DE4306786C1 - Chirurgischer Manipulator - Google Patents
Chirurgischer ManipulatorInfo
- Publication number
- DE4306786C1 DE4306786C1 DE4306786A DE4306786A DE4306786C1 DE 4306786 C1 DE4306786 C1 DE 4306786C1 DE 4306786 A DE4306786 A DE 4306786A DE 4306786 A DE4306786 A DE 4306786A DE 4306786 C1 DE4306786 C1 DE 4306786C1
- Authority
- DE
- Germany
- Prior art keywords
- hand
- distal
- bowden cables
- human
- movement
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Fee Related
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/0009—Gripping heads and other end effectors comprising multi-articulated fingers, e.g. resembling a human hand
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/70—Manipulators specially adapted for use in surgery
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/70—Manipulators specially adapted for use in surgery
- A61B34/71—Manipulators operated by drive cable mechanisms
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/70—Manipulators specially adapted for use in surgery
- A61B34/74—Manipulators with manual electric input means
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
- B25J13/02—Hand grip control means
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J3/00—Manipulators of master-slave type, i.e. both controlling unit and controlled unit perform corresponding spatial movements
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/104—Programme-controlled manipulators characterised by positioning means for manipulator elements with cables, chains or ribbons
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/00234—Surgical instruments, devices or methods, e.g. tourniquets for minimally invasive surgery
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/28—Surgical forceps
- A61B17/29—Forceps for use in minimally invasive surgery
- A61B17/2909—Handles
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/00234—Surgical instruments, devices or methods, e.g. tourniquets for minimally invasive surgery
- A61B2017/00292—Surgical instruments, devices or methods, e.g. tourniquets for minimally invasive surgery mounted on or guided by flexible, e.g. catheter-like, means
- A61B2017/003—Steerable
- A61B2017/00318—Steering mechanisms
- A61B2017/00323—Cables or rods
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B2017/0042—Surgical instruments, devices or methods, e.g. tourniquets with special provisions for gripping
- A61B2017/00438—Surgical instruments, devices or methods, e.g. tourniquets with special provisions for gripping connectable to a finger
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B2017/0042—Surgical instruments, devices or methods, e.g. tourniquets with special provisions for gripping
- A61B2017/00442—Surgical instruments, devices or methods, e.g. tourniquets with special provisions for gripping connectable to wrist or forearm
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/70—Manipulators specially adapted for use in surgery
- A61B34/74—Manipulators with manual electric input means
- A61B2034/741—Glove like input devices, e.g. "data gloves"
Description
Die Erfindung betrifft einen mechanischen Manipulator zum
Arbeiten in unzugänglichen Gebieten und Hohlräumen nach dem
Oberbegriff des Anspruchs 1.
In der neueren endoskopisch arbeitenden Minimal Invasiven
Chirurgie, aber auch in vielen Bereichen der Technik ist es
oft schwierig, in unzugänglichen Bereichen handgerecht zu
arbeiten. Es sind daher viele Apparaturen entwickelt worden,
um spezielle Greif- und Hantierarbeiten auszuführen. Der
Nachteil dieser Spezialwerkzeuge ist jedoch, daß diese Geräte
immer wieder beim Voranschreiten der Operation ausgewechselt
werden müssen. Es wäre daher von Vorteil, in unzugänglichen
Bereichen mit einer verkleinerten künstlichen Hand arbeiten
zu können.
Die Erfindung widmet sich dem Problem, dem Operateur einen
Manipulator zu schaffen, der
- - die Bewegungen des menschlichen Armes mit Hand und Fin gern direkt aufnimmt und diese direkt an,
- - eine der Form und Funktion nach gleiche Einheit weitergibt, die
- - sich durch enge Kanäle, wie den Trokaren der heutigen Minimal Invasiven Chirurgie, in das Operationsgebiet schieben läßt, dort handgleich agiert,
- - auch palpiert - und dabei,
- - einfach aufgebaut, so daß er leicht tragbar ist.
Hand-Manipulatoren sind bereits aus der Zeitschrift "Die
Technik", 19. Jahrgang, Heft 2, Februar 1964, Seiten 92 bis
96 bekannt. Jedoch ist ein handgerechtes geschicktes
Agieren mit den genannten Vorrichtungen nicht möglich. Genau
dieses fehlt jedoch einem Chirurgen, der mit der heutigen
Methode der Minimal Invasiven Chirurgie durch Trokare
hindurch operieren will. Eine Vorrichtung zum Greifen bei
endoskopischen Operationen wurde in US 50 25 778 vorgestellt.
Diese weist einen proximalen Bedien-, einen distalen Ausführ-
und einen Übertragungsteil auf. Jedoch sind hier die Han
tierfunktionen auf Greiffunktionen beschränkt. Zur Bedienung
des Gerätes muß der Chirurg seine Finger in eine nicht natür
liche Stellung bringen. Diese bewußte Handlung schränkt ihn
in seiner Vorgehensweise ein.
Anhand folgender Figuren soll die hier vorgelegte Erfindung
erläutert werden:
Fig. 1 Vorrichtung in Gesamtansicht,
Fig. 2 Prinzip der Bewegungsübertragung anhand eines
Fingers mit Ausschnittsbildern zur Verdeutlichung
der Winkelbezeichnungen sowie
Fig. 3 Vorzugsbauform der Halterung als Handschuh mit
eingelassenen Bowdenzügen,
Fig. 4 Ansatz zweier Fäden an einem distalen Finger,
Fig. 5 Bowdenzugansatz zur Aufnahme der Drehbewegung
der Hand um die Längsachse des Unterarmes,
Fig. 6 a - Verkleinerung der menschlichen Handbewegung
mittels einer pantographischen Einrichtung,
b - Erzeugung und Bewegungsablauf einer
nichtlinearen Übersetzung und
c - Beispiel einer menschenhandfremden Spezial
anwendung,
Fig. 7 Gelenk einer besonders kleinen distalen
Vorrichtungsextremität und
Fig. 8 Ansatz der Bowdenzüge an der Fingeroberseite.
Der Anspruch 1 soll in den ersten vier Figuren erläutert wer
den.
In Fig. 1 ist eine Gesamtdarstellung einer möglichen Form der
Vorrichtung gezeigt. Sie besteht aus der Halterung 1 für die
menschliche Extremität Unterarm 2, Handkörper 3 und den fünf
Fingern 4, 5, 6, 7 und 8 mit Einzelgliedern. Die Halterung l
ist hier als eine Art Gummihandschuh ausgeführt, die paßgenau
die menschliche Extremität aufnimmt und deren Bewegung leicht
und ohne zu behindern mitmacht. Weiterhin besteht die Appara
tur aus der distal gelegenen Extremität 9, die aus entspre
chenden Gliedern, nämlich dem Unterarm 10, Handkörper 11 und
den fünf Fingern 12, 13, 14, 15 und 16 aufgebaut ist. Diese
entsprechen ihrer Form und Funktion nach der menschlichen
Extremität. In einem starren Kanal 17′ und 17′′ liegen die
Drähte 18, die mit ihren proximalen Enden 19′ beweglich an
den Gliedern 20 der gummiartigen Halterung 1 und mit ihren
distalen Enden 19′′ beweglich an den Gliedern 20′′ der dista
len Extremität befestigt sind. Über ein weiter unten
beschriebenes Koppelglied 21 wird die Richtung und Weglänge
der durch die menschliche Hand bewegten Drähte 18 an die
Erfordernisse der distalen Extremität angepaßt.
Da die Glieder der proximalen Extremität direkt und mecha
nisch über ein Koppelglied miteinander verbunden sind, kann
durch Bewegen eines Gliedes der menschlichen Extremität das
entsprechende distale Glied bewegt werden. Wird in Fig. 1 z. B.
der Handkörper 3 gegen den Unterarm 2 in Richtung Rückhand
hochgebeugt, so wird der Draht 22 in seine Hülle 23 geschoben
- Bowdenzug -. Diese Bewegung wird im Koppelglied 21 auf die
Gegebenheiten der distalen Hand angepaßt, so daß das distale
Ende 22′′ den distalen Handkörper 11 durch Ziehen an diesem
gegen den distalen Unterarm 10 beugt.
Die distale Hand kann durch diesen Bewegungsmechanismus so
zusammengelegt werden, daß diese mit dem vorderen Teil des
Kanals 17′′ durch einen Trokar 24 an bzw. in das Operations
gebiet geschoben werden kann.
Die Bewegung des Oberarms gegen den Unterarm ist in diesem
Beispiel nicht gezeigt. Die Bowdenzüge können verschiedene
Dimensionen aufweisen. So kann es ratsam sein, dickere Züge
für die Übertragung der Bewegung größerer menschlicher Glied
maßen und dünnere für die Übertragung kleinerer zu benutzen.
Ebenso können verschiedene Materialien wie Metalle oder
Kunststoffe genutzt werden. Es kann z. B. sinnvoll sein,
Kunststoffe wie PTFE (Teflon®) oder Werkstoffe mit ähnlich
geringen Reibungskoeffizienten zu nutzen, um das Gleiten der
Züge in den Hüllen zu optimieren.
In Fig. 2 soll der Übertragungsmechanismus näher erläutert
werden. Dargestellt ist ein menschlicher Finger 4° mit dem
Fingerendglied 25°, dem Fingermittenglied 26°, Fingergrund
glied 27° und dem entsprechenden Mittelhandteil 28°. Der Fin
ger paßt in die hier nicht als Gummihandschuh ausgeführte
Halterung 29, die aus entsprechenden Gliedern 25′, 26′, 27′
und 28′ sowie aus Gelenken 30 besteht. Am distalen Ende
befindet sich der zur besseren Darstellung zu groß gezeich
nete Vorrichtungsfinger 4′′ mit entsprechenden Gliedern 25′′,
26′′, 27′′ und 28′′. Anders als bei der Bewegungsübertragung
in Fig. 1 laufen die proximalen Endteile 31′ der Drähte hier
nicht frei über die Hohlhand, sondern direkt in die am Nach
barglied befestigte Hülle 32, mit der sie eine Art Bowdenzug
bilden. Am distalen Finger verlaufen die distalen Teile 31′′
der Drähte teils in den Fingergliedern. Ebenfalls anders als
in Fig. 1 ist der Kanal als nicht starr angenommen, was durch
den kurvenartigen Verlauf 35′′ des Drahtes im distalen Teil
34′′ angedeutet ist. Aus Gründen der besseren Übersicht wird
nur ein Draht gezeigt.
Beugt nun der Operateur sein Fingerendglied 25 gegen sein
Fingermittenglied 26 , so beugen sich auch die entsprechenden
Glieder 25′ und 26′ um deren gemeinsames Gelenk 33′, da die
Halterung die Fingerbewegung ohne Behinderung mitmacht. Der
proximale Übertragungsdraht 34′ wird dadurch in eine Bowden
zughülle 35′ geschoben. In dem Koppelglied 21 wird durch ei
nen Hebel 34′′′ die Bewegungsrichtung des Drahtes umgedreht.
Dadurch kann nun am distalen Finger das Fingerendglied 25′′
gegen das Fingermittenglied 26′′ um das gemeinsame Gelenk
33′′ gebeugt werden.
Der vom proximalen Teil 34′ des Drahtes zurückgelegte Weg
läßt sich über den Cosinussatz mit den im Teilbild 1 der
Fig. 1 gezeigten Größen bestimmen. Diese ergeben sich aus dem
Abstand b′ der Drahtbefestigung zum Drehpunkt 33′, dem
Abstand a′ der am Nachbarfingerglied befestigten Hüllenöff
nung zum Drehpunkt und dem Beugungswinkel Y′. Entsprechende
Größen a′′, b′′ und y′′ sind im Teilbild 11 für die distale
Seite gezeigt. Über die Abstände a′′, b′′, a′ und b′ sowie
die der Koppelstange c′′ und c′ läßt sich das Winkelübertra
gungsverhältnis γ′′/γ′ einstellen, welches für die meisten
Anwendungen gleich 1 sein wird.
Zur Verdeutlichung der Winkelbeziehungen wurde in Fig. 2 eine
Halterung mit Gelenken und daher eindeutigen Drehachsen
gewählt. Die in Fig. 3 gezeigte Vorzugsbauform stellt jedoch
den nur anhand eines Fingers dargestellten Handschuh dar, in
dessen Gummimaterial die Bowdenzüge eingelassen sind. Die
Drähte 31′ sind dann beweglich z. B. an Achsen 72 oder mit
hier nicht gezeigten Kugelgelenken an fest in den Handschuh
eingelassenen Gelenkhalterungen 73′ befestigt. Der Vorteil
dieser Art Halterung ist die paßgenaue Form für die mensch
liche Extremität sowie die leichtgängige Bewegbarkeit.
Es muß darauf hingewiesen werden, daß der Aufbau des distalen
Fingers aufgrund dessen Kleinheit durch einfach zu erstellen
de Teile erreicht wird. Weitere Bowdenzüge können für das
seitliche Spreizen der Finger untereinander benutzt werden.
Anhand des Gelenkes 36 eines distalen Fingers soll in Fig. 4
gezeigt werden, daß statt der Drähte auch zwei Fäden 37 und
38 genutzt werden können. Die zu den Fäden gehörenden Hüllen
39 und 40 sind ober- und unterhalb eines Fingergliedes 41
angebracht. Durch das Lockern des Fadens 37 und Anziehen des
Fadens 38 wird das Fingerglied 42 um das Gelenk 36 gebeugt
und umgekehrt. Entsprechende Teile zur Fadenzugaufnahme kön
nen sich dann auch an den entsprechenden proximalen Gliedern
der Vorrichtung befinden.
Fig. 5 zeigt die Aufnahme der Drehbewegung der menschlichen
Hand 43 um die Achse 44 des Unterarmes 45 mittels zweier Bow
denzüge. Dabei enden die Hüllen 46 und 47 an dem Armteil 48
der Halterung und die sich auf dem Unterarm 45 kreuz enden
Züge 49 und 50 am Handteil der Halterung. Wird nun die Hand
43, vom Unterarm 45 aus gesehen, entgegen dem Uhrzeigersinn
in gezeigter Pfeilrichtung gedreht, so wird der Zug 50 in
seine Hülle 47 geschoben und der andere 49 aus seiner 46
gezogen. Entsprechende distale Drehbewegung kann durch
umgekehrt kreuzend verlaufende Drähte zwischen Vorrichtungs
unterarm und -hand erreicht werden.
Anhand der Fig. 6 soll die in Anspruch 2 dargelegte Idee
erläutert werden. Dem Anspruch 2 liegt das Problem zugrunde,
die verschiedenen Größenverhältnisse der menschlichen Hand
des Operateurs auf die der Vorrichtungshand zu übertragen.
Das Problem kann zum einen dadurch gegeben sein, daß die Vor
richtungshände andere Dimensionen aufweisen. Zum anderen kann
das Problem aus dem Wunsch herrühren, spezielle Handbewegun
gen verändert wirken zu lassen. Ein Beispiel hierzu wäre das
übermäßige Kippen des Fingerendgliedes gegen das Fingermit
telglied mit einem Winkelübertragungsverhältniss von z. B.
γ′′/γ′=2, während die anderen Gelenke ein winkelgetreues Ver
hältnis von γ′′/γ′=1 aufweisen. Die in Anspruch 2 dargelegte
Lösung dieses Problems nutzt die Technik von Hebeln und Stan
genkonstruktionen nach Art eines Pantographen.
Das Anpassen der Weglängen ist schon an dem Hebel 34′′′ in
Fig. 2 erläutert worden. Eine andere Bauweise hierzu zeigt
Fig. 6a. Zwei Bowdenzüge 52 und 53 sind mit ihren Hüllen 52a
und 53a verbunden. Die Drähte 52b und 53b sind drehbar und -
anders als bei Hebel 34′′′ der Fig. 2 - gleichseitig zum
Drehpunkt 55 an der Koppelstange 54 angebracht, so daß hier
keine Wegrichtungsänderung auftritt. Wird nun Draht 52b aus
seiner Hülle 52a heraus-, so wird Draht 53b in seine Hülle
53a hineingeschoben. Das Verhältnis der Wegänderung des Drah
tes 52b zu Draht 53b ergibt sich z. B. aus dem Strahlensatz
unter Kenntnis der variabel einstellbaren Koppelstangenab
griffe n und m.
Fig. 6b zeigt das Wesen des pantographischen Mechanismus in
deutlicherer Form. Es handelt sich um ein Übertragungsglied
mit drei Koppelstangen 56, 57 und 58 und nichtkonstanter Win
kelübersetzung (γ′′/γ′ ≠ konstant, siehe Teilbilder I und II
der Fig. 2). Dies ist exemplarisch an vier Bewegungsstadien
s1, s2, s3 und s4 der Bewegung verdeutlicht. In den Stadien
s1 und s2 wird durch konstantes Voranschieben des Drahtes 59
auch der Draht 60 vorangeschoben. Ab Stadium s3 dreht sich
jedoch dann die Bewegungsrichtung des Drahtes 60 um, obwohl
Draht 59 weiter konstant vorangeschoben wird, Stadium 4. Es
ist daher möglich, für spezielle Operationen gezielte Bewe
gungsabläufe zu steuern, die für die menschliche Hand nicht
erreichbar wären. Hierfür ist in Fig. 6c beispielsweise auch
das Umklappen der Vorrichtungshand 61 um einen für die Men
schenhand unnormalen Winkel gezeigt.
Durch solche Übersetzungsglieder sowohl durch die Wahl der in
Fig. 2 gezeigten Abstände a′ und b′ der proximalen sowie a′′
und b′′ der distalen Glieder ist es möglich, aus einem viel
seitigen einen speziell einsetzbaren Manipulator zu machen.
Anspruch 3 soll anhand des Folgenden sowie an Fig. 7 erklärt
werden. In der Medizintechnik müssen Geräte meist so beschaf
fen sein, daß sie sterilisierbar sind. Materialien halten
z. B. in den zu diesem Zweck genutzten Heißdampföfen (Autokla
ven) die Temperaturen oder die Luftfeuchtigkeit nicht aus
oder es müssen Geräte auseinandergebaut werden, damit auch
alle verborgenen Hohlräume gereinigt und anschließend steri
lisiert werden können. Dies Problem läßt sich für die hier
vorgestellte Vorrichtungshand dadurch umgehen, daß dieser
Hand, ähnlich der menschlichen Chirurgenhand, ein gummiela
stischer Handschuh übergezogen wird. Dieser kann dann nach
der Operation weggeworfen werden. Die Vorrichtungshand selbst
braucht dann nur noch desinfiziert zu werden.
Für besonders kleine distale Extremitäten kann ein gummiela
stischer Überzug auch als Gelenk dienen. Fig. 7a und -b zeigt
dies an zwei Gliedern 62 und 63. Diese sind mit einem an
ihrer Unterseite aufgeklebten, etwas stärkeren Gummistück 64
verbunden. Der besagte gummielastische Überzug 65 umhüllt
beide Glieder 62 und 63 und andere. Beim Vorausschieben des
Drahtes 66 weicht Glied 63 dem erzeugten Druck dadurch aus,
daß es sich, an dem aufgeklebten Gummistück 64 haltend, gegen
Glied 62 beugt, Fig. 7b. Die dabei gespannte Gummihülle kann
dann durch Entspannen das Glied 63 wieder in seine Ausgangs
lage zurückziehen, Fig. 7a.
Anhand der Fig. 8 soll Anspruch 4 erläutert werden. Bei den
in Fig. 1 und 5 gezeigten freilaufenden Drähten 18, 49 und 50
kann ein seitliches Ausscheren der Drähte und somit ein Über
tragungsfehler auftreten. In Fig. 8 ist nun ein menschlicher
Finger 40 gezeigt, dessen Bewegung des Fingermittengliedes 67
gegen das Fingergrundglied 68 mittels eines Gelenkes 69 und
eines auf dem Finger liegenden Bowdenzuges 71 vorgenommen
wird. Der Draht 70 ist im freilaufenden Teil mit einer Spi
ralfeder 74 ummantelt, die den Draht ohne auszuscheren sicher
in dessen Hülle 75 leitet.
Claims (4)
1. Mechanische Hand-Manipulatorvorrichtung zum Arbeiten in
unzugänglichen Gebieten und Hohlräumen, mit einem direkt an
der menschlichen Extremität ansetzenden und deren Bewegung
mitmachenden proximalen Teil, einem sich durch eine enge Öff
nung schiebbaren distalen Teil, und einem die Bewegung über
tragenden Teil,
dadurch gekennzeichnet, daß
der distale Teil seiner Form- und Funktion nach wie eine
menschliche Extremität wirkt und aus beweglich miteinander
verbundenen Gliedern besteht, die je ein Gegenstück eines
Gliedes des als paßgenaue Halterung der menschlichen Extremi
tät ausgeführten proximalen Teils darstellen, und der Über
tragungsteil aus Drähten bzw. Fäden - Bowdenzügen - besteht,
die je ein Glied des proximalen mit einem des distalen Teils
verbinden und beweglich an diesen Gliedern befestigt sind.
2. Vorrichtung nach Anspruch 1,
dadurch gekennzeichnet,
daß die Bewegung der Drähte und Fäden mittels Hebel oder pan
tographisch arbeitenden Einrichtungen in ihrer Wegrichtung
und -länge verändert werden können.
3. Vorrichtung nach Anspruch 1 oder 2,
dadurch gekennzeichnet,
daß die am distalen Ende befindliche Vorrichtungsextremität
einen gummielastischen Überzug bzw. eine auswechselbare gum
mielastische Hülle tragen und daß dieser Überzug bzw. diese
Hülle auch als Gelenk dienen kann.
4. Vorrichtung nach einem der Ansprüche 1 bis 3,
dadurch gekennzeichnet,
daß das Einfahren der Drähte in die Hüllen der Bowdenzüge
durch Spiralfedern unterstützt werden kann.
Priority Applications (6)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE4306786A DE4306786C1 (de) | 1993-03-04 | 1993-03-04 | Chirurgischer Manipulator |
DE4326618A DE4326618C2 (de) | 1993-03-04 | 1993-08-07 | Manipulatorhand |
JP6041783A JPH06262549A (ja) | 1993-03-04 | 1994-02-17 | 外科用マニピュレータ |
EP94200424A EP0613762A1 (de) | 1993-03-04 | 1994-02-18 | Chirurgischer Manipulator |
US08/206,450 US5599151A (en) | 1993-03-04 | 1994-03-04 | Surgical manipulator |
US08/963,084 US5813813A (en) | 1993-03-04 | 1997-11-03 | Surgical manipulator |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE4306786A DE4306786C1 (de) | 1993-03-04 | 1993-03-04 | Chirurgischer Manipulator |
Publications (1)
Publication Number | Publication Date |
---|---|
DE4306786C1 true DE4306786C1 (de) | 1994-02-10 |
Family
ID=6481937
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
DE4306786A Expired - Fee Related DE4306786C1 (de) | 1993-03-04 | 1993-03-04 | Chirurgischer Manipulator |
Country Status (2)
Country | Link |
---|---|
US (2) | US5599151A (de) |
DE (1) | DE4306786C1 (de) |
Cited By (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
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Cited By (7)
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DE4310842A1 (de) * | 1993-04-02 | 1994-10-06 | Viktor Dr Med Grablowitz | Vorrichtung für die Durchführung von minimal invasiven Operationen |
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EP0683016A1 (de) * | 1994-05-18 | 1995-11-22 | D.T.I. Dr. TRIPPE INGENIEURGES. mbH. | Trägersystem aus in ihrer Raumform beliebig einstellbaren Rüsseln |
EP0688538A1 (de) * | 1994-06-24 | 1995-12-27 | United States Surgical Corporation | Verfahren und Vorrichtung zum Ausführen einer chirurgischen Aufgabe bei laparoskopischen Eingriffen |
US5716352A (en) * | 1994-06-24 | 1998-02-10 | United States Surgical Corporation | Apparatus and method for performing surgical tasks during laparoscopic procedures |
US5807376A (en) * | 1994-06-24 | 1998-09-15 | United States Surgical Corporation | Apparatus and method for performing surgical tasks during laparoscopic procedures |
DE102021205698A1 (de) | 2021-06-07 | 2022-12-08 | Bauerfeind Ag | Medizinisches Hilfsmittel oder Sporthilfsmittel, umfassend einen Bowdenzug |
Also Published As
Publication number | Publication date |
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US5813813A (en) | 1998-09-29 |
US5599151A (en) | 1997-02-04 |
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