Source: https://patents.google.com/patent/DE4340707C2/en
Timestamp: 2020-05-31 04:02:57
Document Index: 228781045

Matched Legal Cases: ['art 20', 'art 30', 'art 20', 'art 30', 'art 20', 'art 20', 'art 30', 'art 20', 'art 30', 'art 30', 'art 20', 'art 30']

DE4340707C2 - Manipulator - Google Patents
DE4340707C2
DE4340707C2 DE4340707A DE4340707A DE4340707C2 DE 4340707 C2 DE4340707 C2 DE 4340707C2 DE 4340707 A DE4340707 A DE 4340707A DE 4340707 A DE4340707 A DE 4340707A DE 4340707 C2 DE4340707 C2 DE 4340707C2
DE4340707A
DE4340707A1 (en
Friedrich Haehnle
1995-06-01 Publication of DE4340707A1 publication Critical patent/DE4340707A1/en
1997-03-27 Publication of DE4340707C2 publication Critical patent/DE4340707C2/en
The invention relates to a manipulator, in particular for medicine African, externally controlled manipulations in body cavities a handle part, one at one end with the handle partly connected working arm and one at the other end of the Work arm attached effector part, a connection between rule handle part and effector part is provided so that from Handle part over the working arm movements of the effector part in can be controlled in several directions.
Such a manipulator is described in DE-A-41 36 861. This is intended for minimally invasive surgery Instrument allows motion control of an effector through a working arm so that by means of one hand have great flexibility on the handle part of the on the move Lichen end patch effector is made possible. With this Known surgical instrument is used specifically for the rotation of the placed effector around its axis either a torsionally rigid Piece of wire or a piece of pipe proposed, which in the working arm are led.
For the other movement possibilities of the effector one Abundance of control systems, such as pneumatic, hydraulic, Piezoelectric, magnetostrictive to electromotive Control systems proposed, the combination of Bewe types of the effector are not explained in detail.
From the German patent 6 50 368 a manipulator, for. B. known for the transmission of movements for lighting systems, which also has a handle part, one with the handle part working arm connected at one end and one at the other End effector attached to the working arm. There is one Connection between the handle part and the effector provided that movements from the handling part over the working arm the effector can be controlled in several directions. The working arm is housed in an outer shaft tube and stands with one first and a second control ball in connection. One of the Control balls can be connected to the handle part, the second Control ball with the effector, this connection each way is designed so that the control balls can be rotated and pivoted on the respective shaft ends are stored. The control balls are through in Linkage-guided connecting links in the form of traction devices connected with each other. Such a remote control device is for Lighting systems certainly well suited as it does not rely on this the exact transfer of the movement to the size is coming. Incidentally, this device is only a transmission of swiveling movements, but not of rotating movements possible.
The use of such a control device in medical In instruments, especially endoscopic instruments not possible because tactile work must always be possible there and narrow limits are specified in terms of size.
The object of the invention is a manipulator with a simple and precisely working connection system between the handling part and the effector part over the working arm so that a effector attached to the effector part movements of the hand part of the operator's attacking hand in different Can follow directions exactly. The manipulator according to the invention should also be as easy and inexpensive to manufacture.
This object is achieved according to the invention by the one in claim 1 listed features solved. Accordingly, the manipulator exists So from a handle part and an effector part, which over a Are connected to each other. The working arm instructs outer shaft tube on the ends of which control balls rotate and are pivotally mounted, with the handle part or with the Effector part are connectable. Ver links to transmit movements from one Control ball provided to the other, for the transmission of Control wires and longitudinally movable in the shaft tube for the frictional connection of the control balls in the longitudinally movable Steerer tube guided spacer tubes. This way both Panning as well as rotating movements are very sensitive in particular be transferred in diameter of small size.
For a control ball in the sense of the invention, it comes primarily on the spherical bearing, so that, if necessary, also in some areas can deviate from the spherical shape if these areas no longer serve for storage.
According to the invention, the connecting members therefore provide a force conclusive mechanical connection between the control balls, so that swiveling and rotating movements are transmitted equally can be. By doing this through the same transmission medium, the manipulating operator (surgeon) can do a lot precise movements of the effector by operating the handle part To run. Indirectly working power transfer this advantage in general. They also have indirect power transmission systems mostly heavy and cause high manufacturing costs.
Both the control balls and the connection preferably have each have a central hole in the longitudinal direction of the shaft tube on that a connection passage from the handle part through the working arm to the effector part. Through this ver binding passage can be guided, for example, a flexible endoscope be or a mechanical connection for transmission of the actual instrument control (handle effector).
In the preferred embodiment of the Ma nipulators the connecting links have several control wires, which are each articulated on the outer circumference of the control balls. There through is a very tight, direct and actually play-free over Carrying the movement of the control ball at the end of the handle part possible via the working arm to the control ball on the effector part. Before there are spacer tubes between the first and second control balls arranged, which are guided in the shaft tube and in the Zu Together, the two control balls interact with the shaft tube in their Hold the position so that the control wires are taut with every movement stay excited.
This is preferably done so that two outer spacer tubes slidable within the shaft tube and in its longitudinal direction arranged on an inner spacer tube and from one around the inner spacer tube arranged around coil spring in each Direction to the first and second control balls are biased.
In a further training, the spacer tubes have guide means Lead the control wires on. These guide means are preferred Equidistant, peripheral, in the longitudinal direction of the spacer tubes brought recesses in the distance tubes, then the Steuer wires are articulated equidistantly on each control ball. For each because of the fastening of a handle on the one hand and an effector on the other hand, each control ball has a tubular extension on, these pipes in the form of an extension of each Steuerku gel to the handle part or to the effector part.
The manipulator according to the invention is preferred for medical Manipulations used in body cavities from the outside, however, can also for other technical examinations or treatments be applied.
The invention is illustrated below with reference to the figures presented embodiments explained in more detail. It shows
Fig. 1 a first embodiment of the manipulator according to the invention with flexible forceps in partial cross-section,
Fig. 2 is an enlarged view of one of the control spheres with attached steering wires, also partially cut ge,
Fig. 3 is a view of the control balls to Veranschauli monitoring the rotation possibility of the instrument,
Fig. 4 is a view of the control device without an enveloping shaft tube and
Fig. 5 is a view corresponding to Fig. 1 of the manipulator according to the invention with an inserted flexible endoscope.
The embodiment of the manipulator according to the invention shown in FIG. 1 shows a working arm 10 which carries out movements carried out on a handle part 20 to an effector part 30 . As an example, a flexible pliers is shown in Fig. 1 as an effector. These flexible pliers have a scissor-like handle 21 , a claw-like effector 31 and a flexible shaft 9 which is guided through a connecting passage 11 , 12 , 13 in the working arm 10 . The working arm 10 has a control ball at each end of an outer shaft tube 1 , a first control ball 6 being associated with the handle part 20 and a second control ball 8 with the effector part 30 .
The proximal-side control ball 6 assigned to the handle part 20 has a tubular extension 6 a, to which the hand-held part 20 can be detachably fastened, while the distal-side control ball 8 assigned to the effector part 30 has a tube 8 a to which the effector 31 is detachably fastened. Within the outer shaft tube 1 of the working arm 10 axially movable spacer tubes 2 , 3 , 4 are arranged, of which the middle spacer tube 4 is arranged axially displaceably within the outer spacer tubes 2 and 3 and carries a coil spring 5 , which the two outer spacer tubes 2 and 3 each biased towards the control balls 8 and 6 .
As shown in FIG. 2, the proximal control ball 6 and the distal control ball 8 are mechanically connected to one another via a plurality of control wires 7 . In this way, in the outer shaft tube 1 in the longitudinal direction slidably movable spacer tubes 2 , 3 and 4 together with the spring 5, the two control balls 6 and 8 and the control wires 7 so that with every rotation and pivoting movement of the control balls 6 and 8 these are held in the respective position shown in FIG. 1. The wires 7 act as tie rods and transmit the swiveling movements, whereas the rotational movements about the shaft axis are transmitted exclusively by frictional engagement between the spacer tubes 2 , 3 , 4 .
The connection between the control wires 7 and the control balls 6 and 8 is only indicated schematically in the figures, since in principle a wide variety of fastening mechanisms are conceivable.
Referring to FIG. 2, the control wires 7 are equally spaced at the periphery of the control ball 6 at pivot points 17 hinged. In the same way, the control wires 7 are steered on the control ball 8 . It is readily apparent that, provided that the control wires 7 are tightly tensioned, which is achieved by the spacer shafts 2 , 3 , 4 and the coil spring 5 , each rotation and pivoting movement of the proximal control ball 6 is non-positive and without play on the distal control ball 8 is transmitted. In Fig. 1 by two double arrows, each bearing the designations POS1, POS2 and POS1 'and POS2', it is shown that a pivoting movement of the handle part 20 at the proximal end of the working arm 10 to a corresponding pivoting movement of the efector part 30 at the distal end of the working arm 10 leads. The pivot angle of the control balls 6 , 8 is in principle limited only by the way in which they are supported on the shaft tube 1 .
Fig. 3 illustrates the rotation options of the instrument (arrow 25 ). It is clear that a combined swivel-turn movement of the proximal-side handle part leads to a similar turn-swivel movement, ie in the same direction of rotation of the effector part 30 at the distal end of the manipulator according to the invention. The angle of rotation of the manipulator is in principle only limited by the bearing.
In the figures, the two control balls 6 and 8 each have essentially the same diameter. If, for example, the proximal-side control ball 6 has a larger diameter than the distal-side control ball 8 , the swiveling movement is accordingly based on the diameter ratio of the two control balls. In this way, a larger swivel angle on the handle 21 can lead to a smaller swivel movement on the effector 31 . The control balls 6 and 8 each have a central drilling tion 11 and 12 , which are aligned with the passages in the tube extensions 6 a and 8 a. The spacer tubes 2 , 3 and 4 also have a central passage 13 . Together, this defines a connecting passage through which a flexible element 9 of the pliers shown in FIG. 1 is guided. In the embodiment of Fig. 1, the operation of the forceps jaw is transmitted by the flexible member.
In Fig. 4 the non-positive connection of the two Steuerku rules 6 and are illustrated 8 by the control wires 7 and the control balls 6, 8 and the control wires 7 biasing by the coil spring 5 spacer tubes 2, 3 and 4 without the outer shaft tube.
Articulation points 17 for the control wires 7 are arranged at the same distance in a circle all around on the periphery of the control balls 6 and 8 . To guide the control wires 7 within the shaft tube, guide means, not shown, can be provided, which can be implemented, for example, by cutouts in the longitudinal direction on the periphery of the spacer tubes.
Fig. 5 shows the manipulator according to the invention in combination with a flexible endoscope 22 , which represents another type of application of the manipulator.
Overall, FIGS. 1, 4 and 5 show that a pivoting movement of a user on the proximal-side handle part 20 is transmitted to the dista len effector part 30 . This leads to the fact that the user can handle, as with an ordinary, undeflected pliers or instrument. Without being particularly shown, it will be expedient for most applications that the outer shaft tube 1 of the working arm 10 is fixed, in the case of a surgical instrument, for example by a trocar through which the working arm is guided and fixed therein.
The preferred one described above and shown in the drawing Embodiment of the manipulator according to the invention is an example described in combination with surgical instruments been. However, it is readily apparent that the invention appropriate manipulator can also be used in other applications is, for example to manipulations and investigations in techni cavities.
Furthermore, the manipulator according to the invention was in its Use with a forceps-like device and an endoscope described. Of course, the manipulator according to the invention also used with scissors or other instruments will.
Overall, the manipulator according to the invention simplifies interventions and Investigations in cavities, e.g. B. body cavities by having a direct and tight movement of the distal end of the manipu lators made possible by the movement at the proximal end. He is light, simply constructed and can be produced inexpensively.
It is also possible that a CCD sensor in the front control ball sor is installed, which via electrical or optical signal transmits an image to the rear control ball. There it will Signal taken over by a signal converter and / or to a external controller transmitted.
Instead of a handle part, a motorized adjustment can also be used establishment kick the z. B. automated distal movements Control ball causes.
1. Manipulator, in particular for medical manipulations in body cavities controlled externally, with the following features:
- A handle part ( 20 ) is connected via a working arm ( 10 ) with an effector part ( 30 ) such that movements of the effector part ( 30 ) can be controlled in several directions from the handling part ( 20 ) via the working arm ( 10 ),
- The working arm ( 20 ) has an outer shaft tube ( 1 ), at one end of which a first, with the handle part ( 20 ) connectable control ball ( 6 ) is rotatably and pivotably mounted, and at the other end a second with the effector part ( 30 ) connectable control ball ( 8 ) is rotatably and pivotably mounted,
- In the shaft tube ( 1 ) connecting links ( 2-5 , 7 ) for transmitting movements of a control ball ( 6 or 8 ) to the other control ball ( 8 or 6 ) are arranged and the connecting links have longitudinally movable control wires ( 7 ) in the shaft tube ( 1 ) ) for the transmission of tensile forces and longitudinally movable spacer tubes ( 2-4 ) in the shaft tube ( 1 ) for the non-positive connection of the control balls ( 6, 8 ).
2. Manipulator according to claim 1, characterized in that the control balls ( 6 , 8 ) and the entirety of the connecting links ( 2-5 , 7 ) have a central passage ( 11 , 12 , 13 ) in the longitudinal direction of the shaft tube ( 1 ), this central passage ( 11 , 12 , 13 ) forms a connecting passage from the handle part ( 20 ) through the working arm ( 10 ) to the effector part ( 30 ).
3. Manipulator according to claim 1 or 2, characterized in that the control wires ( 7 ) equidistantly balls on the outer circumference of the control ( 6 , 8 ) are articulated.
4. Manipulator according to one of the preceding claims, characterized in that two outer spacer tubes ( 2 , 3 ) in the longitudinal direction of the shaft tube ( 1 ) slidably arranged on an inner spacer tube ( 4 ) and of a coil spring provided around the inner spacer tube ( 4 ) ( 5 ) in the direction of the first and second control balls ( 6 , 8 ) are subjected to power.
5. Manipulator according to one of the preceding claims, characterized in that the spacer tubes ( 2 , 3 , 4 ) have guide means for guiding the control wires.
6. Manipulator according to claim 5, characterized in that the guide means have equidistant peripheral recesses in the longitudinal direction of the spacer tubes ( 2 , 3 , 4 ).
7. Manipulator according to one of the preceding claims, characterized in that each control ball ( 6 , 8 ) has an extension in the form of an aligned with the central passage in the control ball tube ( 6 a, 8 a), the handle part ( 20 ) or extends to the effector part ( 30 ) and is seen in front of the respective attachment of a handle ( 21 ) or an effector ( 31 ).
8. Controllable surgical instrument, characterized by the Use of the manipulator according to one of claims 1 to 7.
9. Surgical instrument according to claim 8, characterized in that a flexible, or partially flexible shaft ( 9 ) of the surgical instrument is guided through the central passage.
DE4340707A 1993-11-30 1993-11-30 Manipulator Expired - Fee Related DE4340707C2 (en)
FR9412753A FR2713129B1 (en) 1993-11-30 1994-10-25 Manipulator and its use as a surgical instrument.
GB9423050A GB2284242B (en) 1993-11-30 1994-11-14 Manipulator
US08/346,776 US5520678A (en) 1993-11-30 1994-11-30 Manipulator arm with proximal and distal control balls
DE4340707A1 DE4340707A1 (en) 1995-06-01
DE4340707C2 true DE4340707C2 (en) 1997-03-27
DE4340707A Expired - Fee Related DE4340707C2 (en) 1993-11-30 1993-11-30 Manipulator
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1997-03-27 D2 Grant after examination