Surgical Instrument

• US 20140222019A1
• Filed: 02/17/2012
• Published: 08/07/2014
• Est. Priority Date: 02/17/2011
• Status: Active Grant

• Current Assignee: KUKA Laboratories GmbH (Midea Group Co., Ltd)
• Original Assignee: KUKA Laboratories GmbH (Midea Group Co., Ltd)
• Inventors: Brudniok, Sven
• Granted Patent: US 9,730,757 B2
• Time in Patent Office: Days
• US Class Current: 606/130
• 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 surgical instrument, particularly a robot-guided surgical instrument, having a shaft end;

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

a tool, which has a base lever, in particular a blade and/or jaw, which is mounted on the tool holder so as to be rotatable about a pitch axis, characterized by a gear transmission, which has a drive wheel, which is mounted on the tool holder such that it can be rotated by means of a drive means, and an output drive wheel, connected thereto in a force- and/or form-locking manner, which is mounted on the tool holder so as to be rotatable about an output transmission axis, and by means of which, the tool can be rotated about the pitch axis.

2. The surgical instrument according to claim 1, characterized by a further gear transmission, which has a further drive wheel, which is mounted on the tool holder such that it can be rotated by means of a further drive means about a further input transmission axis, and a further output wheel connected thereto in a force- and/or form-locking manner, which is mounted on the tool holder such that it can rotate about a further output transmission axis, and by means of which a further lever, in particular a blade and/or jaw, of the tool can be rotated about a further tool axis.

3. The surgical instrument according to claim 1, characterized in that a gear transmission is designed as a worm, screw, bevel, hypoid, crown, or friction gear transmission.

8. The surgical instrument according to claim 1, characterized in that a traction strand forms an angle with the yaw and/or the pitch axis, which is greater than 0°

, in particular, is greater than 15°

, and is less than 90°

, in particular, is less than 75°

.

9. The surgical instrument according to claim 1, characterized in that a traction strand is guided by means of at least one guide wheel.

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

an input transmission axis which is, at least substantially, parallel to the yaw axis, in particular, is flush thereto; and

/or an output transmission axis which is, at least substantially, parallel to the pitch axis, in particular, is flush thereto.

11. The surgical instrument according to claim 1, characterized in that a drive means exhibits two, in particular, interconnected, traction strands, a pushing means, and/or at least one intermediate wheel, by means of which a drive wheel can rotate about its input transmission axis.

12. The surgical instrument according to claim 1, characterized by a drive wheel rigidly or functionally connected to the tool holder, which can be rotated about the yaw axis by means of a drive means.

13. The surgical instrument according to claim 1, characterized in that the tool exhibits 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, in particular, is designed as an integral part thereof, or is mounted on the tool base body such that it can rotate about a tool axis.

14. The surgical instrument according to claim 13, characterized in that the further lever of the tool is mounted on the tool base body or the tool holder, such that it can rotate about the further tool axis.

15. The surgical instrument according to claim 1, characterized by a conversion transmission, for converting a rotational and a translational movement to one another, which is disposed between an output drive wheel and a lever.

4. A surgical instrument, particularly a robot-guided surgical instrument, which has a shaft end;

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

a tool, which has a base lever, in particular a blade and/or jaw, which is mounted on the tool holder so as to be rotatable about a pitch axis, characterized by a wraparound transmission, which has a drive wheel, which is mounted on the tool holder so as to be rotatable, by means of a drive means, about an input transmission axis, an output drive wheel, mounted on the tool holder so as to be rotatable about an output transmission axis, and by means of which the tool can be rotated about the pitch axis, and two traction strands, differing from the drive means, which are, in particular, interconnected, which couple the input and output drive wheels.

5. A surgical instrument according to claim 4, characterized by a further wraparound transmission, which has a further drive wheel which is mounted on the tool holder such that it can rotate about a further input transmission axis by means of a further drive means, and a further output drive wheel, which is mounted on the tool holder such that it can rotate about a further output transmission axis, and by mean of which, a further lever, in particular a blade and/or jaw, of the tool can rotate about a further tool axis, and having to further traction strands, differing from the drive means, which are, in particular, interconnected, which couple the further input and output drive wheels.

6. A surgical instrument, particularly a robot-guided surgical instrument, which has a shaft end;

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

a tool, which has a base lever, in particular a blade and/or jaw, mounted on the tool holder such that it can rotate about a pitch axis, characterized by 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 means of which the tool can rotate about the pitch axis, wherein two traction strands are offset to one another in the direction of the output transmission axis, in particular on both sides of the yaw axis, running in opposing directions away from the further output drive wheel, or toward the further output drive wheel, respectively.

7. The surgical instrument according to claim 6, characterized by a further differential transmission, which has a further drive wheel, mounted on the tool holder such that it can rotate about a further output transmission axis, and by means of which a further lever, in particular a blade and/or jaw, of the tool can rotate about a further tool axis, wherein two further traction strands are offset to one another in the direction of the further output transmission axis, in particular on both sides of the yaw axis, running in opposing directions away from the further output wheel, or toward the further output drive wheel, respectively.