Surgical instrument

• US 9,730,757 B2
• Filed: 02/17/2012
• Issued: 08/15/2017
• Est. Priority Date: 02/17/2011
• Status: Expired due to Fees

• Current Assignee: KUKA Laboratories GmbH (Midea Group Co., Ltd)
• Original Assignee: KUKA Roboter GmbH (Midea Group Co., Ltd)
• Inventors: Brudniok, Sven
• Primary Examiner(s): Shi, Katherine M
• Assistant Examiner(s): Gabr, Mohamed
• Application Number:
  US13/985,466
• Publication Number:
  US 20140222019A1
• Time in Patent Office: 2,006 Days
• Field of Search: 606 1, 606130, 464 69, 2271751, 474148, 474 61, 474 62, 474139, 7449001, 7449004-49006, 901 19- 21, 901 25, 901 27, 901 28, 901 29
• CPC Class Codes: A61B 2017/2927 the angular position of the head being adjustable with respect to the shaft
• CPC Class Codes: A61B 2034/302 specifically adapted for manipulations within body cavities, e.g. within abdominal or thoracic cavities
• CPC Class Codes: A61B 34/30 Surgical robots
• CPC Class Codes: A61B 34/70 Manipulators specially adapted for use in surgery
• CPC Class Codes: A61B 34/71 Manipulators operated by drive cable mechanisms

Abstract

A surgical instrument according to the invention, particularly a robot-guided surgical instrument, has a shaft end (1), a tool holder (2), which is mounted on the shaft end so as to be able to rotate about a yaw axis (G), and a tool (3) with a main lever (3A), in particular a blade and/or jaw, which is mounted on the tool holder so as to rotate about a pitch axis (N), and a gear transmission with a drive wheel (31), which is mounted on the tool holder so as to be rotatable about an input gear axis (G) by a driving means (200), and, in force-fit and/or form-fit connection therewith, an output wheel (30), which is mounted on the tool holder so as to rotate about an output gear axis (N) and by means of which the tool is rotatable about the pitch axis, or a wraparound transmission with a drive wheel, which is mounted on the tool holder so as to be rotatable about an input gear axis by a driving means, an output wheel, which is mounted on the tool holder so as to be able to rotate about an output gear axis and by means of which the tool is rotatable about the pitch axis, and two traction strands which are different from the drive means, are in particular connected and couple drive wheel and output wheel, or a differential transmission with an output wheel (350; 350A), which is mounted on the tool holder so as to be able to rotate about an output gear axis and by means of which the tool is rotatable about the pitch axis, wherein two traction strands are mutually offset in the direction of the output gear axis, in particular on both sides of the yaw axis, run in opposite directions from the output wheel and/or onto the output wheel and/or are both secured on the output wheel and/or are different from a driving means by which a drive wheel (110), firmly or operatively connected to the tool holder, is rotatable about the yaw axis.

Claims

1. A robot-guided surgical instrument, comprising:

a shaft end;

a tool holder, mounted on the shaft end so as to be rotatable about a yaw axis;

a tool, which includes a base lever mounted on the tool holder so as to be rotatable about a pitch axis;

a gear transmission, the gear transmission comprising an input drive wheel, which is mounted on the tool holder such that it can be rotated about an input transmission axis by a drive, and an output drive wheel contacting the input drive wheel in a force- and/or form-locking manner, the output drive wheel mounted on the tool holder so as to be rotatable about an output transmission axis, and by which, the tool can be rotated about the pitch axis; and

a further gear transmission, which has a further input drive wheel, which is mounted on the tool holder such that it can be rotated by a further drive about a further input transmission axis, and a further output drive wheel connected to the further input drive wheel in a force- and/or form-locking manner, the further output drive wheel mounted on the tool holder such that it can rotate about a further output transmission axis, and by which a further lever of the tool can be rotated about a further tool axis;

wherein the further input transmission axis is at least substantially parallel to the yaw axis and is offset from the yaw axis.

2. The surgical instrument according to claim 1, wherein the gear transmission is designed as a worm, screw, bevel, hypoid, crown, or friction gear transmission.

3. The surgical instrument according to claim 1, wherein a traction strand forms an angle with the yaw and/or the pitch axis, which is greater than 0 degrees and is less than 90 degrees.

4. The surgical instrument according to claim 3, wherein the angle is greater than 15 degrees.

5. The surgical instrument according to claim 3, wherein the angle is less than 75 degrees.

6. The surgical instrument according to claim 1, wherein a traction strand is guided by at least one guide wheel.

7. The surgical instrument according to claim 1, wherein the input and output transmission axes, and/or the pitch and the yaw axes, cross one another at least substantially at right angles, with or without an intersection;

and/or the output transmission axis is, at least substantially, parallel to the pitch axis.

8. The surgical instrument according to claim 7, wherein the output transmission axis is flush to the pitch axis.

9. The surgical instrument according to claim 1, wherein the drive comprises two traction strands, a pushing means, and/or at least one intermediate wheel, by which the input drive wheel rotates about its input transmission axis.

10. The surgical instrument according to claim 1, wherein the input drive wheel is rigidly or functionally connected to the tool holder, which is rotated about the yaw axis by a drive.

11. The surgical instrument according to claim 1, wherein the tool comprises a tool base body mounted on the tool holder such that it can rotate about the pitch axis, and the base lever of the tool is rigidly connected to the tool base body or is mounted on the tool base body such that it can rotate about a tool axis.

12. The surgical instrument according to claim 11, wherein a further lever of the tool is mounted on the tool base body or the tool holder such that it can rotate about a further tool axis.

13. The surgical instrument according to claim 11, wherein the base lever of the tool is designed as an integral part of the tool base body.

14. The surgical instrument according to claim 1, further comprising a conversion transmission for converting a rotational and a translational movement to one another, and which is disposed between the output drive wheel and the lever.

15. The surgical instrument according to claim 1, wherein the base lever is a blade and/or jaw.

16. The surgical instrument according to claim 1, wherein the input transmission axis is flush to the yaw axis.

17. A robot-guided surgical instrument, comprising:

a shaft end;

a tool holder, mounted on the shaft end so as to be rotatable about a yaw axis;

a tool, which includes a base lever mounted on the tool holder so as to be rotatable about a pitch axis; and

a wraparound transmission, which includes an input drive wheel mounted on the tool holder so as to be rotatable about an input transmission axis by drive means engaging the input drive wheel, an output drive wheel mounted on the tool holder so as to be rotatable about an output transmission axis, and by which the tool can be rotated about the pitch axis, and two traction strands that are different from the drive means engaging the input drive wheel, and which couple the input and output drive wheels.

18. The surgical instrument according to claim 17, further comprising:

a further wraparound transmission, which has a further input drive wheel mounted on the tool holder such that it can rotate about a further input transmission axis by a further drive, and a further output drive wheel mounted on the tool holder such that it can rotate about a further output transmission axis, and by which a further lever of the tool can rotate about a further tool axis, and two further traction strands, differing from the further drive, which couple the further input and output drive wheels.

19. The surgical instrument according to claim 17, wherein the base lever is a blade and/or jaw.

20. The surgical instrument according to claim 17, wherein the two traction strands are interconnected.

21. A robot-guided surgical instrument, comprising:

a shaft end;

a tool holder mounted on the shaft end so as to be rotatable about a yaw axis;

a tool which includes a base lever mounted on the tool holder such that it can rotate about a pitch axis; and

a differential transmission, which has an output drive wheel, mounted on the tool holder such that it can rotate about an output transmission axis, and by which the tool can rotate about the pitch axis,

wherein two traction strands are offset from one another in a direction parallel to the output transmission axis, the traction strands running in opposing directions off of the output drive wheel, or onto the output drive wheel, respectively;

wherein the output transmission axis is at least substantially parallel to the pitch axis.

22. The surgical instrument according to claim 21, further comprising a further differential transmission, which has a further output drive wheel mounted on the tool holder such that it can rotate about a further output transmission axis, and by which a further lever of the tool can rotate about a further tool axis, wherein two further traction strands are offset from one another in the direction of the further output transmission axis, running in opposing directions away from the further output wheel, or toward the further output drive wheel, respectively.

23. The surgical instrument according to claim 21, wherein the base lever is a blade and/or jaw.

24. The surgical instrument according to claim 21, wherein the two traction strands are offset from one another on both sides of the yaw axis.