Flexible stem instrument with a spindle drive actuated linkage

Abstract

An instrument (1), in which a main part (6) and a folding part (7) that can be extended therefrom are formed at the distal end (3) of a flexible shaft (2). The folding part (7) can be extended via a linkage (8) that can be adjusted by a spindle drive (9), and the spindle drive (9) can be driven from a proximal end (4) of the flexible shaft (2) via a flexible shaft (12).

Claims

1. An instrument (1), comprising a flexible stem (2) which has a distal end (3) and a proximal end (4), a handling element (5) disposed on the proximal end (4), a main part (6) configured on the distal end (3), a fold-out part (7) that is adjustable by way of a linkage (8) between a first position, disposed on the main part (6), and a second position which in relation to a profile direction of the stem (2) is laterally spaced apart from the main part (6), a spindle drive (9) that activates the linkage (8), the spindle drive including a threaded part (10) that is drivable by a flexible shaft (12) that extends along the stem (2), and the linkage (8) forms a toggle lever having a first linkage arm (22) and a second linkage arm (26) connected at a knee joint (19), the spindle drive (9) engages on the knee joint (19) of the toggle lever, and the second linkage arm (26) is articulated on the main part (6).

2. The instrument (1) as claimed in claim 1, wherein the flexible shaft (12) is disposed in a guide duct (16) in the stem (2).

3. The instrument (1) as claimed in claim 1, wherein the first linkage arm (22) of the linkage (8) by way of a first end (20) engages on the fold-out part, and by way of a second end (23) is displaceably guided on the main part (6).

4. The instrument (1) as claimed in claim 1, further comprising a head part (25) on the fold-out part (7), and the linkage (8) is configured to act on the head part (25).

5. The instrument (1) as claimed in claim 4, wherein a connection of the linkage (8) to the head part (25) is configured such that in the first position of the fold-out part (7) and in the second position of the fold-out part (7), the head part (25) assumes alignments that are offset.

6. The instrument (1) as claimed in claim 4, wherein one of the first linkage arm of the toggle lever is connected to the head part (25).

7. The instrument (1) as claimed in claim 1, wherein at least one of the main part (6) or the fold-out part (7) is configured as a rigid part.

8. The instrument (1) as claimed in claim 1, wherein the fold-out part (7) in the first position is received in a receptacle (46) of the main part (6).

9. The instrument (1) as claimed in claim 1, further comprising a feed installation (32) for a consumable material (33) that is conveyed in an operation duct (17) located in the stem.

10. The instrument (1) as claimed in claim 9, further comprising at least one of a laser fiber (38) or a laser light exit location (31) in the stem (2) of the main part (6) that is adapted to direct laser light on the consumable material.

11. The instrument (1) as claimed in claim 9, further comprising a machining unit for at least one of milling, boring, or cutting is configured on the fold-out part (7).

12. The instrument (1) as claimed in claim 1, wherein the instrument (1) is configured as a remote observation instrument including a camera (30) at a distal end.

13. The instrument (1) as claimed in claim 1, wherein an operation duct (17) that ends on the fold-out part (7) is configured along the stem (2), and the operation duct (17) is configured so as to be flexible at least in a portion (47) that lies between the stem (2) and the fold-out part (7).

14. The instrument (1) as claimed in claim 1, wherein a free end (20, 21) of the toggle lever engages on at least one of the main part (6) or the fold-out part (7).

15. The instrument (1) as claimed in claim 1, wherein at least one of an operation or observation unit (29) is configured on the main part (6) in a region on which the fold-out part (7) in the first position bears on the main part (6).

16. The instrument (1) as claimed in claim 1, further comprising a camera (30) configured on the main part (6).

17. A method of repairing a component using the instrument of claim 1, comprising inserting the instrument into a cavity (40) in a pipe or component, at least one of machining or repairing, an internal part of the pipe or the component by conveying a consumable material (33) by way of the instrument (1) into the cavity (40), and at least one of filling, building-up, applying a surface finish or joining at least one of a clearance (43) at a defective location (42), an internal surface, or a joint of the pipe or component (41) with the consumable material (33).

Description

BRIEF DESCRIPTION OF THE SEVERAL VIEWS OF THE DRAWINGS

(1) The invention will now be explained in more detail by means of exemplary embodiments, but is not limited to said exemplary embodiments. Further exemplary embodiments are derived from the combination of the features of individual or a plurality of claims with one another and/or with individual or a plurality of features of the exemplary embodiments.

(2) In the figures, in part in a heavily simplified, schematic illustration for explaining the concept of the invention:

(3) FIG. 1 shows a use of an instrument according to the invention;

(4) FIG. 2 shows a sectional illustration through the distal end of an instrument according to the invention;

(5) FIG. 3 shows a sectional illustration having a section plane through the distal end of the instrument that runs perpendicularly to the profile direction of the instrument;

(6) FIG. 4 shows the distal end of an instrument according to the invention, having a folded-in fold-out part in a first position;

(7) FIG. 5 shows the distal end from FIG. 4, having a partially folded-out fold-out part in an intermediate position;

(8) FIG. 6 shows the distal end according to FIG. 4, having a fully folded-out fold-out part in the second position;

(9) FIG. 7 shows the distal end of a further instrument according to invention, additionally having a pivotable head part;

(10) FIG. 8 shows the distal end according to FIG. 7, having an alignment of the head part that is offset in relation to the position from FIG. 7; and

(11) FIG. 9 shows a use according to the invention of an instrument according to the invention for repairing a component that is difficult to access.

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

(12) FIG. 1 shows an instrument according to the invention that in its entirety is identified by the reference sign 1. The instrument 1 has a flexible stem 2 which runs between a distal end 3 and a proximal end 4. A handling element 5 by way of which the flexible stem 2 is actuatable in a manner known per se is configured at the proximal end 4.

(13) A main part 6 is configured at the distal end 3.

(14) A fold-out part 7, by way of a linkage 8, is fastened to the main part 6 and can be adjusted between a first position in which said fold-out part 7 bears on the main part 6 and a second position in which said fold-out part 7 is deployed from the main part 6 and thus is disposed so as to be spaced apart from the latter.

(15) A spindle drive 9 which is illustrated in more detail in FIG. 2 is configured for adjusting the fold-out part 7.

(16) The spindle drive 9 has a threaded part, presently a spindle, which is connected in a rotationally fixed manner to a flexible shaft 12.

(17) The spindle drive 9 has a threaded counterpart 13, presently a spindle nut, which is connected to the linkage 8 and for forming the spindle drive 9 receives the threaded part.

(18) The flexible shaft 12 is routed along the flexible stem 2 toward the handling element 5, and is drivable by way of an adjustment element 15 on the handling element 5. This adjustment element can be operated by hand and/or by motor.

(19) The spindle drive 9 by way of the adjustment element 15 is thus drivable from the proximal end 4 of the flexible stem 2. On account thereof, a deployment of the fold-out part 7 from a first, folded-in position to a second, folded-out position is achievable, as is illustrated in an exemplary manner by FIGS. 4 and 6. Defined intermediate positions according to FIG. 5 can also be assumed. FIG. 3 shows that the flexible shaft 12 is disposed in a guide duct 16 which is routed along the flexible stem 2 toward the proximal end 4. The available internal diameter of the guide duct 16 is chosen so as to be significantly larger than the external diameter of the flexible shaft 12. This enables an arrangement of the flexible shaft 12 in the guide duct 16 in which arrangement the flexible shaft 12 in portions unilaterally bears on the guide duct 16. It can be seen that the available internal diameter of the guide duct 16 is chosen so as to be larger than the external diameter of the flexible shaft 12 in order to leave sufficient freedom of movement.

(20) An operation duct 17 which runs from the proximal end 4 to the distal end 3 and terminates at the fold-out part 7 is furthermore configured on the instrument 1. The operation duct 17 in the portion between the flexible stem 2 and the fold-out part 7 per se is configured so as to be flexible but traction-resistant and/or compression-resistant. This this enables the operation duct 17 to replicate a lateral deployment of the fold-out part 7 and for the former to simultaneously guide the fold-out part 7 when the linkage 8 is being deployed.

(21) The linkage 8 forms a toggle lever, the knee joint 19 thereof being fixedly connected to the spindle drive 9, more specifically to the threaded counterpart 13. The spindle drive 9 thus engages on the knee joint 19 in order for the linkage 8 to be moved upright.

(22) A first free end 20 of the toggle lever is articulated on the fold-out part, while a second free end 21 of the toggle lever is articulated on the main part.

(23) The first free end 20 herein is configured on a first linkage arm 22 which forms a lever arm of the toggle lever. The second end 23 of the first linkage arm 22, that is opposite the knee joint 19, is guided and laterally supported in a guide groove 24 on the main part 6.

(24) It can be seen in FIG. 3 that the toggle lever is embodied in a double manner, on account of which a particularly high lateral stability results. The double configuration in the example shown can be characterized in that, for example, the knee joints 19 define a common axis.

(25) FIGS. 7 and 8 show a variant of an instrument 1 according to the invention, in which the head part 25 has an actuation point 27 which is connected to the linkage 8 in such a manner that the head part 25 can assume dissimilar alignments.

(26) To this end, the linkage 8 has an adjustment device 28 by way of which the head part 25 is pivotable independently of the spindle drive 9.

(27) In the case of one variant of FIGS. 7 and 8 the actuation point 27 is connected not to the first linkage arm 22 but to the second linkage arm 26 of the toggle lever, on account of which folding in of the head part 25 is achievable in a synchronized manner with the spindle drive 9.

(28) The main part 6 and the fold-out part 7 are in each case configured as a rigid part. A receptacle 46 into which the fold-out part 7 is placeable in the first position is configured on the main part 6.

(29) An operation and/or observation unit 29 is likewise configured in this receptacle 46, and comprises a camera 30 and a laser light exit location 31. The camera 30 can be configured having an integrated illumination unit (not illustrated).

(30) The operation and/or observation unit 29 is activated at least in the second position of the fold-out part 7.

(31) A consumable material 33 from a feed installation 32 is fed to the operation duct 17 at the proximal end 4. This consumable material 33 can be a gas, fluid and/or solid material, for example a welding wire.

(32) A monitor 34 is connected by way of an electrical or optical image conductor 35 to the operation and/or observation unit 29, in particular to the camera 30, in order for a processing of the consumable material 33 to be monitored.

(33) The processing of the consumable material 33 is performed by way of laser light 36 which is generated by a laser generator 37 in the main part 6 or is fed by way of a laser fiber 38, and exits at the laser light exit location 31.

(34) A machining unit 48, in particular a milling, boring and/or cutting unit, can be configured on the main part 6 and/or on the fold-out part 7 in further exemplary embodiments.

(35) An illumination unit can additionally be configured on the main part 6, in particular as part of the operation and/or observation unit 29.

(36) By using a camera 30 or an optical image conductor 35, the instrument is capable of being configured as a visualizing instrument, in particular as an endoscope.

(37) It can furthermore be seen in FIG. 3 that a fiber optics 44 for an illumination (not illustrated) of the machining location is configured in the flexible stem 2.

(38) Furthermore configured are cavities for feeding a process component, in particular for feeding process gas, during the processing of the consumable material 33.

(39) If a camera (not illustrated) is configured on the fold-out part 7, in particular on the head part 25, instead of or in addition to the machining unit 48, stereoscopic viewing or viewing from a distance can even be carried out. If an illumination unit (not illustrated) is configured on the fold-out part 7, in particular on the head part 25, instead of or in addition to the machining unit 48 or the camera, an illumination from another angle, for example in order to avoid unfavorable shadows being cast, or an illumination at another wavelength, can be carried out.

(40) A use according to the invention of the instrument 1 provides that the instrument 1 is fed into a cavity 40 by way of an access opening 39.

(41) A component 41 which is difficult to access, presently in an exemplary manner an internal wall of a pipe, on which a defective location 42 is present is disposed in the cavity 40. This defective location 42 is worked so as to form a clearance 43 and is subsequently filled with the consumable material 33. It is also possible for consumable material 33 to be applied without fleshing out a clearance 43, in order for a material build-up to be carried out. In the processing of the consumable material 33, laser light 36 is used to act on the consumable material 33. This can be in the form of a welding procedure, of a soldering procedure, or else of a curing procedure for an adhesive material.

(42) In the case of the instrument 1 it is proposed for a main part 6 and for a fold-out part 7 that is deployable from said main part 6 to be configured at the distal end 3 of a flexible stem 2, wherein the fold-out part 7 is deployable by way of a linkage 8 that is adjustable by a spindle drive 9, and wherein the spindle drive 9 from a proximal end 4 of the flexible stem 2 is drivable by way of a flexible shaft 12.

LIST OF REFERENCE SIGNS

(43) 1 Instrument 2 Flexible stem 3 Distal end 4 Proximal end 5 Handling element 6 Main part 7 Fold-out part 8 Linkage 9 Spindle drive 12 Flexible shaft 13 Threaded counterpart 15 Adjustment element 16 Guide duct 17 Operation duct 19 Knee joint 20 First free end 21 Second free end 22 First linkage arm 23 Second end 24 Guide groove 25 Head part 26 Second linkage arm 27 Actuation point 28 Adjustment device 29 Operation and/or observation unit 30 Camera 31 Laser light exit location 32 Feed installation 33 Consumable material 34 Monitor 35 Image conductor 36 Laser light 37 Laser generator 38 Laser fiber 39 Access opening 40 Cavity 41 Component 42 Defective location 43 Clearance 44 Fiber optics 45 Cavities for feeding inert gas 46 Receptacle 47 Portion 48 Machining unit