Surgical instrument
First Claim
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.
1 Assignment
0 Petitions
Accused Products
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.
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Citations
24 Claims
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1. A robot-guided surgical instrument, comprising:
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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. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16)
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17. A robot-guided surgical instrument, comprising:
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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. - View Dependent Claims (18, 19, 20)
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21. A robot-guided surgical instrument, comprising:
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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. - View Dependent Claims (22, 23, 24)
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Specification