the present case, the further electrical conductor section is 38d further non-contact sensor 22nd and the further electrical conductor section 40d of the contactless sensor 20d identical. The non-contact sensor 20d and the other non-contact sensor 22d have a common further electrical conducting section 39d on. The common electrical conductor section 39d is from the ladder section 38d and the further conductor section 39d educated.

Furthermore, the further contactless sensor 22d another dielectric element 44d on. The further dielectric element 44d further non-contact sensor 22d is essentially identical to the dielectric element 42d of the contactless sensor 20d educated. The further dielectric element 44d further non-contact sensor 22d is with the dielectric element 42d of the contactless sensor 20d connected in one piece. In the present case, these are further dielectric elements 44d further non-contact sensor 22d and the dielectric element 42d of the contactless sensor 20d identical. The non-contact sensor 20d and the other non-contact sensor 20d have a common dielectric element 43d on. The common dielectric element 43d is from the dielectric element 42d and the further dielectric element 44d educated.

A main extension of the common dielectric element is in a state of rest 43d in the main direction of extent 60d overlapping with the ladder sections 34d , 38d of the non-contact sensor 20d and the conductor sections 36d , 40d further non-contact sensor 22d is arranged. In the present case, a main extension is in a state of rest 50d of the common dielectric element 43d in the main direction of extent 60d to 50 % overlapping with the ladder sections 34d , 38d of the contactless sensor 20d and 50% overlapping with the ladder sections 36d , 40d further non-contact sensor 22d arranged.

9 FIG. 11 shows a schematic circuit diagram of part of the endoscopic device from FIG 8th . The endoscopic device comprises a measuring unit 62d . The unit of measurement 62d has at least one resonant circuit 66d on. The oscillating circuit 66d is at least partially from the non-contact sensor 20d and another non-contact sensor 22d educated. In the present case, the resonant circuit 66d a capacitor 132d on. A first contact of the capacitor 132d is with a second contact of a coil 130d of the oscillating circuit 66d connected. The first contact of the capacitor 132d is with a first contact of a signal meter 128d a measuring unit 62d connected to the endoscopic device.

Furthermore, the resonant circuit 66d another capacitor 133d on. A first contact of the further capacitor 133d is to the second contact of the capacitor 132d connected. A second contact of the further capacitor 133d is the signal meter with a second contact 128d connected. The second contact of the further capacitor 133d is with a first contact of a resistor 134d of the oscillating circuit 66d connected. The condenser 132d and the other capacitor 133d are connected in series.

The condenser 132d is from the non-contact sensor 20d educated. The other capacitor 133d is from the other non-contact sensor 22d educated.

10 shows a schematic representation of a further endoscopic device in a sectional view. The present exemplary embodiment of the endoscopic device differs from the preceding ones in the configuration of at least one sensor unit 16e the endoscopic device.

In the present case, the sensor unit 16e at least one compression and / or strain sensor 70e on. The compression and / or strain sensor 70e is an outside move 14e a Bowden cable 10e assigned to the endoscopic device. The compression and / or strain sensor 70e is on the outer train 14e arranged. The compression and / or strain sensor 70e is in the outer train 14e integrated. The compression and / or strain sensor 70e is designed to be used by an outside train 14e a Bowden cable 10e the endoscopic device to sense force supported during force transmission. The compression and / or strain sensor 70e is called a strain gauge 74e educated. In the event of a deformation caused by the application of force, the compression and / or strain sensor is 70e trained to change its resistance. In the present case, the endoscopic device can comprise a measuring unit which has a bridge circuit which is used to read out the compression and / or strain sensor 70e is trained.

In the present case, the compression and / or strain sensor is 70e at least partially in one piece with the contactless sensor 20e educated. The compression and / or strain sensor 70e at least partially forms a conductor section 34e a contactless sensor 20e the sensor unit 16e out. Alternatively, the compression and / or strain sensor 70e separate from the non-contact sensor 20c be trained. For example, the compression and / or strain sensor could 70e on the outer train 14e adjacent to the non-contact sensor 20e applied and / or in the outer train 14e be integrated.

List of reference symbols

10

Bowden cable

12

Inner cable

14th

Outer train

16

Sensor unit

18th

Another sensor unit

20th

Contactless sensor

22nd

Another non-contact sensor

26th

Capacitive sensor

28

Capacitive sensor

30th

Inductive sensor

34

Electrical conductor section

36

Electrical conductor section

38

Another electrical conductor section

39

Common ladder section

40

Another electrical conductor section

42

Dielectric element

43

Common dielectric element

44

Dielectric element

46

Ferromagnetic element

49

Control unit

50

Main extension

52

Main extension

58

Main extension

60

Main direction of extent

62

Measuring unit

64

Another unit of measurement

66

Resonant circuit

68

Resonant circuit

70

Compression and / or strain sensor

74

Strain gauges

84

Endoscopic instrument

86

endoscope

88

Biopsy forceps

90

Handle

92

Handle

94

Control element

96

Feedback module

98

Vibration actuator

100

Actuator

102

Functional head

104

Control element

106

Support element

108

shaft

110

Proximal end section

112

Distal end section

114

Tool

116

Pliers

120

Base body

122

Base body

124

Sheathing

126

Signal generator

128

Signal meter

130

Kitchen sink

132

capacitor

133

Another capacitor

134

resistance

136

Comparator

138

Another comparator

140

Process step

142

Process step

144

Process step

146

Process step

148

Process step

150

Process step

152

Process step

Claims (25)

Endoscopic device with at least one Bowden cable (10) designed for power transmission, which has at least one inner cable (12) and at least one outer cable (14) designed to guide the inner cable (12) and to support a force to be transmitted, and with at least one sensor unit (16, 18), which comprises at least one contactless sensor (20, 22), which is designed to sense at least one displacement of the inner cable (12) relative to the outer cable (14) that occurs when the force is transmitted and at least partially in the Bowden cable (10 ) is integrated. Endoscopic device according to Claim 1 , characterized in that the contactless sensor (20, 22) is designed as a capacitive sensor (26, 28), in particular of the type of a cylinder capacitor. Endoscopic device according to Claim 1 or 2 , characterized in that the contactless sensor (20, 22) is designed as an inductive sensor (30), in particular in the form of a magnetic coil Endoscopic device according to one of the preceding claims, characterized in that the contactless sensor (20, 22) has at least one electrical conductor section (34, 36) which is at least partially integrated into the outer cable (14). Endoscopic device according to one of the preceding claims, characterized in that the contactless sensor (20, 22) comprises at least one further conductor section (38, 40) which is integrated into the inner cable (12). Endoscopic device according to one of the preceding claims, characterized in that the contactless sensor (20, 22) comprises at least one dielectric (42, 44) and / or at least one ferromagnetic element (46) which is attached to the inner cable (12) or the outer cable ( 14) and whose main extent (50, 52) is smaller than a main extent (58) of the Bowden cable (10). Endoscopic device according to Claim 6 , characterized in that in a state of rest the dielectric (42, 44) and / or the ferromagnetic element (46) partially overlapping in the main direction of extent (60) of the Bowden cable (10) with at least one electrical conductor section (34, 36, 38, 40) of the contactless sensor (20, 22) are / is. Endoscopic device according to one of the preceding claims, characterized in that the sensor unit (16, 18) comprises at least one further contactless sensor (20, 22) which is offset in the main direction of extent (60) of the Bowden cable (10), in particular adjacent, to the contactless sensor (20, 22) is arranged. Endoscopic device according to Claim 8 , characterized in that the contactless sensor (20, 22) and the further contactless sensor (20, 22) are electrically connected to one another, in particular in series or in parallel. Endoscopic device according to Claim 8 or 9 , characterized in that the contactless sensor (20, 22) and the further contactless sensor (20, 22) are at least partially formed in one piece. Endoscopic device according to one of the Claims 8 to 10 , characterized in that the contactless sensor (20, 22) and the further contactless sensor (20, 22) comprise a common conductor section (39). Endoscopic device according to one of the Claims 8 to 11 , characterized in that the contactless sensor (20, 22) and the further contactless sensor (20, 22) at least one common dielectric (43) and / or a common ferromagnetic element. Endoscopic device according to Claim 12 , characterized in that in a rest state the common dielectric (43) and / or the ferromagnetic element in the main direction of extent (60) of the Bowden cable (10) partially overlapping with conductor sections (34, 36, 38, 40) of the contactless sensor (20, 22 ) and the further contactless sensor (20, 22) is arranged. Endoscopic device according to one of the preceding claims, characterized by at least one measuring unit (62, 64) which comprises at least one oscillating circuit (62, 64) which is at least partially formed by at least one contactless sensor (20, 22). Endoscopic device according to one of the preceding claims, characterized in that the sensor unit (16, 18) comprises at least one compression and / or strain sensor (70) which is designed to supply the force supported by the outer cable (14) during the force transmission sense. Endoscopic device according to Claim 15 , characterized in that the compression and / or strain sensor (70) is integrated in the outer cable (14). Endoscopic device according to Claim 15 or 16 , characterized in that the compression and / or strain sensor (70) is at least partially formed in one piece with the contactless sensor (20, 22). Endoscopic device according to Claim 17 , characterized in that the compression and / or strain sensor (70) at least partially forms a conductor section (34, 36, 38, 40) of the contactless sensor (20, 22). Endoscopic device according to one of the Claims 13 to 16 , characterized in that the compression and / or strain sensor (70) is designed as a strain gauge (74). Endoscopic device according to one of the preceding claims, characterized by at least one further sensor unit (16, 18) which is arranged offset from the sensor unit (16, 18) in the main direction of extent (60) of the Bowden cable (10). Endoscopic device according to one of the preceding claims, characterized by a control unit (49) which, based on at least one sensing performed at least by the sensor unit (16, 18), is designed to detect a deviation of the transmitted force and / or displacement from that provided for the transmission To determine force and / or displacement. Endoscopic device according to Claim 21 , characterized in that the control unit (49) is designed to adapt the force and / or displacement provided for transmission on the basis of the determined deviation. Endoscopic instrument (84), in particular endoscope (86), with at least one endoscopic device according to one of the preceding claims. Method for operating an endoscopic device, in particular an endoscopic device according to one of the Claims 1 to 22nd , in which in at least one process step of at least one Bowden cable (10) configured at least partially in at least one power transmission, which at least one inner cable (12) and at least one outer cable configured to guide the inner cable (12) and to support a force to be transmitted (14), integrated contactless sensor (20, 22) of at least one sensor unit (16, 18) at least one displacement of the inner cable (12) relative to the outer cable (14) occurring when the force is transmitted is sensed. Method for producing an endoscopic device, in particular an endoscopic device according to one of the Claims 1 to 20th , in which in at least one process step at least one contactless sensor (20, 22) of at least one sensor unit (16, 18), which at least for a displacement (20) of an inner cable (12) occurring when a force is transmitted relative to at least one for guiding the Inner cable (12) and outer cable (14) of a Bowden cable (10), which is designed to support the force to be transmitted, is at least partially integrated into the Bowden cable (10).

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