ENDOSCOPIC INSTRUMENT FOR THE CONNECTION TO AN OPERATION ROBOT

• US 20150265355A1
• Filed: 03/17/2015
• Published: 09/24/2015
• Est. Priority Date: 03/18/2014
• Status: Abandoned Application

• Current Assignee: Richard Wolf GmbH (Richard & Annemarie Wolf- Stiftung)
• Original Assignee: Richard Wolf GmbH (Richard & Annemarie Wolf- Stiftung)
• Inventors: WEHRHEIM, Frank, PRESTEL, Stephan, Mnnig, Sren, TEICHTMANN, Elmar
• Application Number:
  US14/660,369
• Publication Number:
  US 20150265355A1
• Time in Patent Office: Days
• US Class Current: 1/1
• CPC Class Codes: A61B 17/00234 for minimally invasive surgery A61B17/0218, A61B17/0469, A61B17/12013, A61B17/1285, A61B17/29, A61B17/320016 take precedence
• CPC Class Codes: A61B 2017/00327 with actuating members moving in opposite directions
• CPC Class Codes: A61B 2017/00473 Distal part, e.g. tip or head A61B2017/00464 takes precedence
• CPC Class Codes: A61B 2017/00477 Coupling A61B2017/0046 takes precedence
• CPC Class Codes: A61B 34/30 Surgical robots
• CPC Class Codes: A61B 34/71 Manipulators operated by drive cable mechanisms

Abstract

An endoscopic instrument for the connection to an operation robot. The endoscopic instrument includes an instrument housing, to which a shank with at least one instrument part arranged at the distal side of the shank connects distally. The instrument part and/or the shank are movable relative to the instrument housing and for this are each actively connected to control. The control can be coupled, via a translatorily movable coupling element coupled thereto and projecting out of the instrument housing, to a linear drive unit which can be connected to the instrument housing at the outer side.

Claims

1. An endoscopic instrument for the connection to an operation robot, the endoscopic instrument comprising:

an instrument housing;

a shank connected to the instrument housing at a distal side of the instrument housing;

at least one instrument part arranged on a distal side of the shank, at least one of the instrument part and the shank are movable relative to the instrument housing;

a linear drive unit connected to the instrument housing;

a translatorily movable coupling element; and

a control actively coupled to the at least one of the instrument part and the shank via the translatorily movable coupling element and to the linear drive unit.

2. An endoscopic instrument according to claim 1, wherein the coupling element is arranged in the instrument housing on a pull slide and is guided in a track-controlled manner.

3. An endoscopic instrument according to claim 1, wherein the linear drive unit comprises at least one rotatory drive motor with a rotor shaft and a connected output gear for a conversion of rotation movement of the motor shaft into translation movement.

4. An endoscopic instrument according to claim 3, wherein the gear is a rack-and-pinion gear with a rack coupled in movement to a coupling device, which coupling device is positively connectable to the coupling element on an instrument housing side.

5. An endoscopic instrument according to claim 4, wherein the rack is coupled in movement to a drive slide which is track-guided in the linear drive unit and on which the coupling device is formed.

6. An endoscopic instrument according to claim 4, wherein:

the coupling element comprises a projection which projects out of the instrument housing; and

a recess for a positive-fit receiving of the projection is formed on the coupling device.

7. An endoscopic instrument according to claim 2, wherein the coupling element on the pull slide is resiliently mounted in the connection direction of the instrument housing and the linear drive unit.

8. An endoscopic instrument according to claim 6, wherein a region, which is adjacent to the recess, forms a guide ramp for the coupling element, on a drive slide.

9. An endoscopic instrument according to claim 1, wherein at least one pull cable is provided as the control means for the instrument part, which is arranged at the distal side of the shank.

10. An endoscopic instrument according to claim 9, wherein:

the control means comprises a pull cable for the instrument part arranged on the distal side of the shank;

the pull cable has two ends connected to the instrument part in an antagonistically acting manner;

the pull cable is guided in the instrument housing in a deflection roller guide; and

a movement coupling of the pull cable to the coupling element is provided in a region between the shank and a deflection roller distanced furthest from the instrument part to be controlled, in the pull direction.

11. An endoscopic instrument according to claim 9, wherein the pull cable is connected to a pull slide which is displaceable in the pull direction of the pull cable and on which the coupling element is formed.

12. An endoscopic instrument according to claim 11, wherein a section of the pull cable, in a region of the pull slide, is formed by a pull rod.

13. An endoscopic instrument according to claim 12, wherein the pull rod, on the pull slide, is resiliently mounted on two projections which are distanced to one another in the pull direction of the pull cable.

14. An endoscopic instrument according to claim 1, further comprising a rack and a pinion, wherein the shank is coupled in movement to the pinion, which pinion in the instrument housing meshes with the rack coupled in movement to a coupling element.

15. An endoscopic instrument according to claim 12, further comprising a rack and a pinion, wherein the coupling element is formed on a pull slide which is connected to the rack.

16. An endoscopic instrument according to claim 1, wherein the instrument has movable instrument parts comprising:

an instrument head pivotably arranged on the distal end of the shank; and

on the instrument head a tool carrier which is pivotably arranged relative to the instrument head.

17. An endoscopic instrument according to claim 16, wherein the instrument as a further movable instrument part comprises a tool with two jaw parts which are pivotable relative to one another, said tool being arranged on the tool carrier.