WO2018158388A2 - Dispositif comprenant une multitude de corps d'articulation juxtaposés - Google Patents

Dispositif comprenant une multitude de corps d'articulation juxtaposés Download PDF

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Publication number
WO2018158388A2
WO2018158388A2 PCT/EP2018/055090 EP2018055090W WO2018158388A2 WO 2018158388 A2 WO2018158388 A2 WO 2018158388A2 EP 2018055090 W EP2018055090 W EP 2018055090W WO 2018158388 A2 WO2018158388 A2 WO 2018158388A2
Authority
WO
WIPO (PCT)
Prior art keywords
joint
tensioning cable
actuator
joint body
loe
Prior art date
Application number
PCT/EP2018/055090
Other languages
German (de)
English (en)
Other versions
WO2018158388A3 (fr
Inventor
Matthias Hiegl
Original Assignee
SAMA 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 SAMA GmbH filed Critical SAMA GmbH
Publication of WO2018158388A2 publication Critical patent/WO2018158388A2/fr
Publication of WO2018158388A3 publication Critical patent/WO2018158388A3/fr

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Classifications

    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
    • A61B17/56—Surgical instruments or methods for treatment of bones or joints; Devices specially adapted therefor
    • A61B17/58—Surgical instruments or methods for treatment of bones or joints; Devices specially adapted therefor for osteosynthesis, e.g. bone plates, screws, setting implements or the like
    • A61B17/60—Surgical instruments or methods for treatment of bones or joints; Devices specially adapted therefor for osteosynthesis, e.g. bone plates, screws, setting implements or the like for external osteosynthesis, e.g. distractors, contractors
    • A61B17/64—Devices extending alongside the bones to be positioned
    • A61B17/6416—Devices extending alongside the bones to be positioned with non-continuous, e.g. hinged, pin-clamp connecting element
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47C—CHAIRS; SOFAS; BEDS
    • A47C1/00—Chairs adapted for special purposes
    • A47C1/02—Reclining or easy chairs
    • A47C1/022—Reclining or easy chairs having independently-adjustable supporting parts
    • A47C1/03—Reclining or easy chairs having independently-adjustable supporting parts the parts being arm-rests
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47C—CHAIRS; SOFAS; BEDS
    • A47C9/00—Stools for specified purposes
    • A47C9/02—Office stools not provided for in main groups A47C1/00, A47C3/00 or A47C7/00; Workshop stools
    • A47C9/025—Stools for standing or leaning against, e.g. in a semi-standing or half-seated position
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
    • A61B17/16—Bone cutting, breaking or removal means other than saws, e.g. Osteoclasts; Drills or chisels for bones; Trepans
    • A61B17/1613—Component parts
    • A61B17/1631—Special drive shafts, e.g. flexible shafts
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
    • A61F5/00—Orthopaedic methods or devices for non-surgical treatment of bones or joints; Nursing devices; Anti-rape devices
    • A61F5/01—Orthopaedic devices, e.g. splints, casts or braces
    • A61F5/0102—Orthopaedic devices, e.g. splints, casts or braces specially adapted for correcting deformities of the limbs or for supporting them; Ortheses, e.g. with articulations
    • 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
    • A61B2017/003—Steerable
    • A61B2017/00305—Constructional details of the flexible means
    • A61B2017/00314—Separate linked members
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
    • A61B2017/00367—Details of actuation of instruments, e.g. relations between pushing buttons, or the like, and activation of the tool, working tip, or the like
    • A61B2017/00398—Details of actuation of instruments, e.g. relations between pushing buttons, or the like, and activation of the tool, working tip, or the like using powered actuators, e.g. stepper motors, solenoids
    • 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
    • A61B2017/2901—Details of shaft
    • A61B2017/2908—Multiple segments connected by articulations
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
    • A61F5/00—Orthopaedic methods or devices for non-surgical treatment of bones or joints; Nursing devices; Anti-rape devices
    • A61F5/01—Orthopaedic devices, e.g. splints, casts or braces
    • A61F5/0102—Orthopaedic devices, e.g. splints, casts or braces specially adapted for correcting deformities of the limbs or for supporting them; Ortheses, e.g. with articulations
    • A61F2005/0132—Additional features of the articulation
    • A61F2005/0141—Additional features of the articulation with more than two parallel pivots
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
    • A61F5/00—Orthopaedic methods or devices for non-surgical treatment of bones or joints; Nursing devices; Anti-rape devices
    • A61F5/01—Orthopaedic devices, e.g. splints, casts or braces
    • A61F5/0102—Orthopaedic devices, e.g. splints, casts or braces specially adapted for correcting deformities of the limbs or for supporting them; Ortheses, e.g. with articulations
    • A61F2005/0132—Additional features of the articulation
    • A61F2005/0158—Additional features of the articulation with locking means

Definitions

  • the invention relates to a device with a plurality of juxtaposed articulated bodies, which can be reversibly converted from a movable state to a rigid state.
  • a generic device for external fixation of bone fractures is known.
  • a number of hinged on a tensioning cable joint elements is connected to each other via ball joints with spherical cap and socket.
  • a frictional force in the ball joints can be increased in such a way that the device in the joints becomes practically immobile and solidifies in the previously set configuration.
  • a motorized torque wrench is attached to a screw which is connected to the tensioning cable via an abutment on a housing provided at the end of the chain-like device in such a way that the tension of the tensioning cable can be increased or reduced by turning the screw.
  • the invention is in particular the object of increasing the ease of use of such a device and to develop new uses.
  • the invention relates to a device with a plurality of juxtaposed articulated bodies and at least one tensioning cable, which connects the articulated body like a chain. Two adjacent joint bodies are above each other _ -
  • tensioning cable is to be understood broadly, and in general it includes any elongate element which is suitable for transmitting tensile forces. In particular, besides. Ropes in the narrower sense, too
  • Articulated surfaces are compatible with each other if they have at least substantially opposite curvatures.
  • the joints may be pivotable in two directions as ball joints with joint sockets and joint caps, or as hinge joints in only one direction, the joint surfaces then preferably substantially as sections of the outer or inner surface of a Zyl ir.der- mantels with in Essentially the same radius are configured. Small deviations of the radii of curvature in the range of 10% must not interfere with the joint function, in particular as far as the concave joint surface of the two to each other ⁇ matching Gelenkfi Stahlen has a larger radius of curvature than the associated convex joint surface.
  • the joint surfaces include suitable openings, which are preferably sufficiently large to allow a desired movement of the joint.
  • the tensioning cable is guided so that even at maximum deflection of the GeJenks a generated when tightening the tensioning cable
  • Torque is smaller than the frictional torque acting between the joint surfaces, so that the relative position of the - -
  • the tribologi see properties of the joint ⁇ surfaces and the angle of the tensioning cable are chosen so that there is a self-locking.
  • an actuator in particular are electric motors, example ⁇ as stepper motors into account.
  • the actuator is to apply an integrated actuator as it is an integral part of the device and a determ ⁇ approved use of the device with attached Ak ⁇ tuator is possible.
  • the actuator is permanently installed and can not be manually disconnected from the device.
  • the actuator can be infected with a suitable locking connection and, if necessary, can be solved again, with a use of the device, however, is also possible with a fixed actuator.
  • the tensioning cable runs in the center of the Geienkenia. As far as the self-locking features described above are not impaired, deviations from the center positi on ⁇ are tolerable, particularly where these are necessary due to the Lucas- set angle between adjacent link bodies.
  • the tensioning cable is preferably tightly guided in a central region of the joint body, but has at least in the region of the joint surfaces a certain amount of space to allow movements of the joint.
  • the joint surfaces are preferably designed, in particular with regard to their tribological properties and their shape, such that the joint bodies are pivotable relative to one another at least at low tension of the tensioning cable and at high voltage frictionally or non-positively fixed to each other, so that the device solidifies in shape.
  • the device comprises a control element for operating the actuator.
  • the operating element may be a simple push-button or toggle switch, de switching between two voltage values of the
  • Tensioning allows, which correspond to the pivotable and fixed state of the device, or a step ⁇ wise or continuous adjustment of the voltage made possible ⁇ union, if required by the application.
  • the device is designed as an adjustable armrest, in particular for the arrangement next to a seat or Sesse 1., possibly j edoch also to be placed on a workstation for standing or lying work.
  • An adjustment of the armrest is then carried out by pivoting the joint body against each other and then fixing using the rope tension generated by the actuator.
  • adjustable ⁇ cash ⁇ rmillerlage it comprises a distal to an end of ⁇ rmillerlage, preferably of up to one of the hand - -
  • the hinge elements preferably comprise a channel for guiding ei ⁇ ner such wave, which is then rotatable within the channel, while the hinge elements remain rigid.
  • a device can be used as an attachment for a power wrench or torque wrench to facilitate working with screws in hard to reach places or even to allow.
  • Another aspect of the invention relates to the use of a device according to the invention as an exoskeleton.
  • the chains can be fixed in the device on the foot or on the hip of a patient, who can then perform movements practically unhindered when the tensioning cable is loosened, by increasing the tension of the patient
  • tensioning cables can be partially or completely fixed.
  • embodiments of the invention could be useful in which the pivotal position when tightening the pull rope is not fixed due to the self-locking of the system, but the joint body are aligned by tightening the pull rope in a given configuration, so as to align a patient to help his limbs or getting up or the like.
  • An operating element for actuating the actuator may be fixed to one of the articulated bodies, for example one at the end of the Chain arranged joint body, be connected or be designed as a remote control for wireless actuation of the actuator, which can be arranged or supported at a position largely independent of the device.
  • the device comprises a brake or locking device for locking the device, so that the actuator does not exert any force to maintain a certain voltage.
  • the actuator may be connected, for example via a self-locking mechanism with the tension cable.
  • Another aspect of the invention relates to the use of the device for attaching a user interface and / or a screen to a fixed base, for example on a machine.
  • the user may then dissolved in the tensioning cable Benut ⁇ cut point and / or the screen freely positioned and fixed in the desired position by the tension of the tensioning cable is increased.
  • the frictional forces in the released position are preference chosen such that they are greater than the forces acting through the Gravi ⁇ tationskraft on the held subject forces, j edoch can be readily overcome by hand when moving the device.
  • Showing: 1 shows a generic device according to the invention with three articulated bodies, a tensioning cable and an integrated actuator.
  • Fig. 2 is a schematic sectional view of
  • FIG. 3 shows an adjustable armrest with a device according to the invention
  • FIG. 4 shows a user interface for a machine with a device according to the invention
  • Fig. 5 shows an exoskeleton with an inventive
  • FIG. 6 shows a device according to the invention according to a further embodiment of the invention, in which joint bodies form a channel for guiding a flexible shaft.
  • FIG. 1 and 2 show, to illustrate the principle of operation of the invention, a generic device according to the invention with three articulated bodies 10a, 10b, 10c, a tensioning cable 12 and an integrated actuator 14.
  • the device may in other embodiments not only three but any Number of juxtaposed articulated bodies 10a, 10b, 10c include.
  • Further exporting ⁇ stanchions are conceivable me more tension cables, which connect the hinge body 10a, 10b, 10c like a chain.
  • two adjacent joint bodies 10a, 10b, 10c are pivotally connected to one another via mating joint surfaces 16a, 16b, 18a, 18b.
  • the joints can be designed as joints having one degree of freedom and cylinder-jacket-shaped joint surfaces 16a, 16b, 18a, 18b or as gels with two degrees of freedom with calotte support. Migen or spherical joint surfaces 16a, 16b, 18a, 18b be ⁇ designed.
  • Various possible configurations of the device with different positions of the joints are indicated by dashed lines in Fig. 1. At one end of the chain-like configured device, this includes the integrated actuator 14 for clamping and releasing the tensioning cable 12.
  • the actuator 14, which is shown in dashed lines in Fig. 1, is completely hidden in one of the joint body 10a and not visible from the outside.
  • the hinge body 10a must be screwed on with screwing tools to access the actuator 14 and remove or replace it, if necessary.
  • the tensioning cable 12 is, depending on the field of application of the invention, a braided wire rope, a synthetic fiber rope or a combination of these.
  • a friction torque acting between the joint surfaces 16a, 16b, 18a, 18b can be changed.
  • a large voltage leads to a large friction torque and a low voltage corresponds to a low friction torque.
  • joint surfaces 16a, 16b, 18a, 18b are designed so that the joint body 10a, 10b, 10c at least at low tension of the tensioning cable 12 by hand are mutually pivotable and frictionally or at high voltage non-positively fixed to one another, ie the user can no longer be pivoted against each other by hand.
  • Suitable friction moments depend on the application.
  • the manual pivoting on the one hand and the fixing on the other hand can be sufficiently ensured for a wide range of applications Spekt ⁇ rum who, ⁇ if the first value of the voltage of the tensioning cable 12 a moment of friction between adjacent link bodies 10a, 10b, _ _
  • the frictional torque in the low-voltage state is different from zero before ⁇ teilhaf, in particular chosen so that the device under the action of gravitational ⁇ forces not folded by itself, but still can be moved by hand.
  • FIG. 2 shows a schematic sectional illustration of the device according to FIG. 1.
  • the joint bodies 10a, 10b, 10c each comprise in their center a channel 20a, 20b, 20c for guiding the tensioning cable 12, which opens into at least one of the joint surfaces 16a, 16b, 18a, 18b.
  • At least one of the channels 20a, 20b, 20c of two adjacent joint surfaces 16a, 16b, 18a, 18b widens in a funnel shape towards the corresponding joint surface in order to enable a pivoting movement.
  • the angle of the expansion (s) of the two abutting ⁇ the articular surfaces 16a, 16b, 18a, 18b corresponds in wesent ⁇ union of the maximum amplitude of the pivoting movement in ent ⁇ speaking joint.
  • the joint body 10a, 10b, 10c and channels may be formed depending on the forces acting from suitable materials, preferably as a plastic hollow body, which are reinforced in areas where the tensioning cable 12 rests with large forces, with metal inserts.
  • suitable materials preferably as a plastic hollow body, which are reinforced in areas where the tensioning cable 12 rests with large forces, with metal inserts.
  • the actuator 14 is in the embodiment of FIGS. 1 and 2 in a Geienkenia 10 a, 10 b, 10 c at the end of the chain arranged by joint bodies 10a, 10b, 10c.
  • the actuator 14 comprises an electric stepping motor 14a, which drives a spindle 14e, which is moved axially by this rotary drive, via a spindle gear 14b with a spindle nut 14d supported in an abutment 14c.
  • the spindle 14e is then connected to the tensioning cable 12, so that an axial displacement of the spindle 14e leads to a tensioning or release of the tensioning cable 12.
  • the spindle gear 14b is designed to be self-locking, so that rotational movements of the spindle nut 14d can indeed be converted into tensile forces, but not tensile forces in rotational movements of the spindle nut 14d.
  • the device may comprise a locking device 14f (shown in FIG. 2 as a dashed option) for locking the device, for example a pin or a latching tongue for fixing the spindle nut 14d, which is or which is automatically released upon actuation of the actuator 14 and brought back into engagement upon completion of the operation.
  • a locking device 14f shown in FIG. 2 as a dashed option
  • the person skilled in the art may optionally use another suitable linear drive and / or another suitable locking device 14 i instead of the spindle gear 14 b .
  • the joint body 10a designed as a switching knob control element 22 for operating the actuator 14 is arranged on the equipped with the actuator 14, the joint body 10a designed as a switching knob control element 22 for operating the actuator 14 is arranged.
  • the switch button 22 has two positions corresponding to the two states of the device explained above, that is, a fixed state and a movable state.
  • the actuator 14 may be controlled by a microcontroller and powered by batteries or a power connector (not shown).
  • any obj ekte can be attached, which are relative to each other _. _
  • one end of the device can be connected to a wall and the other end to a wall-mounted object, such as a monitor.
  • the end faces 28a, 28b of the device may for this purpose comprise fastening structures, pedestals or plates, which can then be screwed or otherwise connected to the objects.
  • a power supply line and / or data line can be performed, which supplies the ect to be fastened at the end with power and data.
  • the end faces 28a, 28b or other surfaces of the device may for this purpose comprise connections for inserting corresponding lines.
  • the device according to the invention enables the setting of a plurality of degrees of freedom of movement by a single operation.
  • Devices with multiple joints which would otherwise have to have a screw or other locking device per joint, so that multiple user interventions for fixing a set configuration would be necessary, can be fixed by a single user intervention, which causes the tensioning cable 12 to be tightened.
  • Fig. 3 shows a further embodiment or use of the invention as an adjustable armrest, in particular to the arrangement next to a seat or armchair. It comprises a pre ⁇ direction of the type described above, with an adjustment of the armrest by pivoting the joint body 10a, 10b, 10c against each other.
  • a first end face 28a on a joint body 10c of the device is fastened to a sole 24 or a frame of a sizer, and a control element 30 designed as a joystick for a machine is provided on the opposite hinge body 10a arranged at the distal end of the arm rest.
  • a middle joint element 10 b is equipped with an arm pad 26.
  • Other elements such as drinks - -
  • the operating element 22 for fixing and releasing the armrest is arranged in the embodiment shown in FIG. 3 in the vicinity of the joystick 30 on a side surface of one of the hinge elements 10a. Depending on the expected frequency of use, it may also be integrated into the joystick, located at the proximal end and / or at any other surface of the device.
  • the sleeve pad according to the invention can, for example, in
  • Trucks, aircraft cockpits, platoon seats, construction machinery, especially excavators, wheelchairs or any other areas are used.
  • Fig. 4 shows a further embodiment of the invention, in which a device of the type described above for buildin term ⁇ a user interface 38 is used for operating a machine.
  • the console interface user interface 38 is movably attached to a fixed pedestal 24 or to a wall by means of the device and can be adjusted in position and orientation to the user's wishes.
  • Fig. 5 shows a further embodiment of the invention, in which two devices of the type described above are used in an exoskeleton.
  • the hinge bodies 10a, 10b, 10c of each of the devices comprise a middle one in the
  • the exoskeleton includes a remote control 36 for wirelessly actuating the actuators (not shown) of the two devices.
  • the wearer can freely move the exoskeleton by loosening the tensioning cables (not shown) and then, when the leg strength subsides, solidifying the exoskeleton.
  • suitable friction moments can be generated by setting intermediate values for the rope tension.
  • exoskeleton shown schematically in Fig. 5 is just one of many conceivable embodiments of the exoskeleton, which also on individual legs, to an arm, foot or for supporting only a knee or the spine or to
  • Relieving a specific area or bone can be adjusted and interpreted.
  • Relieving a specific area or bone can be adjusted and interpreted.
  • the actuator 14 can also be operated independently of an operation by the user of the machine control, for example, such that the device automatically fixed in certain operating conditions of the machine or the vehicle or the tensioning cable 12 is tensioned, for example in aircraft during take-off and / or landing or when turbulence or during the flight occurs.
  • the control excludes an actuation of the actuator by the user in certain operating states.
  • FIG. 6 shows a further embodiment of the invention in which the joint bodies 10a-10e form, in addition to the channel 20a-20e, a further channel 32a-32e for guiding a flexible shaft 34.
  • the channels 20a-20e, 32a-32e may also be combined into a single channel.
  • the device can be fitted with one of its articulated bodies 10a on the housing of a screwdriver 40 or a drilling machine. - -
  • the device according to the embodiment of the invention shown in FIG. 6 enables a torque transmission around the corner, ie along a by adjustment of the joint body 10 a - ICe largely freely configurable way, so screw or Borharbei th also to seh hard to reach places to allow.

Abstract

L'invention concerne un dispositif comprenant une multitude de corps d'articulation (10a - 10e) juxtaposés et au moins un câble de serrage (12) qui relie à la manière d'une chaîne les corps d'articulation (10a - 10e). Respectivement deux corps d'articulation (10a - 10e) adjacents sont reliés l'un à l'autre de manière à pouvoir pivoter par l'intermédiaire de faces d'articulation (16a, 16b ; 18a, 18b) s'adaptant les unes par rapport aux autres. Un couple de friction agissant entre les faces d'articulation (16a, 16b ; 18a, 18b) peut être réglé par une modification d'une tension du câble de serrage (12). L'invention propose d'équiper le dispositif d'au moins un actionneur (14) intégré au dispositif, pouvant être actionné de manière électrique, servant à serrer et à desserrer le câble de serrage (12).
PCT/EP2018/055090 2017-03-01 2018-03-01 Dispositif comprenant une multitude de corps d'articulation juxtaposés WO2018158388A2 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102017002000.0A DE102017002000A1 (de) 2017-03-01 2017-03-01 Vorrichtung mit einer mehrzahl von aneinandergereihten gelenkkörpern
DE102017002000.0 2017-03-01

Publications (2)

Publication Number Publication Date
WO2018158388A2 true WO2018158388A2 (fr) 2018-09-07
WO2018158388A3 WO2018158388A3 (fr) 2018-10-25

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PCT/EP2018/055090 WO2018158388A2 (fr) 2017-03-01 2018-03-01 Dispositif comprenant une multitude de corps d'articulation juxtaposés

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DE (1) DE102017002000A1 (fr)
WO (1) WO2018158388A2 (fr)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN110507427A (zh) * 2019-09-02 2019-11-29 王兴国 一种蛇形机械固定臂

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Publication number Priority date Publication date Assignee Title
WO2009152633A1 (fr) 2008-06-17 2009-12-23 Grasshoff, Jens Dispositif de fixation externe de fragments d'os

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US3858578A (en) 1974-01-21 1975-01-07 Pravel Wilson & Matthews Surgical retaining device
FR2715825A1 (fr) 1994-02-09 1995-08-11 Soprane Sa Tige de liaison auto-cintrable pour fixateur de rachis.
DE19746687C2 (de) 1997-10-22 2001-02-15 Gerd Werding Vorrichtung zur externen Fixierung von gebrochenen Knochen, insbesondere der Extremitäten
FR2896402B1 (fr) * 2006-01-24 2008-03-28 Mathias Lubin Dispositif de bras articule destine a porter un instrument chirurgical
US7634874B2 (en) 2006-04-18 2009-12-22 Luco-Ed Enterprises Llc Collapsible structural members
CN102499731B (zh) * 2011-11-01 2013-11-06 西安交通大学 一种拉索式腔镜手术器械全方位自动牵拉扶持装置

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Publication number Priority date Publication date Assignee Title
WO2009152633A1 (fr) 2008-06-17 2009-12-23 Grasshoff, Jens Dispositif de fixation externe de fragments d'os

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN110507427A (zh) * 2019-09-02 2019-11-29 王兴国 一种蛇形机械固定臂

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DE102017002000A1 (de) 2018-09-06
WO2018158388A3 (fr) 2018-10-25

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