WO2014173409A1 - Instrument, notamment instrument endoscopique médical ou technoscope - Google Patents

Instrument, notamment instrument endoscopique médical ou technoscope Download PDF

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Publication number
WO2014173409A1
WO2014173409A1 PCT/DE2014/200162 DE2014200162W WO2014173409A1 WO 2014173409 A1 WO2014173409 A1 WO 2014173409A1 DE 2014200162 W DE2014200162 W DE 2014200162W WO 2014173409 A1 WO2014173409 A1 WO 2014173409A1
Authority
WO
WIPO (PCT)
Prior art keywords
instrument
tool
pivot axis
cable
instrument head
Prior art date
Application number
PCT/DE2014/200162
Other languages
German (de)
English (en)
Inventor
Jan-Hinnerk BORCHARD
Frank DIERßEN
Tobias Ortmaier
Frank Wehrheim
Matthias Lambertz
Original Assignee
Richard Wolf 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 Richard Wolf Gmbh filed Critical Richard Wolf Gmbh
Publication of WO2014173409A1 publication Critical patent/WO2014173409A1/fr

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
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/70—Manipulators specially adapted for use in surgery
    • A61B34/71—Manipulators operated by drive cable mechanisms
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
    • A61B17/28—Surgical forceps
    • A61B17/29—Forceps for use in minimally invasive surgery
    • A61B2017/2926—Details of heads or jaws
    • A61B2017/2927—Details of heads or jaws the angular position of the head being adjustable with respect to the shaft
    • 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
    • A61B2034/305—Details of wrist mechanisms at distal ends of robotic arms
    • 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
    • A61B2034/305—Details of wrist mechanisms at distal ends of robotic arms
    • A61B2034/306—Wrists with multiple vertebrae

Definitions

  • Instrument in particular a medical endoscopic instrument or technoscope
  • the invention relates to an instrument and in particular a medical endoscopic instrument or a technoscope with the features specified in the preamble of claim 1.
  • shank instruments are inserted, which are introduced into the interior of the body via a natural body passage or an artificially created access for treatment purposes.
  • these instruments At the distal end of their shank, these instruments have an instrument head with a tool attached thereto.
  • Instruments of this type are also used in the technical field as so-called technoscopes, where they are used in hard to reach cavities of technical objects.
  • the basis of the invention are those instruments whose instrument head is angled relative to the shaft, wherein the tool or a provided on the instrument head tool carrier with the tool relative to the instrument head is angled.
  • a correspondingly designed grip part is arranged there for manually operated instruments, and in the case of instruments which form part of a robotic system, a corresponding interface is provided as a control device of this system.
  • push or pull rods in connection with multi-joint mechanisms for transmitting movement from the control device to the tool and / or the tool carrier.
  • a further disadvantage of this type of motion transmission from the control device to the tool or to the tool carrier is that instruments designed therewith are of comparatively large construction and the risk of instrument failure is very high due to the many components required for the transmission of motion. Furthermore, the tool and / or the tool carrier can be angled only in a relatively small angular range relative to the instrument head.
  • the invention is based on the object, an instrument, in particular a medical endoscopic instrument or a technoscope with a bendable relative to the shaft instrument head and with an arranged thereon, relative to the To create en kopf kopf kopf kopf kk kk kk endangeable tool in which the above-mentioned disadvantages in the control of the angulation of the instrument head and / or the bending of the tool to a much lesser extent and at best not occur.
  • the instrument according to the invention is, in particular, a medical endoscopic instrument or a technology.
  • This instrument has an elongated shaft, which is preferably rigid, but may also be flexible at least in a partial region transverse to its longitudinal extent.
  • an instrument head is arranged, which has a tool carrier, which carries a tool.
  • the instrument head is pivotable relative to the shaft about a first pivot axis or arranged abwinkel bar.
  • the tool which is preferably a jaw tool, is in turn pivotable relative to the instrument head about a second pivot axis, which is preferably aligned normal to the first pivot axis.
  • the tool can be pivoted relative to a tool carrier forming a rigid component of the instrument head, or the tool carrier can be pivotable relative to the rest of the instrument head with the tool arranged thereon.
  • a traction means effectively connected.
  • traction means z. B at least one guided by the shaft actuating rod can be used.
  • a pair of cable pulls operatively connected to the instrument head is used as the traction means, which is connected to a control device on the proximal side of the shaft.
  • at least one cable pull is provided, which is operatively connected to the tool or the tool carrier and guided by the shaft to the proximal end of the shaft, where it is connected to a control device.
  • a handle for manual control or a control interface of a robotic system can serve as known.
  • At least one guide channel for the at least one cable pull is formed within the instrument head, which intersects at least the first pivot axis, ie the pivot axis about which the instrument head is pivotable relative to the shaft.
  • at least one shaft which starts at the proximal end facing the distal shaft end and extends through the entire instrument head is formed on the instrument head and terminates on a tool pivotally mounted on the instrument head or on a tool support pivotable relative to the rest of the instrument head.
  • the at least one cable for the movement control of the tool or the tool carrier is performed.
  • the cable pull comes into abutment against an inner wall of the guide channel delimiting the guide channel, this inner wall of the guide channel advantageously being an abutment to that in the control forms the jaw part of the cable generated traction.
  • the guide channel intersects the first pivot axis, it is largely prevented that the angulation of the instrument head unintentionally affects the orientation of the mounted on the instrument head tool or on the orientation of the tool carrier, since the effective length of the motion-coupled with the tool or tool carrier cable is influenced at a bend of the instrument head only to a small extent and at best not at all, so that due to the bending of the instrument head on the cable no tensile force acts, which would otherwise lead to a pivoting of the tool or the tool carrier.
  • Another advantage of using at least one guide channel is that the otherwise required for deflecting the at least one cable pulleys in the instrument according to the invention are not required, so that the instrument according to the invention compared to the previously known instruments of the type in question has significantly fewer components.
  • larger deflecting radii can be realized with appropriately designed guide channels in comparison with mounted deflecting rollers, which lead to a lower load on the cables.
  • each cable that extends to the distal side of the joint, about which the instrument head is pivotable relative to the shaft is guided in a guide channel formed on the instrument head, which intersects at least the first pivot axis.
  • the materials from which the cables and the guideways are formed are chosen so that the friction between the guideway and the cable pull guided therein is as small as possible.
  • the cables can be made of aramid or HPPE fibers, while as material for the guiding example, stainless steel, PEE, ceramic or PTFE can be used.
  • the at least one guide channel formed within the instrument head advantageously has at least one rounding adapted to the pivot direction in the region of the first pivot axis cut by it in the direction of its longitudinal extension.
  • the rounding is formed on an inner wall of the guide channel, which lies directly in the plane in which the instrument head is pivotable relative to the shaft.
  • the rounding formed on the guide channel is expediently such that the guide channel expands on the proximal side of the first pivot axis. This embodiment also largely prevents a tensile force being exerted on the cable guided in the guide channel by the angling of the instrument head relative to the shaft, which would otherwise lead to a pivoting of the tool or of the tool carrier.
  • the instrument head is pivotable about the first pivot axis in two opposite directions relative to the shaft.
  • the guide channel has a funnel-shaped enlargement in the area in which it intersects the first pivot axis.
  • the tool of the instrument according to the invention is a jaw tool. D. h., On the instrument head two relatively pivotable jaw parts are articulated. These jaws can be formed for grasping and / or cutting tissue or objects.
  • the two jaw parts for controlling the jaw tool are each coupled in a motion-coupled manner with at least one cable pull and preferably in each case with a pair of cable pulls.
  • the individual motion-coupled cables with the two jaw parts according to the invention are guided in guide channels, as already described.
  • the two jaw parts of the jaw tool for controlling the jaw tool may also be coupled in a coupled manner with at least one cable pull and preferably together with a pair of cable pulls. Also in this case, the at least one cable pull or the two cables of the cable pull pair are guided within the instrument head in a guide channel or in guide channels, as already described.
  • At least one guide channel for a cable to control the tool is advantageously formed on the instrument head, which cuts the second pivot axis.
  • the guide channel formed within the instrument head in the region in which it intersects the first pivot axis has at least one rounding
  • the guide channel which intersects the second pivot axis has at least one of them in the region of the second pivot axis cut by it in the direction of its longitudinal extent Rounding adapted to rounding and particularly advantageous funnel-shaped extension with two oppositely formed rounding on.
  • the leadership of the guide channel through the second pivot axis and the formed on the guide channel rounding or funnel-shaped extension serve that by the bending of the tool carrier relative to the rest of the instrument head as low as possible and at best no tensile force is exerted on the guided in the guide channel cable, which otherwise lead to an undesirable influence of the tool would.
  • two jaw parts are articulated in a structurally simple manner on the tool carrier, which are each connected in a rotationally fixed manner to a preferably circular actuator body.
  • the two actuating bodies are coupled for movement with a common cable pull, which is deflected in a region between the actuating bodies on a deflection roller arranged on the tool carrier.
  • FIG. 2 is a perspective view of the instrument of FIG. 1 with angled instrument head
  • FIG. 3 is a perspective view of the instrument of FIG. 1 with angled instrument head and angled tool carrier with a closed jaw tool
  • FIG. 4 shows the illustration according to FIG. 3 with the jaw tool open, FIG. 1 with a non-angled instrument head and angled tool carrier, the instrument of FIG. 1 with angled instrument head and angled tool carrier in its side view, a section along the section line VII - VII in Fig. 6, a section along the Section VIII - VIII in Fig. 6, a section along the section line IX - IX in Fig. 6, the instrument of FIG. 1 with angled instrument head and angled tool carrier in a plan view, a section along the section line XI - XI in Fig. 10 10, a section along the section line XIII-XIII in FIG. 10, a section along the section line XIV-XIV in FIG. 10, the instrument according to FIG.
  • FIG. 18 shows the illustration according to FIG. 17 with the opening completely open
  • FIG. 19 shows the illustration of FIG. 1 7 with the jaw tool closed
  • Fig. 20 shows the instrument of FIG. 1 6 in an exploded view
  • FIG. 21 shows the instrument according to FIG. 16 in a cut perspective view.
  • the instrument is a medical endoscopic instrument in the form of forceps.
  • Both instruments shown in the drawing have a längli- chen, hollow cylindrical shank 2, wherein in the drawing, for reasons of clarity, only the distal end of the shaft 2 is shown.
  • the control devices or drives at the proximal end of the shaft 2 are not shown, since they can be formed in a known manner.
  • an instrument head 4 or 4 ' is arranged, which is connected via a connecting part 6 and 6' to the shaft 2.
  • the connecting part 6, 6 ' has a portion 8 on the proximal side, which in the distal end of the shaft 2 engages. In the area of section 8, the connecting arrow 6, 6 'is positively connected to the Schaff 2.
  • Disfal carpet are on the connecting arrow 6, 6 'diametrically opposite two projections 10 and 10' are formed, which protrude in the longitudinal extension of the Schaffes 2.
  • the two projections 10, 10 ' are used for the bendable articulation of the Intufumentenkopfes 4, 4' to the Schaff 2.
  • This articulation is via articulated stems 12, which are guided by formed on the projections 10, 10 'of the connecting arrow 6, 6' receiving holes 14 and engage in recesses 16 which are formed on a base arrow 1 7 or 17 'of the Instrumenfenkopfes 4, 4' in the region of a proximal end of the base part 1 7, 17 'at two diametrically beabundfandeten points on the outside thereof.
  • a slot 18 or 18 ' is formed on the base arrow 1 7, 1 7'.
  • This slot 18, 18 ' serves to receive a wheel body 20 and 20', which is rigidly connected there to the base part 17, 17 '.
  • a cable 22 is attached, wherein it wraps around the wheel body 20, 20'.
  • Two cable portions 24 and 26 of the cable 22 pointing away from the wheel body 20, 20 ' are guided through the body 2 to the proximal working end, where they are motion-coupled with a firing device.
  • the control device may be a manually operated handle or a control handle of a robotic system.
  • a tool carrier 28 is arranged on the base arrow 17.
  • two protrusions 30 are formed on the tool carrier 28 on the proximal side, which extend in the proximal direction starting from the mutually remote longitudinal ends of a central part 32.
  • a further projection 34 is formed on the middle part 32, which also extends in the proximal direction.
  • two further projections 36 are formed on the tool carrier 28, which extend at a side remote from the projections 30 and 34 side of the central part 32, starting from the longitudinal side facing away from the distal in the distal direction.
  • the protrusions 30 formed on the tool carrier 28 embrace two distal sides 38 formed on the outer periphery of the base member 1 flat sides 38.
  • the formed on the tool carrier 28 projection 34 engages in a recess 40 a , which is formed at the distal end of the base part 1 7.
  • the recess 40 extends slot-shaped transversely to the longitudinal formation of the base part 17 through the base part 17 therethrough.
  • the tool holder 28 is articulated articulated to the base part 1 7 of the instrument head 4.
  • hinge pins 42 are used, which are guided by recesses 46 formed on the projections 30 of the tool carrier 28 and recesses 46 formed on the flat sides 38 of the base part 17.
  • the hinge pins 42 form a pivot axis about which the tool carrier 28 can be pivoted relative to the base part 17. This pivot axis is aligned normal to the pivot axis formed by the hinge pins 12 about which the instrument head 4 can be pivoted relative to the shaft 2.
  • a wheel 50 acting on a hole 48 formed on the projection 34 a wheel body 52 rigidly connected to the tool carrier 28.
  • a cable 54 is fixed, wherein it wraps around the wheel body 52.
  • the two facing away from the wheel body 52 cable sections 56 and 58 of the cable 54 are guided by the base part 1 7 and the shaft 2 to the proximal shaft end, where they are coupled in motion with the control device provided there. If one of the two cable sections 56 or 58 of the cable pull 22 is subjected to tension by means of the control device, the wheel body 52 connected to the cable 54 is thereby rotated and the tool carrier 28 coupled therewith is pivoted relative to the base part 17 of the instrument head 4.
  • FIGS. 11 and 14 show that the guide channels 60 and 62 extend in a common plane with the pivot axis formed by the hinge pins 1 2, about which the instrument head 4 is pivotable relative to the shaft, and intersect this pivot axis. It can also be seen from FIGS.
  • the guide channels 60 and 62 each have a funnel-shaped enlargement 64 at their proximal end in the region in which they intersect the pivot axis formed by the hinge pins 12, with two of them facing each other opposing inner wall portions of the guide channels 60 and 62 is formed in each case one adapted to the angulation of the instrument head 4 rounding.
  • two jaw parts 66 and 68 of a jaw tool are articulated on the tool carrier 28.
  • the articulation of the jaw parts 66 and 68 on the tool Carrier 28 via a hinge pin 70 which is guided by two formed on the projections 36 of the tool carrier 28 holes 72 and the jaw members 66 and 68 through there formed proximal holes 74.
  • a wheel body 76 is rotatably connected to the jaw parts 66 and 68 on the outer sides of the jaw parts 66 and 68 facing away from each other.
  • the two wheel bodies 76 are both coupled in motion with a cable pull 78, which wraps around the wheel bodies 76.
  • the cable 78 is deflected on a deflection roller 80 which is rotatably articulated to a normal to the longitudinal extent of the projections 30, 34 and 36 aligned outer sides of the central part 32 of the tool carrier 28 by means of a hinge pin 82.
  • the cable pull sections 84 and 86 pointing away from the two wheel bodies 76 are led through the base part 17 and the shaft 2 to the proximal shaft end, where they are motion-coupled to the control device for controlling the jaw part.
  • the cable pull sections 84 and 86 are guided in guide channels 88 and 90 (FIGS. 12 and 13). Both guide channels 88 and 90 intersect the pivot axis formed by the hinge pins 42 about which the tool carrier can be pivoted relative to the base part 17 (FIGS. 7 and 9). In addition, the two guide channels 88 and 90 also intersect the pivot axis formed by the hinge pins 12 about which the instrument head 4 is pivotable relative to the shaft 2 (FIGS. 12 and 13). In the area where the guide channels 88 and 90 intersect the pivot axes formed by the hinge pins 12 and 42, the guide channels 88 and 90 have a funnel-shaped extension.
  • the guide channels 88 and 90 also have a further funnel-shaped extension 94 in the area in which the guide channels 88 and 90 intersect the pivot axis formed by the hinge pins 12.
  • Which he- Extensions 92 and 94 are formed such that two opposing inner wall portions of the guide channels 88 and 90 each form a rounding.
  • the instrument illustrated in FIGS. 1 to 21 differs from the instrument shown in FIGS. 1 to 15 in that the jaw members 66 and 68 are articulated to two distally projecting projections 96 formed at the distal end of the base member 17 ' form a tool carrier rigidly connected to the base part 17 '.
  • a wheel body 76 is rotatably connected to the jaw parts 66 and 68 on the mutually facing outer sides of the jaw parts 66 and 68.
  • the wheel body 76 connected to the jaw part 66 is connected to a cable pulley 102 wound around the wheel body 76, while the wheel body 76 connected to the jaw part 68 is connected to a cable pull 104 which wraps around the wheel body 76.
  • the cable guide sections 106 and 108 of the cable pull 102 pointing away from the wheel bodies 76 and the cable pull sections 110 and 112 of the cable pull 104 are guided through the base part 17 'and the shaft 2 to the proximal shaft end, where they are motion-coupled to the control device for controlling the jaw tool are.
  • the guide channels 1 14, 1 1 6, 1, 18 and 120 each have at their proximal end a funnel-shaped enlargement 122, which is designed such that two inner wall regions of the guide channels 1 14 opposite one another, 1 1 6, 1 18 and 120 each form a rounding.

Abstract

L'invention concerne un instrument, notamment un instrument endoscopique médical ou un technoscope, présentant un arbre (2) et une tête porte-instrument (4) disposée sur l'extrémité distale de l'arbre, pouvant pivoter par rapport à l'arbre (2) autour d'un premier axe de pivotement, et portant un outil pouvant pivoter par rapport à la tête porte-instrument (4) autour d'un deuxième axe de pivotement. Pour commander le mouvement de l'outil et/ou du porte-outil (28) sur lequel l'outil est disposé, au moins un tirant à câble est prévu, au moins un canal de guidage pour le tirant à câble étant prévu au sein de la tête porte-instrument (4).
PCT/DE2014/200162 2013-04-22 2014-04-08 Instrument, notamment instrument endoscopique médical ou technoscope WO2014173409A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102013207248.1A DE102013207248A1 (de) 2013-04-22 2013-04-22 Instrument, insbesondere ein medizinisch endoskopisches Instrument oder Technoskop
DE102013207248.1 2013-04-22

Publications (1)

Publication Number Publication Date
WO2014173409A1 true WO2014173409A1 (fr) 2014-10-30

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PCT/DE2014/200162 WO2014173409A1 (fr) 2013-04-22 2014-04-08 Instrument, notamment instrument endoscopique médical ou technoscope

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DE (1) DE102013207248A1 (fr)
WO (1) WO2014173409A1 (fr)

Cited By (2)

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WO2018134712A1 (fr) * 2017-01-20 2018-07-26 Ethicon Llc Outils électrochirurgicaux articulés
US10582975B2 (en) 2015-10-16 2020-03-10 Medical Microinstruments S.p.A. Surgical tool

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DE102015118914B4 (de) * 2015-11-04 2019-07-04 Gottfried Wilhelm Leibniz Universität Hannover Arbeitskopf für einen medizinisch-chirurgischen Manipulator

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US20040193146A1 (en) * 2001-02-15 2004-09-30 Endo Via Medical, Inc. Robotically controlled surgical instruments
US20060190034A1 (en) * 2004-10-25 2006-08-24 Kouji Nishizawa Surgical instrument
WO2009157719A2 (fr) * 2008-06-27 2009-12-30 Chang Wook Jeong Instrument de chirurgie mini-invasive
US20100004663A1 (en) * 2008-07-07 2010-01-07 Intuitive Surgical, Inc. Surgical instrument wrist
WO2010030114A2 (fr) * 2008-09-12 2010-03-18 Chang Wook Jeong Outil destiné à une chirurgie minimalement invasive et son procédé d'utilisation
DE102011011497A1 (de) * 2011-02-17 2012-08-23 Kuka Roboter Gmbh Chirurgisches Instrument

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US9901412B2 (en) * 2011-04-29 2018-02-27 Vanderbilt University Dexterous surgical manipulator and method of use

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Publication number Priority date Publication date Assignee Title
US20040193146A1 (en) * 2001-02-15 2004-09-30 Endo Via Medical, Inc. Robotically controlled surgical instruments
US20060190034A1 (en) * 2004-10-25 2006-08-24 Kouji Nishizawa Surgical instrument
WO2009157719A2 (fr) * 2008-06-27 2009-12-30 Chang Wook Jeong Instrument de chirurgie mini-invasive
US20100004663A1 (en) * 2008-07-07 2010-01-07 Intuitive Surgical, Inc. Surgical instrument wrist
WO2010030114A2 (fr) * 2008-09-12 2010-03-18 Chang Wook Jeong Outil destiné à une chirurgie minimalement invasive et son procédé d'utilisation
DE102011011497A1 (de) * 2011-02-17 2012-08-23 Kuka Roboter Gmbh Chirurgisches Instrument

Cited By (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US10582975B2 (en) 2015-10-16 2020-03-10 Medical Microinstruments S.p.A. Surgical tool
US11096748B2 (en) 2015-10-16 2021-08-24 Medical Microinstruments S.p.A. Surgical tool
US11103319B2 (en) 2015-10-16 2021-08-31 Medical Microinstruments S.p.A. Surgical tool
WO2018134712A1 (fr) * 2017-01-20 2018-07-26 Ethicon Llc Outils électrochirurgicaux articulés
CN110248615A (zh) * 2017-01-20 2019-09-17 爱惜康有限责任公司 进行关节运动的电外科工具
JP2020505128A (ja) * 2017-01-20 2020-02-20 エシコン エルエルシーＥｔｈｉｃｏｎ ＬＬＣ 関節運動型電気手術用具
US10758298B2 (en) 2017-01-20 2020-09-01 Ethicon Llc Articulating electrosurgical tools
CN110248615B (zh) * 2017-01-20 2022-08-09 爱惜康有限责任公司 进行关节运动的电外科工具
JP7179737B2 (ja) 2017-01-20 2022-11-29 エシコン エルエルシー 関節運動型電気手術用具
EP4159148A1 (fr) * 2017-01-20 2023-04-05 Ethicon LLC Outils électrochirurgicaux articulés

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