DE102021119624A1 - Input unit for a medical instrument and medical system with an input unit - Google Patents

Abstract

The invention relates to an input unit (10) for operating a medical instrument (12), comprising input means (22) gimballed about a first, a second and a third axis of rotation for continuous, pivoting and/or rotationally accurate, preferably uninterrupted and/or absolute , Converting an ergonomically limited user input, in particular a user movement, by an operator into an adjustment movement of a tool (16), in particular a jaw part (17), of the medical instrument (12).

Description

The present invention relates to an input unit for operating a medical instrument according to the preamble of claim 1. The present invention also relates to a medical system having at least one input unit according to the invention and at least one medical instrument.

For the control of a medical instrument including a tool, it is known from the prior art to use generic input units with input means that can be operated by an operator with one hand. For this purpose, the input means comprise a gimbal mounted pivotably about three axes of rotation, in order to continuously, ie pivotally and/or rotationally true, record ergonomic user inputs from the operator and convert the user movement into the manipulation of the tool.

In addition, gimballed input means are known from the prior art, which are formed by tweezers-like operating means. The tweezers-like operating means work together with the thumb and forefinger of the operator and allow additional manipulation of the tool independently of the cardanic suspension, for example to adjust a tool designed as a jaw part between an open and a closed state, whereby the gripping and/or cutting functionality of the Jaw part can be precisely controlled by the operator.

A disadvantage of the input units known from the prior art is that the control range is limited by the natural freedom of movement of the operator's hand and/or arm. In the case of the input units considered generic, the control of the tool always results from the natural movement of the operator's hand or arm, specifically in an uninterrupted and/or absolute manner. There is therefore no decoupling between the input means and the tool, so that the operator is in control of the tool at all times. As a result, the control range of the tool is limited by the degree of mobility of the operator's arm and/or hand, while at the same time enabling the precise performance of minimally invasive medical operations, for example to take tissue samples, sew tissue or others carry out operational actions in a sensitive environment.

Furthermore, medical instruments are known that include a tool that can be rotated multiple times around the axis of extension. Input units are used for the control, which are based on a rotation-accurate control of the tool, whereby there is a brief interruption between the input means and the tool for the area-by-area return of the input means in order to overcome the limited freedom of movement of the operator due to the ergonomically limited user movement when controlling the multiple rotation , which is fundamentally problematic because the operator has no control over the tool during the interruption.

Furthermore, the applicant has now successfully the above medical instrument according to the DE 10 2019 121 092 A1 developed in such a way that the tool can now be endlessly rotated in both directions around its axis of extension thanks to improved mechanics.

The further developed medical instrument comprises a hollow shaft extending along a longitudinal axis for receiving steering wires, the shaft having a tool formed along an axis of extension on the distal side and a control unit on the proximal side, which is formed for manipulating the tool using the steering wires. The control unit has a spatially adjustable disc which is coupled to four steering wires and can pivot the tool relative to the longitudinal axis via pivoting members arranged on the distal side. Furthermore, the improved mechanics now allow the tool to rotate endlessly about its axis of extension.

However, the control of the endless rotation with generic input units is also not possible here without interruption, ie continuously. Since a separate tool is already controlled by each hand of the operator during operational use, a 2-hand control is also ruled out. Therefore, the input units previously known from the prior art are only conditionally suitable for the control.

The present invention is therefore based on the object of proposing an input unit which overcomes the disadvantages known from the prior art. In particular, it is the object of the present invention to specify an input unit which, despite the continuous, pivoting and/or rotation-accurate conversion of an ergonomically limited user input into a tool control, also enables the control of an endless rotation of the tool.

Furthermore, the object consists in specifying a medical system with at least one input unit according to the invention and at least one medical instrument.

This object is achieved by an input unit having the features of claim 1. Furthermore, the object is achieved by a medical system according to the invention.

Advantageous developments of the invention are specified in the dependent claims. All combinations of at least two of the features disclosed in the description, the claims and/or the figures fall within the scope of the invention.

The present invention provides an input unit for operating a medical instrument with input means gimballed about three axes of rotation for the continuous, pivoting and/or rotationally accurate, preferably uninterrupted and/or absolute, conversion of an ergonomically limited user input, in particular an ergonomically limited user movement , to indicate an operator in an adjustment movement of a tool. According to the invention, the input means comprise a pressure element, which extends around a first rotation axis of the three rotation axes in such a way that it can be gripped by one hand of the operator, in particular in the manner of a foosball table grip, and thus around the first rotation axis for controlling an endless rotation of the tool in both Directions is endlessly rotatable. Furthermore, the pressure element comprises at least three, preferably at least five, more preferably at least eight, force application surfaces on the outside and/or on the circumference, which are aligned at least in pairs by a force that can be applied by hand in the radial direction, i.e. on the inside or transversely to the first axis of rotation, for adjusting the tool, in particular for controlling a gripping and/or cutting functionality of the jaw part, are deformable and/or adjustable.

The pressure element according to the invention, which is spatially designed and/or shaped, in particular uniformly, around the first axis of rotation and comprises at least three force application surfaces on the outwardly directed surface and/or outside, can thus be gripped by the operator's hand and moved in both directions Rotate the first axis of rotation to control the endless rotation of the tool. It is thus possible according to the invention that the pressure element can be gripped by the operator's hand like the handle of a foosball table and can be precisely rotated with one hand, in particular by rolling in the palm of the hand, in order to control the endless rotational movement of the tool.

According to the invention, the rotation of the pressure element is advantageously possible independently of the pivoting of the pressure element about the second and/or third axis of rotation of the cardanic suspension, whereby the limited pivoting of the tool transverse to the axis of extension is controlled by the operator. Furthermore, the pressure element according to the invention is designed by the at least three force application surfaces to absorb an inwardly directed force, regardless of the rotational position, in order to deform and/or adjust at least two of the at least three force application surfaces, in particular between the thumb and forefinger, in the radial direction.

Since the at least three force application surfaces, distributed evenly in the circumferential direction in particular, are arranged on the outer side of the pressure element, a force directed in the radial direction can be introduced into the pressure element independently of the rotational position of the pressure element about the first axis of rotation, as a result of which the tool can also be manipulated .

In this context, the tool of the medical instrument to be controlled is preferably designed as a jaw part, in particular a jaw clamp, forceps, in particular intestinal forceps, scissors, a needle holder, a probe hook or similar surgical tool, with the at least two force application surfaces preferably being subjected to force the jaw part can be adjusted from the open state to the closed state or, to put it another way, the gripping and/or cutting functionality of a jaw part can be controlled.

In a further development, it is provided within the scope of the present invention that each force application surface is formed in regions by a leg section encompassed by the pressure element, with the leg section being pivotably mounted about a pivot axis.

In other words, the pressure element comprises at least three leg sections, each mounted about a separate pivot axis, which are arranged, in particular evenly distributed, on the circumference of the pressure element and form one of the at least three force application surfaces in some areas. Advantageously, the pressure element is further developed as a tweezers element, with a mechanism being formed by the leg sections, which are particularly rigid and angled, parallel and/or longitudinal to the first axis of rotation, in order to form the force application surfaces according to the invention. Each force application surface is thus partially formed by a leg section, with the leg ab section can be pivoted about the pivot axis by the introduction of a force directed transversely to the first axis of rotation.

In this context, it is further preferably provided that the at least three leg sections are arranged in a rest position and/or rest position in a conical lateral surface around the first axis of rotation, wherein at least two of the leg sections can be aligned parallel to one another by the force that can be applied, and then extend in a cylindrical lateral surface around the first axis of rotation.

It is further provided that the pressure element has a coupling element, the at least three leg sections being in active contact with one another via the coupling element in such a way that the pivoting of at least one, in particular at least two, leg sections leads to the pivoting of all leg sections. The operation of the pressure element and/or tweezer element can thus advantageously be simplified.

In a further development, it is preferably provided in this connection that the at least three leg sections are arranged in a rest position in a conical and/or cone-like lateral surface around the first axis of rotation and in a maximum pivoting position that can be achieved by introducing a force in a cylindrical lateral surface around the first axis of rotation and/or or are aligned, wherein independently of the pivoting position of the leg portions, the pressure element is rotatable about the first axis of rotation for controlling the endless rotation.

In the context of the present invention, the rest position is understood to mean the state of the pressure element in which no force directed in the radial direction is applied by the operator to the force application surfaces.

Furthermore, it is further provided that the pressure element comprises a carrier element on the inside, which extends along the first axis of rotation and that the coupling element has a central rod, which is at least partially surrounded by the carrier element and is thus guided by it along an adjustment path. At a first end, the central rod comprises a first, in particular cylindrical, piston, which has an outer or outwardly directed toothing on the radial side, which is in operative contact with the at least three leg sections, in particular with one end section of all leg sections, in order to prevent the pivoting movement of the Reshape leg sections in a translational adjustment movement of the central rod along the adjustment path.

This advantageously converts the pivoting movement of the leg sections into the translatory adjustment movement precisely, in order to map the adjustment movement (user input) introduced into the adjustment means to the tool, in particular via a control unit and several steering wires, and to control the tool accordingly.

In addition to this, it is further provided that the first piston forms an end stop with the carrier element to limit a maximum pivoting angle or the maximum pivoting position of the at least three leg sections.

In other words, the displacement travel (sliding section) of the central rod is limited at one end by the end stop, which is formed in particular by an annular surface in a guide area of the support element, which the first piston encounters. Advantageously, this leads to a definable end position of the central rod during translational adjustment, the maximum pivoting angle or the maximum pivoting position being able to be limited by the mechanical coupling to the at least three leg sections.

Furthermore, it is provided in a further development that the pressure element, in particular the tweezers element, has energy storage means, wherein the at least two leg sections can be pivoted out of the rest position counter to the force of the energy storage means. This advantageously implements a restoring force in order to automatically—ie without a force directed outward in the radial direction—reset the leg sections into the rest position. This advantageously simplifies the control of the tool, in particular the closing of the jaw part. Furthermore, no eyelets or similar fixing means need to be provided on the outside of the leg side for engaging the operator's fingers in order to introduce the restoring force required for returning the leg sections to the force application surfaces.

In a specific development of this embodiment, the force storage means are preferably formed by a spring element, with the spring element interacting with the central rod and a second piston of the central rod in such a way that the leg sections assume the rest position and/or remain there without a force being applied to the force application surfaces . At a second end, the central rod comprises a second piston, the internal free annular surface of which is connected to the spring element ment is in active contact. The spring element is also preferably arranged peripherally to the central rod in order to be braced between the free annular surface of the second piston and a projection of the carrier element.

Alternatively, it is also preferably provided within the scope of the present invention that the pressure element is formed by a blower ball or a bellows made of an elastic material, in particular an elastomeric material, with the blower ball evenly distributing the at least three force application surfaces in the circumferential direction in an outwardly directed surface trains.

This embodiment also allows a force to be introduced into at least two force application surfaces with respect to the first axis of rotation, regardless of the orientation of rotation, in order to deform the elastic blower ball from the rest position by means of a force directed in the radial direction, i.e. inward. Advantageously, the deformation of the blower ball controls the manipulation of the tool in order in particular to change the closed position of the jaw part as a function of the force applied.

In a further development, it is also provided that the blower ball or the bellows is designed to be airtight around a support element, which extends in particular along the first axis of rotation, the support element being led out of the blower ball at the end and thus - in a structurally simple and therefore cost-effective manner - the realized mechanical connection to the gimbal of the input unit according to the invention.

The blower ball also preferably comprises pressure detection means, which are designed to determine and determine the force acting on the blower ball, ie the force application surfaces.

The pressure detection means are preferably arranged directly in or on the carrier element, but can alternatively also be arranged in the cardanic suspension.

Furthermore, it is further provided that the blower ball includes an internal cavity and means for influencing the air pressure inside the blower ball in order to advantageously not only detect the air pressure present inside the cavity of the blower ball, but also to influence it. In this way, the (required) force or the application of force to the blower ball can advantageously be influenced or even actively controlled independently of the chosen material for the elastic material. Furthermore, an active reset and/or return of the blower ball to the rest position can also be implemented in order to facilitate operation, since the operator only has to apply a positive force to the blower ball and the blower ball thus automatically returns to its original state resets. In a particularly preferred embodiment, the means for influencing the air pressure are designed as a compressor.

In a further development, it is also provided in this context that the means for influencing the air pressure include feedback means and are particularly preferably designed such that as a result of a certain force being applied to the blower ball at previously definable setpoint values b by the means for influencing the air pressure, a ( for the operator) tangible and / or perceptible counterforce can be generated by a short air pulse.

Certain positions, orientations or states of the tool can thus advantageously be communicated to the operator, for example in order to haptically signal to the operator that the jaw part is completely closed.

In a further development, it is provided that the blower ball has projections spaced apart from one another in the circumferential direction on the outside in order to form the at least three force input surfaces, which improve the grip of the blower ball and laterally limit the force input surfaces. In other words, the projections extend along the first axis of rotation and protrude beyond the force application surfaces in the radial direction. The operability of the blower ball when rotating the blower ball about the first axis of rotation and when applying a force to the force application surfaces is thus advantageously kept simple.

In addition, within the scope of the present invention, protection is claimed for a medical system, in particular an end effector and/or a surgical robot, which has at least one input unit according to the invention and at least one medical instrument.

The at least one medical instrument includes a hollow shaft extending along a longitudinal axis, a control unit, and a tool for surgical use.

The shank is designed to receive steering wires for mechanically steering the tool, the tool being arranged at a distal end of the shank and running along an axis of extent.

The control unit is arranged on the proximal end of the shaft and is operatively connected to the tool via the steering wires in order to pivot and rotate the tool.

A preferred medical instrument is in the DE 10 2019 121 092 A1 described by the applicant, reference being made in full to the corresponding disclosure. The disclosed features of the medical instrument are hereby included in their entirety in the application as part of a further development.

The medical instrument preferably has a spatially adjustable disk in order to pivot the steering wires along the longitudinal axis of the shaft, the disk being rotatable about the longitudinal axis together with the shaft and the steering wires, and the control unit preferably being designed to pivot the disk.

The tool is preferably designed as a jaw part, a jaw clamp, forceps, in particular intestinal forceps, scissors, a needle holder, a probe hook or a similar surgical tool.

Further advantages and details of the invention result from the following description of preferred embodiments of the invention as well as from purely schematic drawings.

• 1: eine perspektivische Ansicht eines medizinischen Instruments mit einer rein symbolisch dargestellten erfindungsgemäßen Eingabeeinheit, in
• 2 eine erste Ausführungsform der erfindungsgemäßen Eingabeeinheit, in
• 3 die aus der 2 bekannte Ausführungsform im vergrößerten Maßstab, in
• 4 die bekannte erste Ausführungsform der Eingabeeinheit in einer Schnittdarstellung, in
• 5 eine zweite Ausführungsform der erfindungsgemäßen Eingabeeinheit, in
• 6 die aus der 5 bekannte Ausführungsform im vergrößerten Maßstab und in
• 7 die bekannte zweite Ausführungsform der Eingabeeinheit in einer Schnittdarstellung.

Show it:

• 1 : a perspective view of a medical instrument with an input unit according to the invention shown purely symbolically, in
• 2 a first embodiment of the input unit according to the invention, in
• 3 the one from the 2 known embodiment on an enlarged scale, in
• 4 the known first embodiment of the input unit in a sectional view, in
• 5 a second embodiment of the input unit according to the invention, in
• 6 the one from the 5 known embodiment on an enlarged scale and in
• 7 the well-known second embodiment of the input unit in a sectional view.

Identical elements or elements with the same function are provided with the same reference numbers in the figures.

In the 1 a medical system 1000 is shown with a medical instrument 12 which can be operated using an input unit 10 according to the invention designed as a black box. The medical instrument 12 has a hollow shaft 14 which comprises a control unit 18 shown only as a black box on the proximal side or at a proximal end 30 and a tool 16 on the distal side or at a distal end 32 , the tool 16 being connected to the control unit 18 via Steering wires 20 is in operative connection.

The control unit 18 enables an endless rotational drive of the tool 16 shown in the figure, which is pivoted by 90° DE 10 2019 121 092 A1 known to the applicant.

The tool 16 is a tool 16 provided with jaw elements 34, in particular a jaw part 17, the jaw elements 34 also being adjustable in the manner of pliers via the control unit 18 between an open state and a closed state.

The tool 16 can be pivoted via a joint mechanism 36 relative to the longitudinal axis L of the shank 14, with the joint mechanism 36 being formed by pivoting members 38 arranged at the distal end 32 of the shank 14, which are connected via steering wires 20 running in the longitudinal direction L of the shank 14 to a non figuratively illustrated, arranged at the proximal end 30 of the shaft 14 drive 40 are connected that a movement of the proximal-side drive 40 and a corresponding relative movement of the distal-side pivoting members 38 pivoting of the tool 16 causes.

A corresponding drive 40 is, for example, from the already mentioned DE 10 2019 121 092 A1 known to the applicant. The steering wires 20 are connected on the proximal side to a disk, not shown in the figure, which can be spatially pivoted and rotated by means of the drives 40 . The pivoting of the disc causes the steering wires 20 to partially stretch along the longitudinal axis L of the shaft 14 and that the tool 16, which extends in a z-direction of a Cartesian coordinate system, pivots proportionately about the spatial axes x, y of the Cartesian coordinate system by means of the joint mechanism 36 permit. The pivoting movements ω _x , ω _y about the spatial axes x, y thus allow the tool 16 to be spatially aligned.

Due to the rotation of the shaft 14 together with the steering wires 20 about the longitudinal axis L, the tool 16 can also be rotated permanently or endlessly relative to the control unit 18 . By using the pivotable and rotatably mounted disc, the tool 16 can also be adjusted along the longitudinal axis L by the steering wires 20 at the same time for permanent rotation about the longitudinal axis L. As a result, the spatial orientation of the tool 16 can be compensated during the permanent rotation of the shank 14, the tool 16 rotating about its axis of extension E with a rotational movement ω _E .

If the tool 16 is in a non-pivoted state, the axis of extension E of the tool 16 corresponds to the longitudinal axis L of the shaft 14, ie it extends in the z-direction of the Cartesian coordinate system.

Since the steering wires 20 can rotate about the longitudinal axis L together with the shaft 14, an endless rotation about the longitudinal axis L or the extension axis E can be implemented by means of the drive 40 without the steering wires 20 twisting into one another to form a cord and without controlling the pivoting movement ω _x , ω _y limit or prevent.

In 2 , with detail drawings in 3 and 4 , A preferred embodiment of the input unit 10 according to the invention is shown, which is not used to operate a 2 shown medical instrument 12 is provided.

The input unit 10 according to the invention is operatively connected to the control unit 18, which is also not shown in the figure here, and comprises input means 22 for the continuous, pivoting and/or rotationally accurate conversion of an ergonomically limited user input into an adjustment movement of the tool 16 relative to the tool 16 by means of the control unit 18 to pivot limited to the longitudinal axis L and/or to rotate about the axis of extension E.

In the present case, the input means 22 according to the invention are formed by a gimballed pressure element 300 . The pressure element 300 is coupled to the cardanic suspension via a carrier element 302 and is thus mounted such that it can rotate about a first, a second and a third axis of rotation. Due to the cardanic suspension, the pressure element 300 can be rotated and pivoted in all directions in order to detect all user movements (pivoting and/or rotational movements) acting on the pressure element 300 and to pivot and/or rotate them towards the tool 16 for the control transfer.

According to the invention, the pressure element 300 comprises at least three force application surfaces 304, which, in order to adjust the tool 16, in particular to control a gripping and/or cutting functionality of the jaw part 17, can be deformed and/or adjusted at least in pairs in the radial direction RR by applying force that can be applied by hand .

The pressure element 300 extends spatially around the first axis of rotation R in such a way that it can be gripped by the operator's hand in the manner of a foosball table grip and can therefore be rotated around the first axis of rotation R to control the endless rotation of the tool 16 .

In the present case, the pressure element 300 shown in the figures is formed by a pincer element 308 which has a plurality of leg sections 310 which, in the non-force-loaded rest position, extend in a conical lateral surface around the axis of rotation R. The force application surface 304 is formed by a region of the leg section 300, wherein when a force is applied, the leg section 310 pivots about the corresponding pivot axis S1, S2.

In the 3 is that from the 2 known tweezer element 308 shown on an enlarged scale. The representation in the figure shows the plurality of leg sections 310 which are arranged in a cone shape around the first axis of rotation R and which form the tweezer element 308 . Advantageously, the plurality of leg sections 310 also forms a plurality of force application surfaces 304 , which is why the application of force can be introduced into the tweezer element 308 by any two leg sections 310 .

The tweezer element 308 can thus be gripped in particular between the thumb and forefinger of one hand of the operator in order to introduce a force into at least two, in particular opposite, leg sections 310 and thus pivot the leg sections 310 out of the conical rest position.

Furthermore, the 4 also the carrier element 302, which extends along the first axis of rotation R and which realizes the mechanical connection to the cardanic suspension.

In the 4 the already known tweezer element 308 is shown in a longitudinal section. This shows that the majority of the leg sections 310 are connected at the end to a coupling element 312 . The coupling element 312 results in a mechanical coupling of the leg sections 310, which is why pivoting occurs when at least two of the leg sections 310 are subjected to force from all leg portions 310 comes. This advantageously facilitates the operation of the tweezers element 308 since the pivoting movement can thus be introduced into the leg sections 310 independently of the alignment of the tweezers element 308 .

The sectional view also shows that the coupling element 312 includes a central rod 316 which is partially enclosed by the carrier element 302 and forms a guide section or sliding section 317 for the central rod 316 .

At a first end of the central rod 316, a first piston 320 is formed, which in particular has a cylindrical configuration and comprises teeth RR on the peripheral side. The toothing 322 is in active contact with an end section 311 of the leg sections 310, which is why it is advantageously possible that when at least two leg sections 310 are subjected to force in the region of the respective force application surfaces 304, all leg sections 310 pivot evenly.

In addition, the mechanical coupling of the leg sections 310 converts the pivoting movement of the leg sections 310 into a translational adjustment movement of the central rod 316 along an adjustment path in the guide or sliding section 317, which can then again advantageously be used to interact with the control unit 18.

The first piston 320 of the central rod 316 also forms an end stop 324 with the carrier element 302 in order to define and thus limit the maximum pivoting angle of the leg sections 310 .

Furthermore, tweezer element 308 has energy storage means 326, which are in operative contact with leg sections 310 via coupling element 312 in such a way that after pivoting out of the rest position, leg sections 310 are automatically returned to the rest position by an applied force due to energy storage means 326. This advantageously enables the medical instrument 12 to be controlled conveniently and precisely, since it is sufficient for the operation of the tweezers element 308 if a force is applied to compress the tweezers elements 308 .

In the exemplary embodiment depicted in the figures, the energy storage means 326 are configured as a spring element 328, which extends around the central rod 316 along the first axis of rotation R and is in operative contact with a second piston 313 of the central rod 316 in such a way that all leg sections 310 are affected by the spring element 328 and the coupling via the coupling element 312 can be pivoted automatically into the rest position.

In the 5 a further preferred embodiment of the input unit 10 according to the invention is shown, which is designed to operate the above-mentioned medical instrument 12 .

The input means 22 are formed here by a cardanically suspended pressure element 300, which has the configuration of an elastic inflation ball 332 or a bellows. The blower ball 332 is largely made of an elastic material and encloses an internal cavity 334, not shown here, which has a gas or normal air.

On the outer surface of the blower ball 332, it forms a plurality of force application surfaces 304 in order to elastically deform the blower ball 332 out of the rest position shown in the figure by applying force to at least two, in particular opposite, force application surfaces 304. Advantageously, the deformation of the blower ball 332 enables the tool 16 to be manipulated in order to control the closed position of the jaw part 17 in the preferred embodiment of the tool 16 as a jaw part 17 .

The cardanic suspension also records all movements introduced into the gripped blower ball 332 in order to control the tool 16 absolutely, i.e. true to movement and rotation, with all movements of the blower ball 332 being recorded from the basic position and true to pivot and rotation to the control of the tool 16 are formed.

In the 6 1, the inflation ball 332 is shown on an enlarged scale in a perspective view. The blower ball 332 extends along the first axis of rotation R and can thus be gripped by the operator's hand in the manner of a foosball table grip.

The blower ball 332 is designed to be airtight around the carrier element 302, which is guided out of the blower ball 332 in some areas and forms the mechanical connection to the cardanic suspension. Furthermore, protrusions 342 protrude on the outer surface of the blower ball 332 and extend along the axis of rotation R, ie parallel to the longitudinal extension of the blower ball 332 . One of the force application surfaces 304 for introducing the force is in each case between two immediately adjacent projections 342 Pressing the blower ball 332 formed. In other words, the protrusions 342 form haptics that improve the grip of the inflation ball 332 .

Furthermore, the blower ball 332 is in operative contact via the carrier element 302 with pressure measuring means 336 (not shown in detail) in order to precisely detect the force acting on the blower ball 332 and to enable this to be converted into an equivalent adjustment movement of the tool 16.

In addition, the blower ball 332 also includes means for influencing the air pressure 338, which are shown here purely schematically as a black box.

The means for influencing the air pressure 338 advantageously means that the air pressure within the blower ball 332 can be regulated in a targeted manner. Thus, on the one hand, the force for operating the blower ball 332 can be specified directly and, on the other hand, the blower ball 332 can be automatically returned to the original, non-force-loaded rest position, since additional air can be fed into the cavity 334 of the blower ball 332 or a closed system in the manner of a gas spring is realized.

Furthermore, it is particularly preferred if the means for influencing the air pressure 338 interact with feedback means 340, which are designed in such a way that as a result of the detection of a specific, in particular freely definable force acting on the blower ball 332, a short counter-pressure is generated by the introduction of additional Air can be generated in the cavity 334 of the blower ball 332 in order to generate a feedback signal which can be felt by the operator. Certain setting positions of the tool 16 can thus advantageously be communicated purely haptically in order to signal to the operator, for example, that the jaw part 17 is completely closed.

In the 7 is a longitudinal section of the from the 6 known blower ball 332 shown. The longitudinal section shows that the carrier element 302 runs along the first axis of rotation R and also extends in some areas inside the blower ball 332 .

Furthermore, the support element 302 is in operative contact with the cavity 334 through two connecting channel sections 344 in order to convey the air displaced by the compression of the blower ball 332 into the hollow-cylindrical support element 302, where the volume flow is evaluated by means of the pressure measuring means 336 in order to thus determine the Determine blower ball 332 applied force.

Reference List

10

input unit

12

medical instrument

14

shaft

16

Tool

17

jaw part

18

control unit

20

steering wires

22

input means

30

proximal end of the shaft

32

distal end of the shaft

34

jaw element of the tool

36

joint mechanism

38

swivel link

40

drive

300

pressure element

302

carrier element

304

force input surface

308

tweezers element

310

leg sections

311

end section

312

coupling element

316

central rod

317

sliding section

320

first piston

322

gearing

324

end stop

326

power storage means

328

spring element

330

second piston

332

blower ball

334

cavity

336

pressure sensing means

338

Means for influencing the air pressure

340

feedback means

342

protrusions

344

connecting channel section

1000

medical system

E

Tool extension axis

L

Long axis of the shaft

R

axis of rotation

S1

Pivot axis of the first leg section

S2

Pivot axis second leg section

X1

first angular range

X2

second angular range

X3

third angle range

z'

Extension axis of the input unit

x,y,z

Spatial axes of the medical instrument

ωE

rotation of the tool

ωz'

Rotational movement of the input unit

ωx,

Pivoting movement of the tool

ωy

Pivoting movement of the tool

QUOTES INCLUDED IN DESCRIPTION

This list of documents cited by the applicant was generated automatically and is included solely for the better information of the reader. The list is not part of the German patent or utility model application. The DPMA assumes no liability for any errors or omissions.

Patent Literature Cited

• DE 102019121092 A1 [0006, 0043, 0050, 0053]

Claims (15)

Input unit (10) for operating a medical instrument (12), comprising input means (22) gimballed about a first, a second and a third axis of rotation for the continuous, pivoting and/or rotationally accurate, preferably uninterrupted and/or absolute, implementation of an ergonomic limited user input, in particular a user movement, by an operator in an adjustment movement of a tool (16), in particular a jaw part (17), of the medical instrument (12), characterized in that the input means (22) comprise a pressure element (300) which is the first axis of rotation (R) is spatially designed in such a way that it can be gripped by one of the operator's hands, in particular in the manner of a foosball table grip, and can therefore be rotated about the first axis of rotation (R) to control an endless rotation of the tool (16), and wherein the pressure element (300) has at least three, preferably at least five, more preferably at least eight on the circumference , Force application surfaces (304) which, in order to adjust the tool (16), in particular to control a gripping and/or cutting functionality of the jaw part (17), are deformable and/or are adjustable. input unit after claim 1 , characterized in that each force application surface (304) is formed in regions by a leg section (310) encompassed by the pressure element (300), the leg section (310) being mounted pivotably about a pivot axis (S1, S2). input unit after claim 2 , characterized in that the pressure element (300) comprises a coupling element (312), all the leg sections (310), in particular the at least three, preferably at least five, more preferably at least eight, leg sections (310) being interconnected by the coupling element (312). are in operative contact such that the pivoting of one of the leg sections (310) leads to the pivoting of all leg sections (310). input unit after claim 3 , characterized in that all leg sections (310), in particular the at least three leg sections (310), are arranged and/or aligned in a rest position in a conical lateral surface and in a maximum pivoting position in a cylindrical lateral surface around the first axis of rotation (R). input unit after claim 3 or 4 , characterized in that the pressure element (300) comprises, on the inside, a support element (302) which extends along the first axis of rotation (R), and in that the coupling element (312) comprises a central rod (316) which extends from the support element (302 ) is guided, the central rod (316) having a first piston (320) at the end with teeth (322) formed on the circumference, which is in operative contact with the leg sections (310), in particular with an end section of the leg sections (310), to transform the pivoting of the leg portions (310) into a translational adjustment movement of the central rod (316). input unit after claim 5 , characterized in that the first piston (320) for limiting the maximum pivoting position of the leg portions (310) forms an end stop (324) with the carrier element (302). Input unit according to one of claims 2 until 6 , characterized in that the pressure element (300) comprises energy storage means (326), wherein the leg sections (310) are pivotable against the force of the energy storage means (326). input unit after claim 5 and 7 , characterized in that the energy storage means (310) are formed by a spring element (328) which interacts with the central rod (316) and a second piston (330) of the central rod (316) in such a way that the leg sections (310) after a force has been applied by the operator, automatically return to the original rest position. input unit after claim 1 , characterized in that the pressure element (300) is formed by a blower ball (332), in particular a bellows, made of an elastic material, in particular an elastomeric material, which forms the at least three force application surfaces (304) in an outwardly directed surface, wherein the force application surfaces (304) are distributed over the outer circumference of the blower ball (332). input unit after claim 9 , characterized in that the blower ball (332) is designed to be airtight around a carrier element (302) which is led out of the blower ball (332) in some areas and with pressure detection means (336) for detecting the force acting on the blower ball (332) as a result of the application of force is in operative contact, which is in particular received by the carrier element (302) and thus encompassed by the input unit (10). input unit after claim 9 or 10 , characterized in that the blower ball (332) comprises an internal cavity (334) and is in operative contact with means for influencing the air pressure (338) in the cavity (334), in particular a compressor, in order to increase the air pressure in the cavity (334). influence. input unit after claim 11 , characterized in that the means for influencing the air pressure (338) include feedback means (340), the feedback means (340) being designed such that in response to a specific application of force to the force application surfaces (304) with definable setpoint values, in particular for the Operator haptically perceptible / r, counter force and / or a counter impulse can be generated. Input unit according to one of claims 9 until 12 , characterized in that the blower ball (332) for forming and/or delimiting the force application surfaces (304) has a plurality of projections (342), in particular haptic projections, formed on the outside along the first axis of rotation (R) and extending along the first axis of rotation (R). Includes elements to improve tangibility and/or operability. Medical system (1000), in particular an end effector and/or surgical robot, with at least one input unit (10) according to the invention, which according to one of Claims 1 until 13 is formed, and with at least one medical instrument (12), comprising a hollow shaft (14) extending along a longitudinal axis (L) for receiving steering wires (20) for a tool (16), in particular a jaw part (17), the tool (16) arranged distally on the shank (14) along an extension axis (E) for medical application on the patient, a control unit (18) arranged proximally on the shank (14) which is connected to the tool (16) via the steering wires (20) are operatively connected in order to adjust the tool (16), in particular the jaw part (17), in particular to pivot it to a limited extent relative to the longitudinal axis (L) and/or to rotate it endlessly about the axis of extent (E) and/or or in particular to operate the gripping and/or cutting functionality of the jaw part (17). Medical system after Claim 14 , characterized in that the medical system (1000) comprises a spatially adjustable disk which is in operative contact with the steering wires (20) in order to move the tool (16) by means of the steering wires (20) along the longitudinal axis (L) of the shaft (14 ) limited to pivot, wherein the disc is endlessly rotatable together with the shaft (14) and the steering wires (20) about the longitudinal axis (L).

Images