Dievorliegende Erfindung betrifft chirurgisches ein Instrument miteinem Schaft, einem mindestens ein beweglich gelagertes Werkzeugelement umfassenden,eine Längsachsedefinierenden Endeffektor und einem im Schaft in distaler und proximalerRichtung bewegbar gelagerten Kraftübertragungsglied zum Übertrageneiner an einem proximalen Ende des Instruments eingeleiteten Betätigungskraftauf den Endeffektor zum Bewegen des mindestens einen Werkzeugelementsvon einer ersten in eine zweite Werkzeugselementstellung und/oderumgekehrt, wobei das mindestens eine Werkzeugelement auf einer amSchaft gehaltenen Lagerwelle verschwenkbar gelagert ist.TheThe present invention relates to a surgical instrumenta shaft, comprising at least one movably mounted tool element,a longitudinal axisdefining end effector and one in the shaft in distal and proximalDirection movably mounted power transmission member for transmittingan actuating force introduced at a proximal end of the instrumenton the end effector for moving the at least one tool elementfrom a first to a second tool element position and / orvice versa, wherein the at least one tool element on an amShaft held bearing shaft is pivotally mounted.
ChirurgischeInstrumente der eingangs beschriebenen Art werden in zahlreichenVarianten in Form von sogenannten Rohrschaftinstrumenten in derminamalinvasiven Chirurgie eingesetzt. Es ist bekannt, die verschwenkbargelagerten Werkzeugelemente überschwenkbar am Werkzeugelement und am Kraftübertragungsglied gelagerteLenker zu verbinden und Betätigungskräfte zumBewegen der Werkzeugelemente zu übertragen.Eine weitere Alternative ist das Vorsehen sogenannter "Schlitz-Nocken-Führungen", wobei entwederam Werkzeugelement oder am Kraftübertragungsgliedeine eine Führungsbahndefinierende Ausnehmung und am jeweils anderen Teil ein in die Führungsbahneingreifender Vorsprung ausgebildet ist, um infolge einer Relativbewegungdes Kraftübertragungsgliedsund des Schafts den Vorsprung in der Führungsbahn zu bewegen und soeine Bewegung des mindestens einen Werkzeugelements zu bewirken.surgicalInstruments of the type described above are available in numerousVariants in the form of so-called tubular shaft instruments in theused minamalinvasive surgery. It is known that swivelingstored tool elements overpivotally mounted on the tool element and the power transmission memberHandlebars to connect and actuation forces toMove the tool elements to transfer.Another alternative is the provision of so-called "slotted cam guides", eitheron the tool element or on the force transmission memberone a guidewaydefining recess and on the other part one in the guidewayengaging projection is formed to due to a relative movementof the power transmission memberand the shaft to move the projection in the guideway and so onto cause a movement of the at least one tool element.
Nachteiligbei allen bekannten Anlenkungen der am Markt verfügbaren Instrumentesind jedoch ein infolge von unvermeidlichen Fertigungstoleranzen auftretendesSpiel sowie aufgrund der Anlenkung auftretende Reibungsverluste.Diese Nachteile führeninsbesondere dazu, dass die bekannten Instrumente nicht in gewünschterWeise unter Beibehaltung ihrer Stabilität und Funktionalität miniaturisiertwerden können.Schaftdurchmesser, die deutlich kleiner als 10 mm sind, sind mitherkömmlichen Kraftübertragungsmechanismenin der Praxis nicht realisierbar.adverselyin all known articulations of the instruments available on the marketHowever, they are a result of inevitable manufacturing tolerances occurringGame and due to the articulation occurring friction losses.These disadvantages leadin particular to the fact that the known instruments are not in the desiredMiniaturized while maintaining their stability and functionalitycan be.Shank diameters significantly smaller than 10 mm are withconventional power transmission mechanismsnot realizable in practice.
Esist daher Aufgabe der vorliegenden Erfindung, ein chirurgischesInstrument der eingangs beschriebenen Art so zu verbessern, dassder Endeffektor deutlich kleiner ausgebildet werden kann als beiherkömmlichenInstrumenten.Itis therefore an object of the present invention, a surgicalInstrument of the type described above to improve so thatthe end effector can be made significantly smaller than atusualInstruments.
DieseAufgabe wird bei einem chirurgischen Instrument der eingangs beschriebenenArt erfindungsgemäß dadurchgelöst,dass das mindestens eine Werkzeugelement über mindestens ein mindestensabschnittsweise flexibles Anlenkglied mit dem Kraftübertragungsabschnittverbunden ist zum Übertragender Betätigungskraftvom Kraftübertragungsgliedauf das mindestens eine Werkzeugelement.TheseTask is in a surgical instrument of the type described aboveType according to the invention therebysolved,that the at least one tool element over at least one at leastpartially flexible link with the power transmission sectionconnected to transmitthe operating forcefrom the power transmission memberon the at least one tool element.
DasAnlenkglied, das selbstverständlich auchvollständig,das heißt über seinegesamte Länge,flexibel ausgebildet sein kann, gestattet eine für eine Bewegung des mindestenseinen Werkzeugelements erforderliche Verformung, so dass auf bekannteAnlenkungsvarianten, wie zum Beispiel "Schlitz-Nocken-Führungen" oder schwenkbareAnlenkungen von kleinen Lenkern zwischen dem mindestens einen Werkzeugelementund dem Kraftübertragungsglied,verzichtet werden kann. Durch das Vorsehen mindestens eines Anlenkgliedsin der beschriebenen Art und Weise werden somit im Vergleich zuden aus dem Stand der Technik bekannten Lösungen die Reibungsverlusteminimiert. Zu dem ist die erfindungsgemäß vorgeschlagene Anlenkung desmindestens einen Werkzeugelements äußerst spielarm, je nach Ausgestaltungsogar praktisch spielfrei. Da auf komplizierte Anlenkungen zwischen demKraftübertragungsgliedund dem mindestens einen Werkzeugelement verzichtet werden kann,ist es mit einem solchen Anlenkglied möglich, eine Größe des Endeffektorsdeutlich zu verringern, das heißt insbesondereDurchmesser von Endeffektoren zu realisieren, die auch kleiner als2 mm sein können. Damiteignet sich das erfindungsgemäß vorgeschlageneInstrument hervorragend fürdie Verwendung bei neurochirurgischen Eingriffen oder minimalinvasivenEingriffen bei Kindern.TheLink, of course, tooCompletely,that means about hiswhole length,may be flexible, allows for a movement of at leasta tool element required deformation, so that knownAnlenkungsvarianten, such as "slot-cam guides" or swivelLinkages of small links between the at least one tool elementand the transmission member,can be waived. By providing at least one Anlenkgliedsin the manner described are thus compared tothe solutions known from the prior art, the friction lossesminimized. To which is proposed according to the invention articulation of theat least one tool element extremely low backlash, depending on the designeven practically free of play. Because of complicated linkages between thePower transmission memberand the at least one tool element can be dispensed with,it is possible with such a Anlenkglied, a size of the end effectorsignificantly reduce, that is in particularDiameter of end effectors to realize, which is also smaller than2 mm can be. In order tois the proposed inventionsInstrument excellent forUse in neurosurgical procedures or minimally invasiveInterventions in children.
Besondersspiel- und reibungsarm wird der Endeffektor, wenn das mindestenseine Anlenkglied unlösbarmit dem mindestens einen Werkzeugelement verbunden ist. Ferner kannso auch verhindert werden, dass sich Teile bei besonders kleinenEndeffektoren lösenund im Körpereines Patienten verloren gehen können.Especiallyplay and friction is the end effector, if that at leastan articulation member insolubleis connected to the at least one tool element. Furthermore, canit also prevents parts from becoming very smallRelease end effectorsand in the bodyof a patient can be lost.
Besonderseinfach hergestellt und mit ausreichender Stabilität ausgestattetwerden kann ein chirurgisches Instrument, wenn das mindestens eine Anlenkgliedeinstückigmit dem mindestens einen Werkzeugelement ausgebildet ist.Especiallysimply manufactured and equipped with sufficient stabilitycan be a surgical instrument if that at least one articulating memberone pieceis formed with the at least one tool element.
Vorzugsweiseist das mindestens eine Anlenkglied unlösbar mit dem Kraftübertragungsglied verbunden.So könnenauch im Bereich der Kraftübertragungvom Kraftübertragungsgliedauf das Anlenkglied Reibungsverluste minimiert und die Anlenkungbesonders spielfrei ausgebildet werden.Preferablythe at least one articulation member is permanently connected to the power transmission member.So canalso in the field of power transmissionfrom the power transmission memberminimized friction losses on the link and the linkagebe formed without play.
DieStabilitätdes Endeffektors kann weiter erhöhtwerden, wenn das mindestens eine Anlenkglied einstückig mitdem Kraftübertragungsgliedausgebildet ist.Thestabilityof the end effector can be further increasedbe when the at least one link integral withthe power transmission memberis trained.
Insbesondereist es vorteilhaft, wenn das mindestens eine Anlenkglied ein Festkörpergelenk zwischendem Kraftübertragungsgliedund dem mindestens einen Werkzeugelement bildet. Durch das Vorseheneines Festkörpergelenkskann auf jede andere Form von ineinander greifenden Teilen verzichtetwerden, um eine Kraft vom Kraftübertragungsgliedauf das mindestens eine Werkzeugelement zu übertragen. Festkörpergelenkeermöglichensomit eine praktisch spielfreie Kraftübertragung und weisen auchbei einer maximalen Miniaturisierung noch eine ausreichende Stabilität für eine gewünschte Funktion desInstruments auf.Especiallyit is advantageous if the at least one articulation member is a solid-state joint betweenthe power transmission memberand forms the at least one tool element. By providinga solid-state jointcan dispense with any other form of interlocking partsbe a force from the force transmitting memberto transfer to the at least one tool element. Solid jointsenablethus a practically backlash transmission and also havewith a maximum miniaturization still sufficient stability for a desired function ofInstruments on.
Umdas mindestens eine Werkzeugelement insbesondere durch Übertrageneiner Zugkraft von der Längsachseweg schwenken zu können,ist es günstig,wenn das mindestens eine Anlenkglied auf einer von der Längsachseweg weisenden Außenseiteam mindestens einen Werkzeugelement angreift.Aroundthe at least one tool element in particular by transfera tensile force from the longitudinal axisto be able to pan awayis it cheapwhen the at least one link is on one of the longitudinal axispointing away outsideacts on at least one tool element.
Günstig kannes jedoch auch sein, wenn das mindestens eine Anlenkglied auf einerauf die Längsachsehinweisende Innenseite oder eines inneren Abschnitts am mindestenseinen Werkzeugselement angreift. Diese Ausgestaltung ermöglicht es,das mindestens eine Werkzeugelement insbesondere durch Beaufschlagendes Anlenkglieds mit einer Zugkraft in Richtung auf die Längsachsehin zu bewegen. Bei zwei vorgesehenen Werkzeugelementen können dieseso infolge einer ausgeübtenZugkraft geschlossen werden.Cheap canHowever, it should also be if the at least one link on oneon the longitudinal axisindicative inner side or inner section at leastattacks a tool element. This embodiment makes it possiblethe at least one tool element in particular by applyingthe Anlenkglieds with a tensile force in the direction of the longitudinal axisto move. With two provided tool elements, these canas a result of an exercisedTraction be closed.
EineStabilitätdes Instruments insgesamt kann weiter dadurch erhöht werden,dass ein proximales Ende des Endeffektors fest mit dem Kraftübertragungsgliedverbunden ist.Astabilityof the instrument as a whole can be further increased therebya proximal end of the end effector fixed to the force transmitting memberconnected is.
Vorzugsweiseist ein proximales Ende des Endeffektors einstückig mit dem Kraftübertragungsgliedausgebildet. Dadurch kann in der Herstellung auf eine möglicherweiseaufwändigeVerbindung zwischen dem Endeffektor und dem Kraftübertragungsgliedverzichtet werden, die zudem eine Stabilität des Instruments limitierenkann.Preferablya proximal end of the end effector is integral with the force transmitting membereducated. This may result in manufacturing at onecomplexConnection between the end effector and the transmission memberbe dispensed with, which also limit the stability of the instrumentcan.
Gemäß einerbevorzugten Ausführungsform derErfindung kann vorgesehen sein, dass der Endeffektor einen in distalerund proximaler Richtung bewegbaren Kraftübertragungsabschnitt umfasst,welcher mit dem Kraftübertragungsgliedverbunden ist, oder an diesem anliegt, und einen distalen Endbereichdes Kraftübertragungsgliedsbildet, und dass ein proximales Ende des mindestens einen Anlenkgliedsmit dem Kraftübertragungsabschnittverbunden ist. Durch das Vorsehen des Kraftübertragungsabschnitts kannder Endeffektor als eigenständige Einheitausgebildet werden, insbesondere auch einstückig. Dies hat fertigungstechnischVorteile, insbesondere dann, wenn der Endeffektor sehr stark miniaturisiertwerden soll. Das Kraftübertragungsglied undder Endeffektor könnenso getrennt gefertigt werden. Die Kraftübertragung auf das mindestenseine Werkzeugelement erfolgt dann ausgehend vom Kraftübertragungsabschnitt über dasAnlenkglied auf das zu bewegende Werkzeugelement.According to onepreferred embodiment ofInvention may be provided that the end effector in a distaland proximal direction movable power transmission section comprises,which with the power transmission memberis connected to or abuts against this, and a distal end portionof the power transmission memberforms, and that a proximal end of the at least one Anlenkgliedswith the power transmission sectionconnected is. By providing the power transmission section canthe end effector as an independent entitybe formed, in particular also in one piece. This has manufacturing technologyAdvantages, especially when the end effector is very miniaturizedshall be. The power transmission member andthe end effector canbe made separately. The power transmission to the at leasta tool element then takes place starting from the power transmission section via theConnecting member on the moving tool element.
Einbesonders kompakter Aufbau des Endeffektors lässt sich insbesondere dadurcherreichen, dass das mindestens eine Anlenkglied einstückig mit demKraftübertragungsabschnittausgebildet ist.Oneparticularly compact design of the end effector can be characterized in particularachieve that the at least one articulation member integral with thePower transmission sectionis trained.
Einerder oben beschriebenen Endeffektoren lässt sich insbesondere auf einfacheWeise in Verbindung mit herkömmlichenInstrumenten einsetzen, wenn das Kraftübertragungsglied eine Schub-und Zugstange umfasst. Insbesondere kann das Kraftübertragungsgliedselbst als Schub- und Zugstange ausgebildet sein.oneThe end effectors described above can be particularly simpleWay in conjunction with conventionalInstruments when the force transmitting member has a thrustand drawbar. In particular, the power transmission membereven be designed as a push and pull rod.
Vorteilhaftist es ferner, wenn das Kraftübertragungsgliedmindestens einen im Schaft verschiebbar gelagerten Kolben und einenvom mindestens einen Kolben durch ein Dichtungselement getrennten Fluidabschnittumfasst, welcher mit einem Fluid befüllt ist, welches durch Druckbeaufschlagunggegen das Dichtungselement drückbarist zum Bewegen des am Dichtungselement anliegenden mindestens einenKolbens parallel zur Längsachsedes Schafts. Einen derartigen Fluidabschnitt vorzusehen, ermöglicht es,einen Schaft flexibel oder gekrümmtauszubilden und trotzdem eine gewünschte Kraftübertragungausgehend von einem proximalen Ende des Instruments zum mindestenseinen Werkzeugelement sicherzustellen. Zudem ist eine fluidischeKraftübertragungbesonders spielarm, in der Regel sogar praktisch spielfrei, undnahezu nicht mit Reibungsverlusten behaftet.Advantageousit is also when the power transmission memberat least one displaceably mounted in the shaft and a pistonfrom the at least one piston separated by a sealing element fluid portioncomprising, which is filled with a fluid, which by pressurizationpressed against the sealing elementis for moving the voltage applied to the sealing element at least onePiston parallel to the longitudinal axisof the shaft. Providing such a fluid section makes it possible toa shaft flexible or curvedtrain and still a desired power transmissionstarting from a proximal end of the instrument to at leastto ensure a tool element. In addition, a fluidicpower transmissionvery low backlash, usually even virtually free of play, andalmost no friction losses.
DasInstrument lässtsich besonders kompakt ausbilden, wenn der mindestens eine Kolben denKraftübertragungsabschnittumfasst. Insbesondere kann der Kolben den Kraftübertragungsabschnitt bilden.TheInstrument leavesform a particularly compact, if the at least one piston thePower transmission sectionincludes. In particular, the piston may form the power transmission section.
Umeine geschlossene fluidische Kraftübertragung ausbilden zu können, istes günstig,wenn das Kraftübertragungsgliedzwei Kolben umfasst, welche zwischen sich den von den Kolben durchjeweils ein Dichtungselement getrennten Fluidabschnitt distalseitigund proximalseitig begrenzen.Aroundto be able to train a closed fluidic transmission isit cheap,when the power transmission membercomprises two pistons, which between them by the piston throughin each case one sealing element separate fluid section on the distal sideand limit on the proximal side.
UmVerluste eines in den Fluidabschnitt eingefüllten Fluids, bei dem es sichvorzugsweise um eine körperverträgliche Flüssigkeitwie zum Beispiel eine physiologische Kochsalzlösung handelt, zu verhindern,ist es günstig,wenn der Fluidabschnitt einen Fluidraum umfasst, welcher vollständig geschlossen undabgedichtet ist.AroundLosses of a filled in the fluid section fluid, in which it ispreferably a biocompatible liquidsuch as a physiological saline solution, to preventis it cheapwhen the fluid portion comprises a fluid space which is completely closed andis sealed.
Eineoptimale Abdichtung des Fluidabschnitts mit dem Dichtungselementkann insbesondere dadurch erreicht werden, dass das Dichtungselementflexibel und inelastisch ist. So wird verhindert, dass infolge einerDruckerhöhungim Fluid eine Hülledes Fluidabschnitts bersten kann.Aoptimum sealing of the fluid section with the sealing elementcan be achieved in particular by the fact that the sealing elementflexible and inelastic. This prevents it as a result of apressure increasein the fluid a shellof the fluid portion may burst.
Einfachin der Herstellung, auf einfache Weise mit einem Schaft verbindbarund zudem lange Verschiebewege gestattbar kann ein Dichtungselementsein, wenn es in Form eines Balgs oder eines Rollbalgs ausgebildetist.Easyin production, easily connectable with a shaftand also long displacement paths can be granted a sealing elementbe if it is designed in the form of a bellows or a bellowsis.
Umzu verhindern, dass sich der Kraftübertragungsabschnitt und/oderdas Kraftübertragungsgliedrelativ zum Schaft um dessen Längsachseverdrehen können,ist es vorteilhaft, wenn das Instrument eine Führungseinrichtung zum Führen einer Bewegungdes Kraftübertragungsabschnitts und/oderdes Kraftübertragungsgliedsim Schaft parallel zur Längsachseaufweist.Aroundto prevent the power transmission section and / orthe power transmission memberrelative to the shaft about its longitudinal axiscan twist,it is advantageous if the instrument has a guide device for guiding a movementthe power transmission section and / orof the power transmission memberin the shaft parallel to the longitudinal axishaving.
Günstigerweisebildet die Führungseinrichtungeine Verdrehsicherung zum Verhindern einer Verdrehung des mindestenseinen Kolbens um die Längsachse.Damit kann insbesondere ein Verklemmen des Endeffektors im Schaftbeziehungsweise des mindestens einen Werkzeugelements auf der Lagerwellesicher verhindert werden.conveniently,forms the guiding devicean anti-rotation device for preventing rotation of the at leasta piston about the longitudinal axis.This can in particular a jamming of the end effector in the shaftor the at least one tool element on the bearing shaftsafely prevented.
Besonderseinfach wird der Aufbau der Führungseinrichtung,wenn diese erste und zweite zusammenwirkende Führungsglieder umfasst, vondenen eines am Kraftübertragungsabschnittund ein anderes am Schaft angeordnet ist, und wenn das erste Führungsgliedin Form eines Führungsvorsprungs unddas zweite Führungsgliedin Form einer Führungsausnehmungausgebildet ist.Especiallysimply the structure of the guide device,if this comprises first and second cooperating guide members, ofone of the power transmission sectionand another is disposed on the shaft, and when the first guide memberin the form of a leadership lead andthe second guide memberin the form of a guide recessis trained.
EineLängsführung lässt sichauf einfache Weise dadurch ausbilden, dass die Führungsausnehmung in Form einersich parallel zur Längsachseerstreckenden Führungsnutausgebildet ist. In dieser Führungsnutkann sich insbesondere ein korrespondierender Führungsvorsprung parallel zurLängsachsebewegen.ALongitudinal guide can beform in a simple manner in that the guide recess in the form of aparallel to the longitudinal axisextending guide grooveis trained. In this leadershipIn particular, a corresponding leadership projection parallel tolongitudinal axismove.
Damitdas Kraftübertragungsgliedfür eine Bedienpersonauf einfache und sichere Weise parallel zur Längsachse, vorzugsweise in distalerund proximaler Richtung, bewegt werden kann, ist günstigerweiseeine Betätigungseinrichtungam proximalen Ende des Instruments zum Bewegen des Kraftübertragungsgliedsparallel zur Längsachsevorgesehen.In order tothe power transmission memberfor an operatorin a simple and secure manner parallel to the longitudinal axis, preferably in the distaland proximal direction, can be moved is convenientlyan actuatorat the proximal end of the instrument for moving the power transmission memberparallel to the longitudinal axisintended.
EineHandhabung des Instruments kann bevorzugt dadurch verbessert werden,dass die Betätigungseinrichtungmindestens ein bewegbares Griffelement umfasst, welches mit demKraftübertragungsgliedgelenkig verbunden ist.AHandling of the instrument can preferably be improved bythat the actuating devicecomprises at least one movable grip element, which with thePower transmission memberarticulated is connected.
Untereiner gelenkigen Verbindung ist insbesondere auch zu verstehen,dass das Griffelement an einem proximalen Ende des Kraftübertragungsglieds anliegtund dieses in distaler Richtung bewegen kann.Underan articulated connection is to be understood in particular alsoin that the grip element bears against a proximal end of the force transmission memberand can move it distally.
Damitdas Instrument auf einfache Weise gereinigt werden kann, ist esvorteilhaft, wenn die Betätigungseinrichtungmit dem Schaft und/oder dem Kraftübertragungsglied lösbar verbindbarist. Zudem wärees so auch denkbar, den Schaft mit dem Endeffektor als Einheit auszubilden,welche als Einwegprodukt zur einmaligen Verwendung mit einer mehrfach verwendbarenBetätigungseinrichtunggenutzt werden kann.In order toThe instrument can be easily cleaned, it isadvantageous when the actuatordetachably connectable to the shaft and / or the power transmission memberis. In addition, would beit is also conceivable to form the shaft with the end effector as a unit,which as a disposable product for single use with a reusableactuatorcan be used.
Damitein Operateur eine Orientierung des Endeffektors, insbesondere desmindestens einen Werkzeugelements, direkt an einer Stellung derBetätigungseinrichtungerkennen kann, ist es günstig, wennder Schaft relativ zur Betätigungseinrichtung feststehendangeordnet ist.In order toan operator an orientation of the end effector, in particular theat least one tool element, directly to a position ofactuatorcan recognize, it is favorable, thoughthe shaft is fixed relative to the actuating deviceis arranged.
Umes einem Operateur zu ermöglichen,das Instrument bequem in einer ihm angenehmen Stellung zu haltenund das mindestens eine Werkzeugelement trotzdem im Inneren einesPatientenkörpers zurDurchführungeines chirurgischen Eingriffs in erforderlicher Weise einstellenzu können,ist es vorteilhaft, wenn der Schaft und/oder das Kraftübertragungsgliedrelativ zur Betätigungseinrichtungum die Längsachseverdrehbar sind.Aroundto allow an operator toto comfortably hold the instrument in a comfortable positionand the at least one tool element nevertheless inside aPatient body toexecutiona surgical procedure in the required mannerto be able toit is advantageous if the shaft and / or the force transmission memberrelative to the actuatoraround the longitudinal axisare rotatable.
Günstig istes, wenn das mindestens eine Anlenkglied in einer Werkzeugelementstellung,welche eine Grundstellung definiert, unverformt ist. Insbesonderekann ein Instrument mit zwei Werkzeugelementen so ausgebildet sein,dass die beiden Werkzeugelemente in der Grundstellung geschlossen oder aufgespreiztsind. So kann in der Grundstellung das mindestens eine Anlenkgliedkeine Kräfteauf das mindestens eine Werkzeugelement oder das Kraftübertragungsgliedausüben.Cheap isit, if the at least one articulating member in a tool element position,which defines a basic position, is undeformed. Especiallyan instrument with two tool elements can be designedthat the two tool elements in the basic position closed or spreadare. Thus, in the basic position, the at least one articulation memberno powerson the at least one tool element or the force transmission memberexercise.
Gemäß einerweiteren bevorzugten Ausführungsformder Erfindung kann vorgesehen sein, dass das mindestens eine Anlenkgliedin einer beliebigen von einer Grundstellung, in welcher es unverformtist, abweichenden Arbeitsstellung des mindestens einen Werkzeugelementsverformt ist. Bei der Arbeitsstellung handelt es sich ebenfallsum eine Werkzeugelementstellung, die jedoch nicht mit der Grundstellung übereinstimmt.Diese Ausgestaltung des Instruments hat den Vorteil, dass durchVerformung des Anlenkglieds Energie gespeichert werden kann, umdas mindestens eine Werkzeugelement ganz oder teilweise von derausgelenkten Arbeitsstellung wieder in die Grundstellung zurückzuüberführen. DasAnlenkglied kann so gleichzeitig als Rückstellglied einer Rückstelleinrichtungdienen.According to oneanother preferred embodimentThe invention may be provided that the at least one articulation memberin any of a basic position in which it is undeformedis, deviating working position of the at least one tool elementis deformed. The job position is the sameto a tool element position, which does not match the basic position.This embodiment of the instrument has the advantage that byDeformation of the linkage energy can be stored tothe at least one tool element in whole or in part from thedeflected working position back to the basic position. TheConnecting member can thus simultaneously as a return member of a return deviceserve.
Umeinen möglichstschlanken und kompakten Aufbau des Instruments, insbesondere dessen Endeffektors,zu ermöglichen,ist es günstig,wenn sich das mindestens eine Anlenkglied parallel oder im Wesentlichenparallel zur Längsachsesowohl proximalseitig als auch distalseitig der Lagerwelle erstreckt.Ferner kann durch eine entsprechende Länge des Anlenkglieds auch eingewünschter Öffnungswinkeloder Verschwenkwinkel des mindestens einen Werkzeugelements erreichtwerden. Eine Verschenkbewegung des mindestens einen Werkzeugelementslässt sichoptional auch übereine entsprechende Begrenzung an der Betätigungseinrichtung oder durchentsprechende Begrenzung eines Verschiebewegs des Kraftübertragungsgliedsim Schaft einstellen.Aroundone possibleslim and compact design of the instrument, in particular its end effector,to enableis it cheapwhen the at least one articulation member is parallel or substantiallyparallel to the longitudinal axisextends both proximal and distal of the bearing shaft.Furthermore, by a corresponding length of the Anlenkglieds also adesired opening angleor pivot angle of the at least one tool element achievedbecome. A gift movement of the at least one tool elementlet yourselfoptional also overa corresponding limit on the actuator or bycorresponding limitation of a displacement path of the power transmission memberin the shaft.
DerEndeffektor kann besonders kompakt aufgebaut werden, wenn sich dasmindestens eine Anlenkglied proximalseitig und distalseitig derLagerwelle jeweils gleich oder in etwa gleich weit erstreckt. Sokönneninsbesondere alle erforderlichen Teile für die Anlenkung des mindestenseinen Werkzeugelements in Richtung der Längsachse hintereinander angeordnetwerden, wodurch sich ein Außendurchmesserdes Schafts beziehungsweise ein Außendurchmesser des Endeffektorsdeutlich verringern lassen.Of theEnd effector can be made very compact, if theat least one articulation member on the proximal and distal sides of theBearing shaft in each case the same or approximately the same extent. Socanin particular all the necessary parts for the articulation of at leasta tool element arranged in the direction of the longitudinal axis one behind the otherwhich gives an outside diameterof the shaft or an outer diameter of the end effectorreduce significantly.
Besonderseinfach wird der Aufbau des Endeffektors, wenn das mindestens eineAnlenkglied in Form eines dünnenSteges ausgebildet ist. Insbesondere kann eine Dicke des vorzugsweisestreifenförmigenSteges sehr viel kleiner sein als eine Breite desselben. Hier können Verhältnissevon 1:10 oder sogar kleiner als 1:20 vorgesehen sein.Especiallysimply the structure of the end effector, if that is at least oneConnecting link in the form of a thinBridge is formed. In particular, a thickness of the preferablystripeFootbridge be much smaller than a width of the same. Here can relationships1:10 or even less than 1:20.
Umeinen besonders kleinen Endeffektor auszubilden, ist es günstig, wenndas Anlenkglied, insbesondere wenn es in Form eines Steges ausgebildetist, eine Dicke in einem Bereich von etwa 50 μm bis 700 μm aufweist. Vorzugsweise beträgt die Dicke 100 μm bis 200 μm.AroundTo form a particularly small end effector, it is beneficial ifthe link, especially if it is in the form of a webis, has a thickness in a range of about 50 microns to 700 microns. The thickness is preferably 100 μm to 200 μm.
Damitdas mindestens eine Werkzeugelement, welches aus einer Grundstellungausgelenkt ist, wieder selbsttätigin diese zurücküberführt werdenkann, wenn keine Betätigungskraftauf das Kraftübertragungsgliedausgeübtwird, ist es vorteilhaft, wenn eine Rückstelleinrichtung vorgesehenist zum Überführen desmindestens einen Werkzeugelements aus einer beliebigen ausgelenktenWerkzeugelementstellung zurückin eine Grundstellung.In order tothe at least one tool element, which from a basic positionis deflected, again automaticallybe transferred back to thiscan if no operating forceon the power transmission memberexercisedis, it is advantageous if a restoring device providedis to transfer theat least one tool element from any deflectedTool element position backinto a basic position.
DerAufbau der Rückstelleinrichtungwird besonders einfach, wenn diese mindestens ein Rückstellgliedumfasst, welches sich einerseits am mindestens einen Werkzeugelementund andererseits am Kraftübertragungsgliedabstützt.Insbesondere kann sich das Rückstellgliedauch am Kraftübertragungsabschnittdes Endeffektors abstützen,wenn dieser beispielsweise ein distales Ende des Kraftübertragungsgliedsbildet.Of theStructure of the reset devicebecomes particularly easy if this at least one return membercomprises, on the one hand on at least one tool elementand on the other hand on the power transmission membersupported.In particular, the return member canalso on the power transmission sectionsupport the end effector,if this, for example, a distal end of the power transmission memberforms.
EineRückstellkraftkann insbesondere auf einfache Weise durch das mindestens eine Rückstellglieddadurch ausgeübtwerden, wenn es federelastisch ausgebildet ist. Infolge einer Verformungdes Rückstellgliedsgespeicherte Energie kann dann wiederum zum Überführen des mindestens einen Werkzeugelementsvon einer ausgelenkten Werkzeugelementstellung in die Grundstellungzurückgenutzt werden.ARestoring forcecan in particular easily by the at least one return memberthereby exercisedwhen it is resilient. As a result of deformationof the return memberstored energy can then turn for transferring the at least one tool elementfrom a deflected tool element position to the basic positionbackbe used.
DerAufbau des Instruments, insbesondere des Endeffektors, kann besonderskompakt gestaltet werden, wenn das mindestens eine Anlenkglied das Rückstellgliedbildet. Das Anlenkglied übtsomit eine Doppelfunktion aus. Auf ein separates Rückstellglied kannin diesem Falle vollständigverzichtet werden.Of theConstruction of the instrument, in particular the end effector, can be particularlybe made compact, when the at least one link member, the return memberforms. The articulation member exercisesthus a double function. On a separate return member cancomplete in this casebe waived.
DerAufbau des Instruments vereinfacht sich und damit insbesondere auchdessen Herstellung, wenn das distale Ende des Instruments spiegelsymmetrischzu mindestens einer Symmetrieebene ausgebildet ist. So kann insbesondereauch bei Vorsehen von zwei oder mehr Werkzeugelementen eine symmetrischeBetätigungderselben bereits durch den Aufbau des Endeffektors vorgegeben werden.Of theThe structure of the instrument is simplified and thus, in particularits manufacture when the distal end of the instrument is mirror-symmetricalis formed to at least one plane of symmetry. In particulareven with the provision of two or more tool elements a symmetricalactivitythe same already be given by the structure of the end effector.
DerEndeffektor lässtsich besonders einfach ausbilden und herstellen, wenn der Kraftübertragungsabschnittzweiteilig ausgebildet ist und zwei im Wesentlichen durch eine dieLängsachseenthaltende Ebene getrennte Abschnittshälften umfasst. Beispielsweisekann ein insgesamt im Wesentlichen zylindrisch geformter Kraftübertragungsabschnittdurch zwei Zylinderhälftenausgebildet werden.Of theEnd effector leavesParticularly easy to train and manufacture when the power transmission sectionis formed in two parts and two essentially by alongitudinal axiscontaining level comprises separate section halves. For examplemay be an overall substantially cylindrically shaped power transmission sectionthrough two cylinder halvesbe formed.
DasInstrument lässtsich auf einfache Weise in Form einer Schere, einer Pinzette odereiner Fasszange ausbilden, wenn es zwei Werkzeugelemente umfasst.TheInstrument leavesin a simple way in the form of scissors, tweezers orform a forceps if it comprises two tool elements.
DieHerstellung des Endeffektors kann insbesondere dadurch vereinfachtwerden, wenn er zweiteilig ausgebildet ist und zwei Endeffektorteile umfasst.Damit lassen sich insbesondere komplizierte Formgebungen an denWerkzeugelementen einfacher realisieren, beispielsweise durch Fräsen, Draht- oderLasererodieren.TheProduction of the end effector can be simplified in particular therebywhen it is formed in two parts and comprises two Endeffektorteile.This can be particularly complicated shapes on theImplement tool elements easier, for example by milling, wire orLaser eroding.
ZurAusbildung eines symmetrischen oder im Wesentlichen symmetrischenEndeffektors ist es günstig,wenn jeder Endeffektorteil ein Werkzeugelement umfasst.toFormation of a symmetrical or substantially symmetricalEnd effector it is convenientwhen each end effector part comprises a tool element.
DesWeiteren kann die Herstellung vereinfacht und die Stabilität jedesEndeffektorteils erhöht werden,wenn jeder Endeffektorteil eine Abschnittshälfte des Kraftübertragungsabschnittsumfasst.Furthermore, manufacturing can be simplified and the stability of each end effector part increased if each end effector part has a portion half of the power transmission section comprises.
Damitnur eine Art oder ein Typ von Endeffektorteilen hergestellt werdenmuss, um einen zweiteiligen Endeffektor auszubilden, ist es günstig, wenn der Endeffektoraus zwei identischen, fest miteinander verbundenen Endeffektorteilengebildet ist, welche relativ zueinander um 180° um die Längsachse verdreht angeordnetsind. Zwei identische Effektorteile lassen sich dann so zusammensetzen,dass sie einen einzigen Endeffektor ausbilden.In order toonly one type or type of end effector parts are madeIn order to form a two-piece end effector, it is beneficial if the end effectorfrom two identical, firmly connected Endeffektorteilenis formed, which is arranged rotated relative to each other by 180 ° about the longitudinal axisare. Two identical effector parts can then be composed in this waythat they form a single end effector.
Gemäß einerweiteren bevorzugten Ausführungsformder Erfindung kann vorgesehen sein, dass die zwei Werkzeugelementeeinander gegenseitig durchdringend oder kreuzend ausgebildet sind.Darunter ist insbesondere zu verstehen, dass an einem Werkzeugelementeine Durchbrechung oder Ausnehmung vorgesehen sein kann, durch welchedas andere Werkzeugelement, beispielsweise ein distales Ende desselben,durch- oder eingeführtist. Eine durchdringende oder kreuzende Ausbildung der Werkzeugelementeermöglichtinsbesondere eine Verschwenkung derselben aufeinander zu durch Beaufschlagendes Anlenkglieds mit einer Zugkraft. So können insbesondere Scheren,Fasszangen und Pinzetten ausgebildet werden, die in einer Grundstellung geöffnet sindund durch Ausübeneiner Zugkraft auf das Kraftübertragungsgliedgeschlossen werden können.According to oneanother preferred embodimentThe invention can be provided that the two tool elementsare formed mutually penetrating or crossing each other.This is to be understood in particular that on a tool elementan aperture or recess may be provided through whichthe other tool element, for example a distal end thereof,through or introducedis. A penetrating or crossing formation of the tool elementsallowsin particular a pivoting of the same to each other by applyingthe Anlenkglieds with a tensile force. In particular, scissors,Grasping forceps and tweezers are formed, which are open in a basic positionand by exercisinga tensile force on the power transmission membercan be closed.
Vorzugsweiseist eine Verbindungseinrichtung vorgesehen zum Verbinden der Endeffektorteile miteinander.Die Endeffektorteile könnenso separat hergestellt, miteinander verbunden und dann in den Schaftdes Instruments eingesetzt werden. Selbstverständlich können sie optional auch miteinander verklebtoder verschweißtwerden.Preferablya connecting device is provided for connecting the Endeffektorteile each other.The end effector parts canmade separately, connected together and then into the shaftof the instrument. Of course, they can optionally also be glued togetheror weldedbecome.
Besonderseinfach wird der Aufbau des Endeffektors und damit auch des Instruments,wenn die Verbindungseinrichtung mindestens ein erstes und mindestensein zweites Verbindungselement umfasst, welche in einer Verbin dungsstellungmiteinander in Eingriff stehen, und wenn das mindestens eine ersteund das mindestens eine zweite Verbindungselement jeweils an einemEndeffektorteil angeordnet sind. Zwei Endeffektorteile können soauf einfache Weise dadurch miteinander verbunden werden, dass diemindestens einen ersten und zweiten Verbindungselemente miteinanderin Eingriff gebracht werden, so dass sie die Verbindungsstellungeinnehmen.Especiallysimply the structure of the end effector and thus of the instrument,if the connecting device at least a first and at leastcomprises a second connecting element, which in a connec tion positionengaged with each other, and if that at least a firstand the at least one second connecting element in each case at oneEndeffektorteil are arranged. Two end effector parts can do sobe easily connected by the fact that theat least one first and second connecting elements with each otherbe engaged so that they are the connection positiontaking.
DerAufbau der Verbindungseinrichtung wird besonders einfach, wenn dasmindestens eine erste Verbindungselement in Form eines Vorsprungsund wenn das mindestens eine zweite Verbindungselement in Form einerzum Vorsprung korrespondierenden Aufnahme ausgebildet sind. Vorsprünge und Ausnehmungenlassen sich besonders einfach herstellen. Zudem können sieauch als gegenseitige Anschlägedienen, um eine Relativposition der miteinander zu verbindendenEndeffektorteile in gewünschterWeise vorgeben zu können.Of theStructure of the connection device is particularly simple if theat least one first connecting element in the form of a projectionand if the at least one second connecting element in the form of aformed to projection corresponding receptacle. Projections and recessescan be produced very easily. In addition, they canalso as mutual attacksserve to connect a relative position of each otherEnd effector parts in the desiredPretending to be able to pretend.
Vorzugsweisesind das mindestens eine erste und das mindestens eine zweite Verbindungselementin einer Richtung quer oder im Wesentlichen quer zur Längsachseweisend orientiert. Beispielsweise können sie vom einen Endeffektorteilin Richtung auf das andere Endeffektorteil hin weisend abstehendausgebildet sein, und zwar quer zur Längsachse. Dies verhindert,dass infolge einer Bewegung des Kraftübertragungsglieds parallelzur Längsachse dieEndeffektorteile auseinander bewegt werden können.PreferablyThese are at least a first and the at least one second connecting elementin a direction transverse or substantially transverse to the longitudinal axisoriented. For example, they may be from one end effector partprojecting in the direction of the other end effector partbe formed, and that transverse to the longitudinal axis. This preventsthat due to a movement of the force transmission member in parallelto the longitudinal axis theEnd effector parts can be moved apart.
EineVerbindung von zwei Endeffektorteilen wird besonders einfach, wennsich das mindestens eine erste und das mindestens eine zweite Verbindungselementin einer Richtung parallel oder im Wesentlichen parallel zur Längsachseerstrecken. Beispielsweise könnendie Verbindungselemente in Form von Nu ten und formschlüssig indiese eingreifende Vorsprüngeausgebildet sein, die zwar quer zur Längsachse von jeweils einemEndeffektorteil weg weisen, sich jedoch in einer Richtung parallelzur Längsachseerstrecken. Alternativ wärees auch denkbar, dass eine Nut quer zur Längsachse verläuft undein Verbindungselement bildet. Die ineinander greifenden Verbindungselementekönneninsbesondere so ausgebildet sein, dass sie klemmend und/oder rastendmiteinander in der Verbindungsstellung in Eingriff stehen. Optionalkann eine, insbesondere auch begrenzte, relative Bewegbarkeit derbeiden Endeffektorteile in der Verbindungsstellung zu Justagezweckenwünschenswertsein.AConnecting two end effector parts becomes particularly easy whenthe at least one first and the at least one second connecting elementin a direction parallel or substantially parallel to the longitudinal axisextend. For example, you canthe fasteners in the form of Nu th and form-fitting inthese engaging projectionsbe formed, although transversely to the longitudinal axis of each oneEndeffektorteil point away, however, in a direction parallelto the longitudinal axisextend. Alternative would beIt is also conceivable that a groove extends transversely to the longitudinal axis andforms a connecting element. The interlocking fastenerscanin particular be designed so that they are clamping and / or latchingengaged with each other in the connection position. optionalcan one, in particular limited, relative mobility of theboth Endeffektorteile in the connection position for adjustment purposesdesirablebe.
Umden Endeffektor besonders kompakt aufbauen zu können, ist es günstig, wenndie Verbindungseinrichtung am Kraftübertragungsabschnitt angeordnetist zum Verbinden der Abschnittshälften. Damit stört die Verbindungseinrichtungräumlichdas mindestens eine Werkzeugelement, insbesondere eine Bewegungdesselben, nicht.AroundTo be able to build the end effector very compact, it is advantageous ifthe connecting device arranged on the power transmission sectionis for connecting the section halves. This disturbs the connection devicespatialthe at least one tool element, in particular a movementsame, not.
Gemäß einerbevorzugten Ausführungsform derErfindung kann vorgesehen sein, dass der Endeffektor derart ausgebildetist, dass das mindestens eine Werkzeugelement infolge einer Bewegungdes Kraftübertragungsgliedsin proximaler Richtung in Richtung auf die Längsachse hin verschwenkbarist und umgekehrt. Mit einem solchen Endeffektor lässt sichbeispielsweise eine Fasszange ausbilden, welche auf Zug schließt.According to onepreferred embodiment ofInvention may be provided that the end effector is formedis that the at least one tool element as a result of a movementof the power transmission membercan be pivoted in the proximal direction in the direction of the longitudinal axisis and vice versa. With such an end effector can befor example, form a forceps, which closes on train.
Vorteilhaftist es ferner, wenn der Endeffektor derart ausgebildet ist, dassdas mindestens eine Werkzeugelement infolge einer Bewegung des Kraftübertragungsgliedsin distaler Richtung in Richtung auf die Längsachse hin verschwenkbarist und umgekehrt. Beispielsweise lässt sich so ein chirurgi sches Instrument,beispielsweise eine Schere oder eine Fasszange ausbilden, die infolgeeiner in distaler Richtung wirkenden Druckbeaufschlagung des Kraftübertragungsgliedsgeschlossen werden können.It is also advantageous if the end effector is designed such that the at least one tool element as a result of movement of the force transmission member in the distal direction in the direction can be pivoted on the longitudinal axis and vice versa. For example, it is possible to form a surgical instrument, for example scissors or forceps, which can be closed as a result of a pressure acting on the force transmission member in the distal direction.
Günstig kannes ferner sein, wenn der Endeffektor zwei Werkzeugelemente umfasstund derart ausgebildet ist, dass distale Enden der Werkzeugelementeinfolge einer mit dem Kraftübertragungsglied übertragbarenSchubkraft aufeinander zu verschwenkbar sind. So kann beispielsweisemit einer Fasszange Gewebe gegriffen und gehalten werden, indemdas Kraftübertragungsgliedin distaler Richtung mit einer Schubkraft beaufschlagt wird.Cheap canit may be further when the end effector comprises two tool elementsand is formed such that distal ends of the tool elementsas a result of transferable with the power transmission memberThrust on each other are pivoted. So, for exampleWith a forceps tissue can be grasped and held bythe power transmission memberis applied in the distal direction with a thrust.
Insbesonderezur Ausbildung einer Schere ist es vorteilhaft, wenn der Endeffektorzwei Werkzeugelemente umfasst und derart ausgebildet ist, dass distaleEnden der Werkzeugelemente infolge einer mit dem Kraftübertragungsglied übertragbaren Zugkraftaufeinander zu verschwenkbar sind. Eine solche Ausgestaltung kannsich insbesondere auch zur Ausbildung einer Fasszange hervorragendeignen.Especiallyto form a pair of scissors, it is advantageous if the end effectorcomprises two tool elements and is designed such that distalEnds of the tool elements due to a transferable with the power transmission member tensile forceare pivotable towards each other. Such an embodiment canespecially excellent for training a forcepssuitable.
Umdas mindestens eine Werkzeugelement in definierter Weise auf derLagerwelle lagern zu können,ist es vorteilhaft, wenn ein proximales Ende des mindestens einenWerkzeugelements in Form mindestens eines Lagerbackens ausgebildetist, welcher eine zur Lagerwelle korrespondierend ausgebildete Lagerwellenaufnahmeaufweist.Aroundthe at least one tool element in a defined manner on theStore bearing shaft,it is advantageous if a proximal end of the at least oneTool element formed in the form of at least one bearing jawis, which is a bearing shaft corresponding to the bearing shaft receivinghaving.
Besonderseinfach in der Herstellung und im Aufbau wird der Endeffektor, wennder mindestens eine Lagerbacken im Wesentlichen quader- oder würfelförmig ausgebildetist. Vorzugsweise ist der mindestens eine Lagerbacken vom Kraftübertragungsgliedbeabstandet. Der Abstand entspricht mindestens einer Erstreckungdes Lagerbackens parallel zur Längsachse,kann jedoch auch zwei- oder dreimal so groß sein.EspeciallyEasy to manufacture and build up will be the end effector ifthe at least one bearing jaws formed substantially cuboid or cube-shapedis. Preferably, the at least one bearing jaws of the power transmission memberspaced. The distance corresponds to at least one extensionthe bearing jaw parallel to the longitudinal axis,however, it can be two or three times larger.
Vorzugsweiseweist der mindestens eine Lagerbacken eine Außenfläche auf, welche an eine Innenkonturdes Schafts angepasst ist. Bei einem langgestreckten hülsenförmigen oderrohrförmigen Schaftist die Außenfläche desLagerbackens vorzugsweise in Form eines Kugeloberflächenabschnittsausgebildet. Dies ermöglichteine Verschwenkung des Werkzeugelements auch dann, wenn die Außenfläche desmindestens einen Lagerbackens direkt in einer Innenwand des rohrförmigen Schaftsanliegt.Preferablythe at least one bearing jaw has an outer surface which adjoins an inner contourof the shaft is adjusted. In an elongated sleeve-shaped ortubular shaftis the outer surface of theBearing jaw preferably in the form of a spherical surface portioneducated. this makes possiblea pivoting of the tool element even if the outer surface of theat least one bearing jaw directly in an inner wall of the tubular shaftis applied.
Vorzugsweiseist eine Breite des mindestens einen Lagerbackens in einer Richtungparallel zu einer von der Lagerwelle definierten Schwenkachse etwahalb so groß wieein Innendurchmesser des Schafts. Dies gestattet es, zwei Lagerbackennebeneinander auf der Lagerwelle zu lagern, beispielsweise um einenEndeffektor mit zwei relativ zueinander verschwenkbaren Werkzeugelementenauszubilden.Preferablyis a width of the at least one bearing jaw in one directionparallel to a swivel axis defined by the bearing shafthalf as big asan inner diameter of the shaft. This allows two bearing jawsstore next to each other on the bearing shaft, for example, aEnd effector with two relatively pivotable tool elementstrain.
Gemäß einerweiteren bevorzugten Ausführungsformder Erfindung kann vorgesehen sein, dass ein erstes Werkzeugelementzwei erste Lagerbacken aufweist, welche quer zur Längsachsevoneinander beabstandet angeordnet sind, und dass ein zweites Werkzeugelementeinen zweiten Lagerbacken aufweist, welcher zwischen den zwei erstenLagerbacken auf der Lagerwelle gelagert ist. So lässt sichinsgesamt eine spiegelsymmetrische Anordnung von zwei Werkzeugelementenerreichen, bei denen insbesondere das zweite Werkzeugelement daserste Werkzeugelement durchdringend oder in eine Ausnehmung desselbeneingreifend auf der Lagerwelle gelagert werden kann. Hierzu weistdas erste Werkzeugelement optional eine Durchbrechung oder einenentsprechenden Schlitz fürdas zweite Werkzeugelement oder ein Werkzeugende desselben auf.According to oneanother preferred embodimentThe invention can be provided that a first tool elementhas two first bearing jaws which transverse to the longitudinal axisspaced from each other, and that a second tool elementHaving a second bearing jaws, which between the two firstBearing jaws is mounted on the bearing shaft. That's how it worksOverall, a mirror-symmetrical arrangement of two tool elementsreach, in which in particular the second tool element thefirst tool element penetrating or in a recess thereofcan be mounted engaging on the bearing shaft. For this purpose pointsthe first tool element optionally an opening or acorresponding slot forthe second tool element or a tool end of the same.
Vorteilhafterweiseweist das mindestens eine Werkzeugelement ein Werkzeugende in Formeiner Schneide oder in Form eines Klemmbackens auf. Damit lassensich Endeffektoren in Form von Schneid-, Klemm- oder Fasseinrichtungenausbilden.advantageously,the at least one tool element has a tool end in shapea cutting edge or in the form of a jaw. Leave itEndeffectors in the form of cutting, clamping or catching devicesform.
Umein besonders kleines Instrument ausbilden zu können ist es günstig, wenndas Werkzeugende eine Materialstärkein einem Bereich von 300 μm bis700 μm aufweist.Insbesondere kann die Materialstärkedie Dicke einer Schneide definieren.Aroundto be able to train a particularly small instrument it is favorable ifthe tool end a material thicknessin a range of 300 μm to700 microns has.In particular, the material thicknessdefine the thickness of a cutting edge.
Vorzugsweiseerstreckt sich das Werkzeugende distalseitig von einem Verbindungsbereich zwischendem mindestens einen Anlenkglied und dem mindestens einen Werkzeugelement.So kann das mindestens eine Werkzeugelement frei von für eine Funktiondes Instruments hinderlichen Teilen gehalten werden.Preferablythe tool end extends distally from a connection region betweenthe at least one articulation member and the at least one tool element.Thus, the at least one tool element free of for a functionthe instrument are held in a disadvantageous way.
Körpergewebelässt sichinsbesondere auf einfache Weise dadurch schneiden, greifen beziehungsweisehalten, wenn das chirurgische Instrument in Form einer Schere, einerFasszange oder einer Pinzette ausgebildet ist.body tissueslet yourselfin particular easily cut thereby, grab orhold when the surgical instrument in the form of a pair of scissors, aForceps or tweezers is formed.
Grundsätzlich istes denkbar, das chirurgische Instrument aus beliebigen, zur Herstellungvon chirurgischen Instrumenten geeigneten Materialien herzustel len.Der Endeffektor wird vorzugsweise jedoch aus einem Metall oder einemKunststoff hergestellt. Die Herstellung aus einem Kunststoff, beispielsweisePolyetheretherketon (PEEK), ermöglicht grundsätzlich eineHerstellung des Endeffektors durch ein Thermoformungsverfahren,wie beispielsweise Spritzgießen.Der Endeffektor, der aus einem Metall hergestellt ist, beispielsweiseeinem Instrumentenstahl, kann besonders stabil und damit besondersklein ausgebildet werden.In principle, it is conceivable to manufacture the surgical instrument from any materials suitable for the manufacture of surgical instruments. However, the end effector is preferably made of a metal or a plastic. The preparation of a plastic, for example polyetheretherketone (PEEK), in principle makes it possible to produce the end effector by a thermoforming process, such as injection molding. The end effector, which consists of a Metal is made, for example, a tool steel, can be made very stable and therefore very small.
Vorzugsweiseliegt ein Außendurchmesser desSchafts in einem Bereich von 1,5 mm bis 8 mm.Preferablylies an outer diameter of theShaft in a range of 1.5 mm to 8 mm.
Günstig istes, wenn er in einem Bereich von 1,5 mm bis 4 mm liegt. Vorzugsweiseist er kleiner als 3 mm. Insbesondere mit den kleinsten genannten Schaftaußendurchmessernkönnenminimalinvasive chirurgische Eingriffe am Kopf oder bei kleinenKindern unter Vermeidung größerer Traumatavorgenommen werden.Cheap isif it is in a range of 1.5 mm to 4 mm. Preferablyit is smaller than 3 mm. Especially with the smallest mentioned outer shaft diameterscanMinimally invasive surgical procedures on the head or in small onesChildren while avoiding major traumabe made.
Dienachfolgende Beschreibung bevorzugter Ausführungsformen der Erfindungdient im Zusammenhang mit der Zeichnung der näheren Erläuterung. Es zeigen:Thefollowing description of preferred embodiments of the inventionused in conjunction with the drawings for further explanation. Show it:
In
DieBetätigungseinrichtung
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ImSchaft parallel zur Längsachse
Dasin
Einweiteres Ausführungsbeispieleines Endeffektors, welcher sowohl am Instrument
DerEndeffektor
DerEndeffektorteil
DasAnlenkglied
ZumVerbinden des Endeffektorteils
DieVerbindungseinrichtung
DemSteg
DerEndeffektor
Einweiteres Ausführungsbeispieleines in Form einer Schneideinrichtung ausgebildeten Endeffektorsist in den
DerKraftübertragungsabschnitt
Vonjeder Abschnittshälfte
Zurverschwenkbaren Lagerung der Werkzeugelemente
AmZugabschnitt
Bisauf die Ausbildung der jeweiligen Lagerbacken
ZumSchneiden mit dem Endeffektor
DieEndeffektoren
Diebeschriebenen Endeffektoren stellen lediglich Beispiele für Endeffektorendar, die auf einer Lagerwelle schwenkbar gelagerte Werkzeugelementeumfassen, die überein flexibles Anlenkglied in Form eines Festkörpergelenks von einem Kraftübertragungsgliedmit einer Schub- und/oder Zugkraft beaufschlagt werden können.The described end effectors merely represent examples of end effectors, the tool elements pivotally mounted on a bearing shaft te, which can be acted upon by a flexible link in the form of a solid-state joint of a power transmission member with a pushing and / or pulling force.
EineRückstellungvon einer ausgelenkten Werkzeugelementstellung der Werkzeugelementein eine Grundstellung zurück,in welcher die jeweiligen Festkörpergelenke
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| DE200720009317DE202007009317U1 (en) | 2007-06-26 | 2007-06-26 | Surgical instrument |
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| DE200720009317DE202007009317U1 (en) | 2007-06-26 | 2007-06-26 | Surgical instrument |
| Publication Number | Publication Date |
|---|---|
| DE202007009317U1true DE202007009317U1 (en) | 2007-08-30 |
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| DE200720009317Expired - LifetimeDE202007009317U1 (en) | 2007-06-26 | 2007-06-26 | Surgical instrument |
| Country | Link |
|---|---|
| DE (1) | DE202007009317U1 (en) |
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
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| US8197633B2 (en) | 2005-09-30 | 2012-06-12 | Covidien Ag | Method for manufacturing an end effector assembly |
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| US8702737B2 (en) | 2011-08-08 | 2014-04-22 | Covidien Lp | Surgical forceps |
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| US8968317B2 (en) | 2011-08-18 | 2015-03-03 | Covidien Lp | Surgical forceps |
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| US9375259B2 (en) | 2012-10-24 | 2016-06-28 | Covidien Lp | Electrosurgical instrument including an adhesive applicator assembly |
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| US9492221B2 (en) | 2011-10-20 | 2016-11-15 | Covidien Lp | Dissection scissors on surgical device |
| US9492223B2 (en) | 2010-06-02 | 2016-11-15 | Covidien Lp | Apparatus for performing an electrosurgical procedure |
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| Date | Code | Title | Description |
|---|---|---|---|
| R207 | Utility model specification | Effective date:20071004 | |
| R081 | Change of applicant/patentee | Owner name:ALBERT-LUDWIGS-UNIVERSITAET FREIBURG, DE Free format text:FORMER OWNER: AESCULAP AG & CO. KG, 78532 TUTTLINGEN, DE Effective date:20080624 Owner name:AESCULAP AG, DE Free format text:FORMER OWNER: AESCULAP AG & CO. KG, 78532 TUTTLINGEN, DE Effective date:20080624 | |
| R081 | Change of applicant/patentee | Owner name:AESCULAP AG, DE Free format text:FORMER OWNER: AESCULAP AG, 78532 TUTTLINGEN, DE Effective date:20090409 Owner name:ALBERT-LUDWIGS-UNIVERSITAET FREIBURG, DE Free format text:FORMER OWNER: AESCULAP AG, 78532 TUTTLINGEN, DE Effective date:20090409 | |
| R150 | Term of protection extended to 6 years | Effective date:20100901 | |
| R151 | Term of protection extended to 8 years | Effective date:20130627 | |
| R152 | Term of protection extended to 10 years | ||
| R082 | Change of representative | Representative=s name:HOEGER, STELLRECHT & PARTNER PATENTANWAELTE MB, DE | |
| R071 | Expiry of right |