DE19700402C2 - Instrument zur Kompensation des Handzitterns bei der Manipulation feiner Strukturen - Google Patents

Instrument zur Kompensation des Handzitterns bei der Manipulation feiner Strukturen

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Publication number
DE19700402C2
DE19700402C2 DE19700402A DE19700402A DE19700402C2 DE 19700402 C2 DE19700402 C2 DE 19700402C2 DE 19700402 A DE19700402 A DE 19700402A DE 19700402 A DE19700402 A DE 19700402A DE 19700402 C2 DE19700402 C2 DE 19700402C2
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DE
Germany
Prior art keywords
instrument
hand
instrument according
section
actuators
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Expired - Fee Related
Application number
DE19700402A
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English (en)
Other versions
DE19700402A1 (de
Inventor
Ferdinand Peer
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Peer Ferdinand Dr 86938 Schondorf De
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Individual
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Priority to DE19700402A priority Critical patent/DE19700402C2/de
Application filed by Individual filed Critical Individual
Priority to AT98904013T priority patent/ATE249789T1/de
Priority to PCT/DE1998/000043 priority patent/WO1998030165A1/de
Priority to DE59809626T priority patent/DE59809626D1/de
Priority to CA002248364A priority patent/CA2248364C/en
Priority to EP98904013A priority patent/EP0900055B1/de
Priority to US09/142,426 priority patent/US6238384B1/en
Publication of DE19700402A1 publication Critical patent/DE19700402A1/de
Application granted granted Critical
Publication of DE19700402C2 publication Critical patent/DE19700402C2/de
Priority to US09/835,950 priority patent/US20010012932A1/en
Anticipated expiration legal-status Critical
Expired - Fee Related legal-status Critical Current

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
    • A61B17/04—Surgical instruments, devices or methods, e.g. tourniquets for suturing wounds; Holders or packages for needles or suture materials
    • A61B17/06—Needles ; Sutures; Needle-suture combinations; Holders or packages for needles or suture materials
    • A61B17/062—Needle manipulators
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/70—Manipulators specially adapted for use in surgery
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/70—Manipulators specially adapted for use in surgery
    • A61B34/75—Manipulators having means for prevention or compensation of hand tremors
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25B—TOOLS OR BENCH DEVICES NOT OTHERWISE PROVIDED FOR, FOR FASTENING, CONNECTING, DISENGAGING OR HOLDING
    • B25B7/00—Pliers; Other hand-held gripping tools with jaws on pivoted limbs; Details applicable generally to pivoted-limb hand tools
    • B25B7/12—Pliers; Other hand-held gripping tools with jaws on pivoted limbs; Details applicable generally to pivoted-limb hand tools involving special transmission means between the handles and the jaws, e.g. toggle levers, gears
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25B—TOOLS OR BENCH DEVICES NOT OTHERWISE PROVIDED FOR, FOR FASTENING, CONNECTING, DISENGAGING OR HOLDING
    • B25B9/00—Hand-held gripping tools other than those covered by group B25B7/00
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25F—COMBINATION OR MULTI-PURPOSE TOOLS NOT OTHERWISE PROVIDED FOR; DETAILS OR COMPONENTS OF PORTABLE POWER-DRIVEN TOOLS NOT PARTICULARLY RELATED TO THE OPERATIONS PERFORMED AND NOT OTHERWISE PROVIDED FOR
    • B25F5/00—Details or components of portable power-driven tools not particularly related to the operations performed and not otherwise provided for

Landscapes

  • Engineering & Computer Science (AREA)
  • Health & Medical Sciences (AREA)
  • Surgery (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Mechanical Engineering (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
  • Biomedical Technology (AREA)
  • Robotics (AREA)
  • Medical Informatics (AREA)
  • Molecular Biology (AREA)
  • Animal Behavior & Ethology (AREA)
  • General Health & Medical Sciences (AREA)
  • Public Health (AREA)
  • Veterinary Medicine (AREA)
  • Manipulator (AREA)
  • Endoscopes (AREA)
  • Surgical Instruments (AREA)

Description

Das manuelle Arbeiten an feinen Strukturen wird durch die als Zittern oder Tremor bezeichnete unwillkürlich auftretende, weitgehend rhythmisch aufeinanderfolgende Kontraktion antagonistisch wirkender Muskeln erheblich erschwert. Dies macht sich insbesondere in der Mikrochirurgie bei Nähten an feinen Nerven oder Gefäßen bemerkbar, verlängert die Operationsdauer und verringert die Qualität des Ergebnisses.
Um dennoch filigrane Tätigkeiten durchführen zu können, verwendet man zum Beispiel Auflagen für die Hände oder Mikromanipulatoren, welche gröbere Bewegungen in feine Auslenkungen um­ setzen.
Aus der US 4800802 ist ein Instrument vorbekannt, bei dem Aktoren vorhanden sind, um einen Toleranzausgleich bei Fügevorgängen vorzunehmen. Eine Bewegungskompensation ist damit jedoch nicht möglich.
Es ist die Aufgabe der Erfindung, ein handgehaltenes Instrument zur manuellen Manipulation feiner Strukturen zu schaffen, bei dem sich unerwünschte Bewegungen, zum Beispiel Tremor, nicht oder zumindest weniger stark auf die Manipulation auswirken.
Diese Aufgabe wird durch die Merkmale des Anspruches 1 gelöst.
Der Erfindung liegt der Gedanke zugrunde, bei handgehaltenen Instrumenten die unerwünschten Bewegungen zu evaluieren und durch Aktoren die Arbeitsspitze des Instruments - bei chirurgischen Anwendungen wäre dies beispielsweise ein Nadelhalter - zur Kompensation so auszulenken, daß sich das Handzittern an der Spitze nicht bemerkbar macht.
Da sich der physiologische Tremor in einem Bereich zwischen etwa 5 und 15 Schlägen/Sekunde abspielt, kann er von langsamer ablaufenden Willkürbewegungen, beispielsweise durch eine fre­ quenzselektive Filterung, unterschieden werden.
Bewegungserfassung
Zur Erfassung der Bewegung des Instruments stehen prinzipiell mehrere, auch untereinander kom­ binierbare Möglichkeiten zur Auswahl:
  • 1. An einem oder mehreren Abschnitten des Instruments sind Beschleunigungs- und Winkelge­ schwindigkeitssensoren angebracht, die ein mit der Bewegung des Instruments korreliertes me­ chanisches oder elektrisches Signal liefern.
    Für die Realisierung der Sensoren kommen rein mechanische, elektromagnetische, kapazitive, piezoelektrische oder -resistive Funktionsprinzipen in Frage. Die Sensoren müssen die Bewe­ gung mit ausreichender Empfindlichkeit und Genauigkeit erfassen. Dabei ist der Einsatz von Sensoren denkbar, die ihr Empfindlichkeitsmaximum in dem Frequenzbereich aufweisen, in dem sich die unerwünschten Bewegungen abspielen und damit ein mit dem Tremor korreliertes Aus­ gangssignal liefern. Die Sensoren können so angeordnet sein, daß sie sowohl Translations- als auch Rotationsbewegungen des Instruments erfassen können.
  • 2. Über eine repetitive oder kontinuierliche Erfassung von Lage und Orientierung bestimmter Ab­ schnitte des Instruments läßt sich deren Bewegung verfolgen. Die Erfassung kann in einer, zwei oder drei Dimensionen stattfinden. Dies kann drahtlos über ein Sender-Empfänger-System am Instrument und an Bezugspunkten, die sich im fest im Raum oder auf dem bearbeiteten Objekt befinden, realisiert sein.
    Es ist, insbesondere bei der Anwendung in der Mikrochirurgie auch möglich, die Bewegung des sich im Operationsmikroskop darstellenden Abschnitts des Instrumentes zu verfolgen. Das Mi­ kroskopbild wird einer Bilderfassungseinheit zugeführt, welche die Positionen von bestimmten Merkmalen oder optischen Markierungen auf dem Instrument in der Abbildung bestimmt und anhand der zeitlich aufeinanderfolgenden Positionsdaten die Bewegung errechnet. Dazu können auch als "Tracking" bekannte Objektverfolgungsverfahren herangezogen werden.
    Erfaßt man zusätzlich die sich ebenfalls im Operationsmikroskop darstellende Bewegung des be­ arbeiteten Gewebes, so kann dessen beispielsweise durch Zittern des Patienten verursachte Be­ wegung mit in den Kompensationsprozeß einbezogen werden.
  • 3. Mit auf der Haut des Instrumentenbedieners angebrachten Oberflächenelektroden können die Aktionspotentiale des darunterliegenden Muskels registriert werden (sog. Elektromyographie). Ist einem Regelsystem - beispielsweise aufgrund der Fähigkeit zur Adaptation - die Bewegung, die der entsprechende Muskel bei Innervation hervorruft, bekannt, kann durch Kombination der Elektrodensignale auf die am Instrument zu erwartende Auslenkung geschlossen werden. Bei diesem Verfahren würde dem eigentlichen Einsatz des Instruments eine "Lernphase" voran­ gehen, in der die Signalverarbeitungseinheit die elektromyographischen Signale mit Ergebnissen anderer Bewegungserfassungsverfahren korreliert und sich dadurch auf individuelle Merkmale des Bedieners und auf die Positionierung der Ableitelektroden einstellt.
Signalverarbeitung
Soweit die Bewegungserfassung nicht bereits ein Signal liefert, das der auf den Tremor zurückzu­ führenden Bewegung entspricht und damit zur direkten Ansteuerung der Aktoren geeignet ist, wird das Signal einer Verarbeitung unterzogen.
Im allgemein wird zunächst eine Verstärkung des Sensorsignals notwendig sein. Daran schließt sich eine Analyse an, die anhand von Kriterien wie Frequenz, Amplitude, Geschwindigkeit und Richtung beabsichtigte von unabsichtlichen Bewegungen unterscheidet. Die Kriterien können vorgegeben sein, sich einstellen lassen oder sich selbständig anpassen. Anhand der Daten wird ein Signal ge­ wonnen, mit dem die Aktoren so angesteuert werden, daß diese an der Arbeitsspitze des Instru­ ments Relativbewegungen zur Kompensation der unerwünschten Auslenkungen des handgehaltenen Abschnitts ausführen.
Aktorik
Als Aktoren kommen sowohl rein mechanische Anordnungen als auch elektrische Stellglieder, die beispielsweise auf elektromagnetischen, kapazitiven oder piezoelektrischen Prinzipien basieren, in Frage. Die Aktoren führen Relativbewegungen zwischen dem handgehaltenen und dem beweglichen Abschnitt des Instruments aus. Sie müssen die gewünschten Bewegungen mit ausreichender Ge­ schwindigkeit, Kraft und Präzision ausführen können. Die Aktoren können so angeordnet sein daß sie sowohl Translations- als auch Rotationsbewegungen bewirken können. Für bestimmte Anforde­ rungen kann es wünschenswert sein, daß die Aktoren auch vorübergehend eine steife Verbindung zwischen dem handgehaltenen und dem beweglichen Abschnitt herstellen können.
Die Arbeitsspitze des Instruments kann sowohl fest montiert als auch auswechselbar ausgelegt sein. Aktionen, wie das Öffnen und Schließen von Greifern oder Pinzetten, die notwendigerweise vom handgehaltenen Abschnitt des Instruments aus erfolgen, können über eine flexible Kraftübertragung, beispielsweise eine biegsamen Schubstange, welche die Aktorik nicht behindert oder über elektrisch betätigte Stellglieder am bewegten Abschnitt ausgelöst werden.
Zusatzfunktionen
Insbesondere für die Anwendung in der Mikrochirurgie kann es sinnvoll sein, die im Instrument bereits vorhandenen Aktoren auf Knopfdruck so anzusteuern, daß sie die Arbeitsspitze des Instru­ ments in Schwingungen mit Frequenzen im Schall- oder Ultraschallbereich versetzen und - beispielsweise bei der Funktion als Nadelhalter - durch die schnellen Mikrobewegungen das Ein­ dringen einer Nähnadel in Gewebe erleichtern.
Ausführungsbeispiel
Ein Ausführungsbeispiel der Erfindung ist nachstehend unter Bezugnahme auf die zugehörigen Zeichnungen näher erläutert.
In Fig. 1 ist mit (1) der handgehaltene Abschnitt eines medizinischen Instruments bezeichnet. Auf diesem Abschnitt sitzen Gruppen von Beschleunigungmessern und Winkelgeschwindigkeitssensoren (2). Über eine flexible Verbindung (5) ist mit dem handgehaltenen Abschnitt (1) ein beweglicher Abschnitt (4) verbunden, an dem sich als Arbeitsspitze zum Beispiel ein Nadelhalter befindet. Der bewegliche Abschnitt läßt sich über Anordnung von piezoelektrischen Aktoren (3) relativ zum handgehaltenen Abschnitt (1) bewegen. Die Aktoren (3) sind so angeordnet, daß sie Auslenkungen in alle Richtungen quer zur Hauptachse des Instruments bewirken können.
Im handgehaltenen Abschnitt (1) sitzt eine von einer Batterie gespeiste Steuereinheit, welche die von den Sensoren (2) gelieferten Daten verstärkt, kontinuierlich analysiert und miteinander verrech­ net. Anhand einstellbarer Kriterien wie Beschleunigung, Frequenz, Richtung und Amplitude der Bewegung unterscheidet die Steuereinheit gewünschte Bewegungen vom Handtremor des Bedieners. Zur Kompensation des Handtremors wird die Anordnung der Aktoren (3) in einer Kombination so angesteuert, daß diese nach Richtung, Geschwindigkeit und Amplitude angepaßte Relativbewegun­ gen des beweglichen Teils (4) bewirken, und sich die unerwünschten Bewegungen des Handgriffs (1) an der Arbeitsspitze des Instrumentenaufnehmers (4) nicht bemerkbar machen.
Zum Öffnen und Schließen von Nadelhaltern, Pinzetten, oder Scheren dient eine im Bereich der flexiblen Verbindung (5) biegsam ausgeführte Schubstange (7), die im Inneren des beweglichen Abschnitts (4) verläuft. Die Schubstange wird über einen Hebel (6) betätigt. Der Abdichtung der Mechanik dient ein flexibler Balg (8) an der Stirnseite des handgehaltenen Abschnitts (1).
Die Funktion des Instruments ist zusätzlich in Fig. 2 dargestellt.
Eine schnelle, durch Tremor bedingte, unbeabsichtigte Nickbewegung des handgehalten Abschnitts (4) würde zu einer unerwünschten Auslenkung der Arbeitsspitze (11) des Instruments führen. Um dies zu verhindern, werden zur Kompensation die Aktoren (3) so angesteuert, daß sich der bewegli­ che Abschnitt (4) entgegengesetzt bewegt, und die Arbeitsspitze (11) in Ruhe bleibt.

Claims (13)

1. Instrument zur manuellen Bearbeitung feiner Strukturen, bestehend aus
  • a) einem handgehaltenen Abschnitt (1),
  • b) einem gegenüber dem handgehaltenen Abschnitt (1) beweglichen Abschnitt (4),
  • c) mindestens einem Sensor (2), und
  • d) Aktoren (3) die so ausgesteuert werden können, daß sie Relativbewegungen zwischen dem handgehaltenen und dem beweglichen (1 bzw. 4) Abschnitt bewirken, wodurch unerwünschte Bewegungen des handgehaltenen Abschnitts (1) zumindest teilweise kompensiert werden.
2. Instrument nach Anspruch 1, dadurch gekennzeichnet, daß der mindestens eine Sensor (2) die Bewegung des handgehaltenen Abschnitts (1) erfaßt, wobei sein Ausgangssignal zur Ansteue­ rung der Aktoren (3) herangezogen wird.
3. Instrument nach Anspruch 1 oder 2, dadurch gekennzeichnet, daß der mindestens eine Sensor (2) am handgehaltenen Abschnitt (1) angebracht ist.
4. Instrument nach Anspruch 1 oder 2, dadurch gekennzeichnet, daß der mindestens eine Sensor (2) am beweglichen Abschnitt (1) angebracht ist.
5. Instrument nach Anspruch 1 oder 2, dadurch gekennzeichnet, daß der mindestens eine Sensor (2) zwischen dem handgehaltenen und dem beweglichen Abschnitt (1 bzw. 4) angebracht ist.
6. Instrument nach einem der vorstehenden Ansprüche, dadurch gekennzeichnet, daß der minde­ stens eine Sensor (2) die Beschleunigung erfaßt.
7. Instrument nach einem der Ansprüche 1 bis 5, dadurch gekennzeichnet, daß der mindestens eine Sensor (2) zur repetitiven oder kontinuierlichen Positionserfassung in einer, zwei oder drei Di­ mensionen vorgesehen ist.
8. Instrument nach Anspruch 7, dadurch gekennzeichnet, daß die Positionserfassung optisch über den Strahlengang eines Operationsmikroskops erfolgt.
9. Instrument nach einem der Ansprüche 1 bis 8, dadurch gekennzeichnet, daß eine Steuer- oder Regeleinheit die Aktoren (3) aufgrund der Daten des mindestens einen Sensors (2) ansteuert.
10. Instrument nach einem der Ansprüche 1 bis 9, dadurch gekennzeichnet, daß elektromyogra­ phisch erfaßte Potentiale zur Ansteuerung der Aktoren (3) herangezogen werden.
11. Instrument nach einem der Ansprüche 1 bis 10, dadurch gekennzeichnet, daß Kompensations­ bewegungen beim Auftreten von Bewegungen des handgehaltenen oder des beweglichen Ab­ schnitts in einem vorbestimmten oder einstellbaren oder sich selbständig anpassenden Frequen- und/oder Amplitudenbereich stattfinden.
12. Instrument nach einem der Ansprüche 1 bis 11, dadurch gekennzeichnet, daß die Aktoren (3) so angesteuert werden können, daß sich eine steife Verbindung zwischen dem handgehaltenen Ab­ schnitt (1) und dem beweglichen Abschnitt (4) ergibt.
13. Instrument nach einem der Ansprüche 1 bis 12, dadurch gekennzeichnet, daß die Aktoren (3) so angesteuert werden können, daß diese Schwingungen am beweglichen Abschnitt (4) erzeugen.
DE19700402A 1997-01-08 1997-01-08 Instrument zur Kompensation des Handzitterns bei der Manipulation feiner Strukturen Expired - Fee Related DE19700402C2 (de)

Priority Applications (8)

Application Number Priority Date Filing Date Title
DE19700402A DE19700402C2 (de) 1997-01-08 1997-01-08 Instrument zur Kompensation des Handzitterns bei der Manipulation feiner Strukturen
PCT/DE1998/000043 WO1998030165A1 (de) 1997-01-08 1998-01-07 Instrument zur kompensation des handzitterns bei der manipulation feiner strukturen
DE59809626T DE59809626D1 (de) 1997-01-08 1998-01-07 Instrument zur kompensation des handzitterns bei der manipulation feiner strukturen
CA002248364A CA2248364C (en) 1997-01-08 1998-01-07 Instrument for compensating for hand tremor during the manipulation of fine structures
AT98904013T ATE249789T1 (de) 1997-01-08 1998-01-07 Instrument zur kompensation des handzitterns bei der manipulation feiner strukturen
EP98904013A EP0900055B1 (de) 1997-01-08 1998-01-07 Instrument zur kompensation des handzitterns bei der manipulation feiner strukturen
US09/142,426 US6238384B1 (en) 1997-01-08 1998-01-07 Instrument for compensating for hand tremor during the manipulation of fine structures
US09/835,950 US20010012932A1 (en) 1997-01-08 2001-04-16 Instrument for compensating for hand tremor during the manipulation of fine structures

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
DE19700402A DE19700402C2 (de) 1997-01-08 1997-01-08 Instrument zur Kompensation des Handzitterns bei der Manipulation feiner Strukturen

Publications (2)

Publication Number Publication Date
DE19700402A1 DE19700402A1 (de) 1998-07-09
DE19700402C2 true DE19700402C2 (de) 1999-12-30

Family

ID=7816969

Family Applications (2)

Application Number Title Priority Date Filing Date
DE19700402A Expired - Fee Related DE19700402C2 (de) 1997-01-08 1997-01-08 Instrument zur Kompensation des Handzitterns bei der Manipulation feiner Strukturen
DE59809626T Expired - Lifetime DE59809626D1 (de) 1997-01-08 1998-01-07 Instrument zur kompensation des handzitterns bei der manipulation feiner strukturen

Family Applications After (1)

Application Number Title Priority Date Filing Date
DE59809626T Expired - Lifetime DE59809626D1 (de) 1997-01-08 1998-01-07 Instrument zur kompensation des handzitterns bei der manipulation feiner strukturen

Country Status (5)

Country Link
US (2) US6238384B1 (de)
EP (1) EP0900055B1 (de)
AT (1) ATE249789T1 (de)
DE (2) DE19700402C2 (de)
WO (1) WO1998030165A1 (de)

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DE102004014666A1 (de) * 2004-03-19 2005-11-17 Aesculap Ag & Co. Kg Chirurgischer Antrieb, chirurgisches Antriebssystem und Verfahren zum Betreiben eines chirurgischen Antriebssystems
DE102023001489A1 (de) 2023-04-15 2024-10-17 Kastriot Merlaku 1 - 11Zitterbewegungs-Stabilisator für feine Handwerks-Kleingeräte

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US6238384B1 (en) 2001-05-29
US20010012932A1 (en) 2001-08-09
DE59809626D1 (de) 2003-10-23
EP0900055B1 (de) 2003-09-17
DE19700402A1 (de) 1998-07-09
ATE249789T1 (de) 2003-10-15
WO1998030165A1 (de) 1998-07-16

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