EP2991573A1 - Robot équipé d'un outil - Google Patents

Robot équipé d'un outil

Info

Publication number
EP2991573A1
EP2991573A1 EP14709888.3A EP14709888A EP2991573A1 EP 2991573 A1 EP2991573 A1 EP 2991573A1 EP 14709888 A EP14709888 A EP 14709888A EP 2991573 A1 EP2991573 A1 EP 2991573A1
Authority
EP
European Patent Office
Prior art keywords
protective cap
distal
shaft
sleeve
robot according
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.)
Ceased
Application number
EP14709888.3A
Other languages
German (de)
English (en)
Inventor
Sebastian LOHMEIER
Wolfgang Schober
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
KUKA Deutschland GmbH
Original Assignee
KUKA Roboter GmbH
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
Application filed by KUKA Roboter GmbH filed Critical KUKA Roboter GmbH
Publication of EP2991573A1 publication Critical patent/EP2991573A1/fr
Ceased legal-status Critical Current

Links

Classifications

    • 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
    • A61B34/30—Surgical robots
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
    • A61B17/00234—Surgical instruments, devices or methods, e.g. tourniquets for minimally invasive surgery
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
    • A61B17/00234—Surgical instruments, devices or methods, e.g. tourniquets for minimally invasive surgery
    • A61B2017/00292—Surgical instruments, devices or methods, e.g. tourniquets for minimally invasive surgery mounted on or guided by flexible, e.g. catheter-like, means
    • A61B2017/00336—Surgical instruments, devices or methods, e.g. tourniquets for minimally invasive surgery mounted on or guided by flexible, e.g. catheter-like, means with a protective sleeve, e.g. retractable or slidable
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
    • A61B2017/00982—General structural features
    • A61B2017/00991—Telescopic means
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
    • A61B90/08—Accessories or related features not otherwise provided for
    • A61B2090/0801—Prevention of accidental cutting or pricking
    • A61B2090/08021—Prevention of accidental cutting or pricking of the patient or his organs

Definitions

  • the present invention relates to a robot with a tool, in particular a surgical instrument, which has a shaft with a distal joint arrangement with at least one degree of freedom, which can be received in a protective cap, a corresponding protective cap and a method for handling a
  • one or more robots each carry a surgical instrument whose shaft partially engages the interior of a patient through a natural or artificial access, in particular a trocar sleeve.
  • the shaft has a distal joint arrangement with one or more proximally actuated degrees of freedom through which an end effector is additionally actuated inside the patient, for example open a pair of pliers and closed, and / or misaligned, for example, can be pivoted.
  • an end effector Before or after the intracorporeal use of the surgical instrument, it may come to ambient contacts of the end effector and the distal hinge assembly of the robot-guided instrument, in particular during hectic operating surgery.
  • Object of the present invention is to control the operation of a robot, the
  • Tool in particular a surgical instrument leads to improve.
  • Claim 12 provides a protective cap for a tool of such a robot under protection, claim 13 a method of handling such a tool.
  • the subclaims relate to advantageous developments.
  • a robot according to one aspect of the present invention in one embodiment comprises a kinematics having at least six, preferably at least seven
  • Degrees of freedom in particular rotational degrees of freedom, between a robot base and a tool flange on which, preferably detachably, a robot-guided Tool, in particular a surgical instrument, is attached.
  • the tool or instrument has a, preferably hollow, shaft, which in a
  • Execution at least substantially, is tubular, preferably with an at least partially circular and / or at least partially straight, in particular polygonal, outer contour. Additionally or alternatively, the shaft can be articulated and / or have one or more flexible sections.
  • the shaft has a distal joint arrangement with one or more, preferably proximally actuated, degrees of freedom, in particular at least one rotary degree of freedom for pivoting against a shaft (longitudinal) axis, at least one translational degree of freedom and / or at least one functional degree of freedom for actuation, in particular opening, closing and / or adjusting, an end effector of the tool shank.
  • the distal shaft end may also be one or more flexible
  • aktuierbar in particular angled, to represent degrees of freedom, in particular to move an end effector.
  • Such elastic or distributed joints are also referred to as joints of a distal joint arrangement in the sense of the present invention.
  • degrees of freedom of the distal joint arrangement may in particular be rigid body degrees of freedom and / or elastic degrees of freedom, for example an angled portion of a flexible segment.
  • the end effector may be formed in one piece, in particular as a scalpel, needle or the like, or in several parts, in particular as a pair of scissors, clamps, pliers.
  • It may have an opening for receiving and / or discharging, in particular gaseous and / or liquid, fluid and / or electromagnetic radiation, in particular a sucker, an injection nozzle or an optic of a camera or a laser.
  • Distal within the meaning of the present invention is in particular a robotferneres end of the shaft, a direction from the robot towards this end, in particular the end effector, to or beyond, or a robot remote position, in particular relative to a proximal or robotic position.
  • Proximal is in particular a robot nearer end of the shaft, a direction of the
  • the shaft is provided in an embodiment for partial insertion by a natural or artificial access, in particular a trocar sleeve, into the interior of a patient or furnished and / or has a proximal drive for actuating at least one, preferably all degrees of freedom of the distal hinge assembly.
  • the shaft may be in addition to the degrees of freedom of the distal
  • a distal joint arrangement is in particular a
  • a protective cap is arranged displaceably on the shaft, in particular guided, and displaceable therefrom from a distal to a proximal position, wherein the protective cap receives the articulation arrangement in the distal position, preferably its outer contour shell surface at least in the form of a sleeve or cage Essentially encloses, and where the
  • the protective cap in the distal position also additionally encloses, at least substantially, the end effector. Accordingly, in one aspect, the protective cap is prior to a tool insert, in particular an insertion of an end effector in one
  • Patient moved to the shaft of the tool from the distal to the proximal position.
  • This can be done in a development by the robot itself, in particular by connecting or contacting the protective cap with a sleeve, in particular a trocar sleeve.
  • the robot can be the distal one
  • the protective cap of the tool Position the protective cap of the tool on the trocar sleeve and move it proximally on the shaft by inserting the tool shank. After use of the tool, the protective cap is moved in one embodiment, preferably automatically, on the shank of the tool from the proximal back to the distal position. In particular, for this purpose, the protective cap can be biased in an embodiment in the distal direction.
  • the robot has a sleeve, in particular a trocar sleeve, which, preferably detachably, can be connected or connected to the protective cap.
  • Sleeve and protective cap are positively connected or connected in one embodiment.
  • protective cap and sleeve may have a, preferably centering, guide.
  • the protective cap at a distal end face has a, preferably conical, outer contour and the sleeve at one proximal end face for this purpose, at least substantially complementary inner contour.
  • the sleeve on a proximal end face a, preferably conical, outer contour and the protective cap on a distal
  • the guide can be symmetrical or
  • Protective cap and sleeve in mutually rotated orientations to allow or exclude.
  • sleeve and cap are rotatably connected, rotatable in another.
  • the sleeve and the protective cap can be positively connected or connected.
  • a magnet arrangement with one or more permanent and / or electromagnets is arranged on the protective cap, in particular on a distal end of the protective cap, and / or on the sleeve, in particular on a proximal end of the sleeve, magnetically around the sleeve and protective cap , in particular switchable, to connect with each other.
  • the sleeve and protective cap can be frictionally connected or connected.
  • the protective cap has a distal cover that covers the end effector in the distal direction when the cover is closed.
  • the distal cover can be open and closed again, in particular reversibly.
  • the distal cover can have one or more flaps which can be pivoted and / or pushed, which in a further development point outwards or away from the shaft axis and / or inwards or toward the shaft axis
  • the distal cover may include one or more
  • the segments Have segments that are elastically deformable in a development to the outside and / or inward.
  • the segments can be connected to material thin points or
  • Swivel film hinges as a whole or as flaps. Additionally or alternatively, the segments themselves may be elastically deformed. Preferably, the segments are through material thin spots or through slots
  • the distal cover can be opened in particular by the displacement of the protective cap in the proximal direction by the end effector.
  • the cover can be reversibly open and closed again, In particular, elastically folding away flaps or segments can automatically close again when the protective cap is brought back into the distal position.
  • the end effector can also open the cover in a separating manner, in particular by disassembling the cover into segments along material thin points, wherein these segments can also elastically reset in a further development.
  • the cover is detachable, in particular detachable and Mibefestigbar, attachable to the protective cap or
  • the protective cap can be locked in the distal position
  • the protective cap can be locked in the same or other way in the proximal position, in particular, to a
  • the protective cap can be locked in the same or another way in one or more discrete intermediate positions or also continuously or arbitrarily between the distal and the proximal position.
  • the protective cap can be arrestably locked or locked in the distal position, the proximal position and / or at least one intermediate position. This can be done in particular form-fitting, in particular by
  • twiststing the cap on the shaft such as a bayonet lock, or by a locking latch, in which engage one or more hooks on cap or shaft corresponding undercuts on the shaft or protective cap.
  • the protective cap can be positively locked or locked, in particular by friction and / or magnetically.
  • the protective cap in the distal position, in the proximal position and / or between the distal and the proximal position on the shaft rotatably guided.
  • the shaft and / or the protective cap can have one or more radial projections, which are guided in corresponding longitudinal grooves in the protective cap or the shaft.
  • the shaft may be a non-all-round or not completely round, in particular at least have partially planar, preferably polygonal, outer contour and the
  • the protective cap in particular proximally, have a bore which engages through the shaft in order to guide the protective cap on the shaft slidably.
  • the protective cap has a convergent, in particular distal, insertion opening.
  • the convergent insertion opening may in particular have a bevel or a convex curvature in a meridian section through the shaft axis, or the convergent insertion opening may be formed as a chamfer or rounding, in particular elliptically or as a radius.
  • the protective cap is captively tied to the shaft and / or the robot.
  • a bore of the protective cap which is engaged by the shaft can be closed or not slotted over its circumference and the shaft can have at least one radial projection, in particular a radial collar, whose outer diameter is greater than the inner diameter of the bore and thus acts as a stop, the distal removal of the cap prevents or at least difficult.
  • Protective cap also by a, preferably biased, traction means, in particular a safety rope, be tied to the shaft and / or the robot.
  • the protective cap is made, at least in part, of an elastic material. It may be wholly or partly made of metal and / or one or more plastics, in particular thermoplastics, silicone and / or, preferably thermoplastic, elastomers. In one embodiment, the protective cap is formed in one piece or in one piece.
  • the protective cap can be designed in several parts.
  • it may include a guide sleeve for guiding on the shaft and a cover sleeve for receiving the distal hinge assembly.
  • Guide and cover sleeve are detachably connected or connected to each other in one embodiment, in particular positive and / or non-positive, in particular frictional and / or magnetic.
  • the entire protective cap or one or more parts of the protective cap, in particular a guide sleeve and / or cover sleeve can be removed from the shaft.
  • the protective cap in particular the guide sleeve and / or the cover, in one embodiment, a particular continuous slot, which extends in a design of a proximal to a distal end side.
  • Execution extend one or more slots from a penetrated by the shaft bore of the protective cap, in particular guide sleeve, so that the protective cap or guide sleeve with elastic widening of the bore of the shaft is removable.
  • the protective cap can completely cover the joint arrangement in the distal position in the circumferential direction, at least substantially, or have an at least substantially closed lateral surface. Additionally or alternatively, the protective cap in the distal position in the distal position in the distal direction, at least substantially, completely cover or at least substantially, closed distal cover. Additionally or alternatively, the protective cap can completely cover the joint arrangement in the distal position in the proximal direction, at least substantially, in particular, except for a hole through which the shaft passes, or at least one
  • the protective cap may be cage-like and have a lateral surface, distal and / or proximal end surface, each having one or more openings.
  • FIG. 1 shows a part of a shaft of a surgical instrument with a
  • FIG. 1 connected trocar sleeve ( Figure 1 (b)) of a robot according to an embodiment of the present invention
  • FIG. 2 one-piece protective caps according to two embodiments of the present invention
  • FIG. 3 shows a guide and a cover of a protective cap after a
  • Embodiment of the present invention in plan view (Fig. 3 (a)) and sectional view (Fig. 3 (b));
  • Fig. 4 protective caps according to two embodiments of the present invention with different convergent insertion openings
  • Fig. 5 a protective cap and a trocar sleeve connectable thereto after two
  • Fig. 6 Protective caps according to four embodiments of the present invention with different covers;
  • Fig. 7 a rotatably guided on the shaft and captivated captive
  • Fig. 8 a rotatably guided on the shaft and captivated captive
  • Fig. 9 a rotatably guided on the shaft and captivated captive
  • Fig. 10 a rotatably guided on the shaft and captivated captive
  • Fig. 1 1 a captive on the shaft captive cap after a
  • FIG. 12 shows a protective cap locked to the shaft in the distal position according to an embodiment of the present invention
  • FIG. 13 shows a protective cap locked in the distal position on the shaft according to an embodiment of the present invention
  • FIG. 14 shows a protective cap locked in the distal position on the shaft according to an embodiment of the present invention
  • FIG. 5 shows a shaft of a surgical instrument with an end effector, a protective cap and a trocar sleeve connected thereto of a robot according to an embodiment of the present invention
  • FIG. 16 shows a shaft of a surgical instrument with an end effector, a distally biased protective cap and a trocar sleeve of a robot according to an embodiment of the present invention; and a shaft of a surgical instrument having an end effector, a distally biased protective cap and a trocar sleeve of a robot according to an embodiment of the present invention.
  • Fig. 1 shows a part of a shaft 1 of a surgical instrument of a
  • Robot (left not shown in Fig. 1) according to an embodiment of the present invention with an end effector 2 and a distal joint assembly 3 with two rotational degrees of freedom and a protective cap 4, the distal position shown in Fig. 1 (a) on the shaft in an in 1 (b) is displaceable by the robot putting on the protective cap on a trocar sleeve 5 and guiding the instrument shaft into or through it (from left to right in the sequence of FIGS. 1 (a)-1 ( b)).
  • the protective cap receives the distal hinge assembly as well as the end effector, in the proximal position ( Figure 1 (b)) the hinge assembly and End effector from the protective cap and the trocar sleeve distally (to the right in Fig. 1) forth.
  • the protective cap by the robot on the shaft of the instrument through the Contacting the trocar sleeve that is, a connection with the trocar sleeve shifted from the distal to the proximal position by the robot pushes the instrument shaft distal in the trocar sleeve or further through this trocar sleeve.
  • the protective cap connected to the trocar sleeve is displaced from the proximal to the distal position by the robot on the shaft of the tool as the robot pulls the instrument shaft proximally out of the trocar sleeve or trocar sleeve.
  • the protective cap may have a distal cover 6 which, in one embodiment, is separably removable prior to first connection to the trocar sleeve.
  • the distal cover may also be designed as a pivotable flap, membrane to be pierced or the like.
  • Fig. 2 shows in Fig. 1 corresponding representation of one-piece protective caps according to two embodiments of the present invention. Corresponding elements are denoted by identical reference numerals, so that hereinafter only on the
  • the one-piece, tubular protective cap 4 has a proximal (left in Fig. 2) smaller diameter portion 4a for guiding the protective cap to the shaft (not shown) and a distal (right in Fig. 2) larger diameter section 4b to show a larger one
  • proximal portion 4a As can be seen in the section of Fig. 1, a bore formed, which passes through the shaft.
  • the protective cap is slidably guided on the shaft.
  • the protective cap can be detachable from the shaft and for this purpose in particular have a slot (not shown) extending from this bore, which allows a radial widening and distal removal of the protective cap from the shaft.
  • the protective cap can be captively tied to the shaft.
  • the protective cap can in particular made of plastic, preferably a hard or soft thermoplastic, thermoplastic elastomer, silicone and / or metal.
  • the distal portion 4b is formed as a bellows.
  • Fig. 3 shows in Fig. 1, 2 corresponding representation of a guide sleeve 4.1 and connectable thereto (Fig. 3 (a)) or connected (Fig. 3 (b)) cover sleeve 4.2 a protective cap according to an embodiment of the present invention in plan view (Fig. 3 (a)) and sectional view (Fig. 3 (b)).
  • Corresponding elements are denoted by identical reference numerals, so that subsequently only the differences from the other illustrated embodiments and, moreover, reference is made to the description thereof.
  • the guide sleeve 4.1 is removably or captively guided on the shaft displaceable, the cover sleeve 4.2 with the guide sleeve form-fitting and / or, for example by a press fit, frictionally connected, so that it can be deducted from the guide sleeve and the instrument shaft.
  • Fig. 4 shows in Fig. 1, 3 (b) corresponding representation of protective caps 4 according to two embodiments of the present invention. Corresponding elements are denoted by identical reference numerals, so that hereinafter only on the
  • the protective caps 4 are in an intermediate position between the distal position in which they receive the end effector and the distal joint assembly (see Figures 1 (a), 3 (b)) and the proximal position (see Figs 1 (b)) in which the distal hinge assembly fully protrudes from the protective cap.
  • the protective caps 4 each have a convergent distal (right in FIG. 4)
  • Fig. 4 (a) a chamfer 4c, in the embodiment of Fig. 4 (b) an elliptical curve 4d.
  • the distal joint arrangement is aligned, at least substantially, with the shaft axis when the protective cap 4 is in the displaced distal position while the joint assembly is inserted through the convergent insertion opening in the protective cap and received therein.
  • Fig. 5 shows in Fig. 1 (a) corresponding representation protective caps 4 and thus connectable trocar sleeves 5 according to two embodiments of the present invention. Corresponding elements are denoted by identical reference numerals, so that below only the differences from the other shown
  • the protective caps 4 and trocar sleeves 5 have a centering guide.
  • the protective cap 4 on a distal end side has a conical outer contour, in particular a
  • External cone 4e, and the sleeve 5 on a proximal end side has a complementary inner contour, in particular an inner cone 5e on.
  • the sleeve 5 has on a proximal end side a conical outer contour in the form of an outer cone 5f and the protective cap 4 on a distal end side a complementary inner contour in the form of an inner cone 4f.
  • Protective cap 4 and trocar sleeve 5 can be rotationally fixed, in particular frictionally engaged with each other or connected. Likewise, they can also be interconnected or connected with each other in a rotatable manner.
  • Fig. 6 shows in Fig. 2, 3 (a) corresponding representation protective caps 4 according to four embodiments of the present invention with different covers.
  • the distal cover of the embodiment of Fig. 6 (a) is formed as a one-piece flap 6.1, which is pivoted away from the outside or by the dash-dotted line indicated shaft axis.
  • the distal cover of the embodiment of FIG. 6 (b) has a plurality of segments 6.2 which are elastically indicated in phantom
  • the distal cover of the embodiment of FIG. 6 (c) has two flaps 6.3, which are pivoted outwardly in the dash-dotted lines indicated configuration pivotable.
  • the distal cover of the embodiment of Fig. 6 (d) has two segments 6.4, which indicated outwardly in the dash-dotted lines
  • Fig. 7 shows in Fig. 1 (a), 3 (b), 5 corresponding representation a rotatably guided on the shaft and captivated captive cap according to an embodiment of the present invention.
  • Corresponding elements are denoted by identical reference numerals, so that below only the differences from the other illustrated embodiments and, moreover, on their
  • the shaft 1 has a radial collar 1.1 proximal of the distal
  • Fig. 8 shows in Fig. 7 representation corresponding to a rotatably guided on the shaft and captivated captive cap according to an embodiment of the present invention.
  • Corresponding elements are denoted by identical reference numerals, so that below only the differences to the other
  • the radial collar 1.1 is proximal to the distal one
  • FIG. 9 shows in Fig. 7, 8 corresponding representation a rotatably guided on the shaft and captivated captive cap according to an embodiment of the present invention.
  • Corresponding elements are denoted by identical reference numerals, so that below only the differences from the other illustrated embodiments and, moreover, on their
  • Hole 4g and shaft 1 of the embodiment of FIG. 9 have at least partially (top in FIG. 9) a planar contour, here in the form of a flattening of the otherwise circular contour in order to guide the protective cap against rotation on the shaft.
  • bore and shaft may also have complementary polygonal, in particular triangular, quadrangular or polygonal inner or outer contours.
  • other non-all-round or incompletely round contours are possible, for example elliptical contours, a polygonal wave profile or the like.
  • Fig. 10 shows in Fig. 9 corresponding representation of a rotatably guided on the shaft and captivated captive cap according to an embodiment of the present invention.
  • Corresponding elements are denoted by identical reference numerals, so that below only the differences from the other illustrated embodiments and, moreover, on their
  • a longitudinal groove 1.2 in particular in the form of a bead,
  • a radial projection 4h of the protective cap is guided displaceably.
  • the radial projection 4h may be formed integrally with the rest of the protective cap or as a separate, connected to the rest of the protective cap slider.
  • Fig. 11 shows a part of a surgical instrument of a robot (left not shown in Fig. 1) with a shaft 1 according to an embodiment of the present invention with an end effector 2 and a distal joint assembly 3 with two rotational degrees of freedom and a protective cap 4.
  • Corresponding elements are denoted by identical reference numerals, so that only the differences from the other illustrated embodiments will be discussed below and, moreover, their description is referred to.
  • the protective cap 4 is captively captivated by a cable lock 7 on the shaft.
  • Fig. 12 shows in Fig. 7-10 corresponding representation a captive on the shaft captive cap according to an embodiment of the present invention.
  • Corresponding elements are denoted by identical reference numerals, so that subsequently only the differences from the other illustrated embodiments and, moreover, reference is made to the description thereof.
  • the protective cap can be releasably locked in the distal position in a form-fitting manner.
  • the groove 1.2 in the shaft 1 a leg 1 .3 in the circumferential direction, in which the radial projection 4h are introduced by turning the cap 4 on the shaft 1 and can lock the cap 4 in the manner of a bayonet lock.
  • the projection 4h is drawn on the one hand in a shaft axis parallel portion of the groove 1.2 and on the other hand in the leg 1.3 and there designated 4h '.
  • FIG. 13 shows a development of the embodiment explained with reference to FIG. 10. Corresponding elements are denoted by identical reference numerals, so that below only the differences from the other shown
  • the displaceable protective cap 4 is locked to the shaft by means of a cross-sectional widening of the groove 1.2.
  • the projection 4h is elastically formed, so that it widens in the cross-sectional widening and thus opposes a displacement from the cross-sectional widening resistance.
  • Fig. 14 shows in Fig. 7-10, 12-13 corresponding representation of a locked on the shaft cap according to an embodiment of the present invention. Corresponding elements are denoted by identical reference numerals, so that subsequently only the differences from the other illustrated embodiments and, moreover, reference is made to the description thereof.
  • shaft 1 and / or protective cap 4 have magnets 8 which lock the protective cap in a predetermined position on the shaft. This may be the distal position, as in the embodiment of FIG. Additionally or alternatively, in a similar manner, the protective cap can be magnetically locked to the shaft in another predetermined position, in particular in the proximal position.
  • the latches explained above with reference to FIGS. 12, 13 may additionally or alternatively be provided for locking in the distal position for locking in at least one other, in particular the proximal position.
  • Fig. 15 is a view corresponding to Fig. 11 showing a part of a surgical instrument of a robot according to an embodiment of the present invention.
  • the protective cap 4 is in the illustrated proximal position with the trocar sleeve 5 temporarily and repeatedly releasably connected.
  • a locking mechanism 9 is indicated schematically, which may be designed in particular as a positive snap and locking mechanism, self-locking conical or magnetic.
  • Fig. 16 shows in Fig. 1 1, 15 corresponding representation of a part of a surgical instrument of a robot according to an embodiment of the present invention.
  • the protective cap is biased in the distal direction (to the right in FIG. 16) by a spring 10. If the robot pulls the instrument shaft proximally out of the trocar sleeve or away from it, the spring 10 automatically pushes the protective cap 4 back into the distal position. In addition, during compression, the compressed spring 10 presses the proximally positioned protective cap against the trocar sleeve.
  • Fig. 17 shows in Fig. 1 1, 15 and 16 corresponding representation of a part of a surgical instrument of a robot according to an embodiment of the present invention.
  • Corresponding elements are denoted by identical reference numerals, so that below only the differences to the other
  • the protective cap 4 is connected to a proximal region, in particular end, of the shaft by means of a telescopic sleeve 12 surrounding the shaft 1.
  • a telescopic sleeve 12 surrounding the shaft 1.
  • the telescopic sleeve 12 it is advantageously possible to mechanically support the extracorporeal portion of the shaft 1 by means of the protective cap 4. Additionally or alternatively, the telescopic sleeve can protect the shaft.
  • the telescopic sleeve has an optional mechanism 13 for gravity compensation in order to compensate for the weight of the trocar sleeve 5 connected to the protective cap 4. Additionally or alternatively, it is possible to withdraw the protective cap 4 by means of the mechanism 13 and / or to fix it in any position along the shaft axis.

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

Abstract

L'invention concerne un robot équipé d'un outil, en particulier un instrument chirurgical, qui présente une tige (1) présentant une disposition d'articulation distale (3) dotée d'au moins un degré de liberté, et un capuchon de protection (4), qui peut être déplacé d'une position distale dans une position proximale sur la tige, le capuchon de protection logeant la disposition d'articulation dans la position distale et la disposition d'articulation dépassant distalement du capuchon de protection lorsque le capuchon de protection se trouve dans la position proximale.
EP14709888.3A 2013-05-02 2014-03-11 Robot équipé d'un outil Ceased EP2991573A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE201310007597 DE102013007597A1 (de) 2013-05-02 2013-05-02 Roboter mit Werkzeug
PCT/EP2014/000646 WO2014177236A1 (fr) 2013-05-02 2014-03-11 Robot équipé d'un outil

Publications (1)

Publication Number Publication Date
EP2991573A1 true EP2991573A1 (fr) 2016-03-09

Family

ID=50277187

Family Applications (1)

Application Number Title Priority Date Filing Date
EP14709888.3A Ceased EP2991573A1 (fr) 2013-05-02 2014-03-11 Robot équipé d'un outil

Country Status (6)

Country Link
US (1) US20160213434A1 (fr)
EP (1) EP2991573A1 (fr)
KR (1) KR101770051B1 (fr)
CN (1) CN105358087A (fr)
DE (1) DE102013007597A1 (fr)
WO (1) WO2014177236A1 (fr)

Families Citing this family (6)

* Cited by examiner, † Cited by third party
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KR20160008219A (ko) 2016-01-21
KR101770051B1 (ko) 2017-08-21
US20160213434A1 (en) 2016-07-28
DE102013007597A1 (de) 2014-11-06
WO2014177236A1 (fr) 2014-11-06

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