Abstract
A holder facility for holding a medical instrument includes a first receiving element, a second receiving element, and at least three diaphragm elements. The at least three diaphragm elements within a diaphragm layer are arranged between the first and second receiving elements about a common rotation axis. The first and second receiving elements each have an opening for receiving the medical instrument. The first and second receiving elements are movable around about the common rotation axis relative to one another. Each of the at least three diaphragm elements is forcibly moved by mechanical coupling. For a movement of the first receiving element relative to the second receiving element about the common rotation axis, there is a forcibly-guided movement of the at least three diaphragm elements such that the at least three diaphragm elements hold a medical instrument arranged in the opening of the first and second receiving elements.
Claims
1-15. (canceled)
16. A holder facility for holding a medical instrument, the holder comprising: a first receiving element; a second receiving element; and at least three diaphragm elements, the at least three diaphragm elements being arranged about a common axis of rotation of the first receiving element and the second receiving element within a diaphragm layer between the first receiving element and the second receiving element, wherein the common axis of rotation runs essentially at right angles to the diaphragm layer, wherein the first receiving element and the second receiving element each have an opening to receive the medical instrument, wherein the first receiving element and the second receiving element are movable around relative to one another about the common axis of rotation, wherein each of the at least three diaphragm elements comprises at least one first coupling element, wherein the first receiving element, the second receiving element, or the first receiving element and the second receiving element each comprise at least one second coupling element to each diaphragm element of the at least three diaphragm elements, wherein each diaphragm element of the at least three diaphragm elements within the diaphragm layer in which the at least three diaphragm elements are arranged is forcibly actuated by mechanical coupling between the respective at least one first coupling element of the respective diaphragm element and the at least one second coupling element, wherein, for a movement of the first receiving element relative to the second receiving element about the common axis of rotation, there is movement of the at least three diaphragm elements within the diaphragm layer through to the opening to receive the medical instrument forcibly actuated by the first receiving element and the second receiving element such that the at least three diaphragm elements hold the medical instrument arranged in the opening of the first receiving element and the second receiving element.
17. The holder facility of claim 16, wherein the at least one first coupling element of the respective diaphragm element is configured as an elongated guide in which at least one second coupling element of the first receiving element, the second receiving element, or the first receiving element and the second receiving element is accommodated in each case.
18. The holder facility of claim 16, wherein the at least one second coupling element of the first receiving element, the second receiving element, or the first receiving element and the second receiving element is configured as an elongated guide in which at least one first coupling element of the respective diaphragm element is accommodated in each case.
19. The holder facility of claim 16, wherein the at least three diaphragm elements within the diaphragm layer are arranged overlapping each other at least in part.
20. The holder facility of claim 16, wherein the at least one first coupling element of the respective diaphragm element, the at least one second coupling element of the first receiving element, the second receiving element, or the first receiving element and the second receiving element in each case is configured as a raised area, a cutout, or the raised area and the cutout.
21. The holder facility of claim 16, wherein the at least three diaphragm elements feature a softer material compared to the first receiving element, the second receiving element, or the first receiving element and the second receiving element.
22. The holder facility of claim 16, wherein the at least three diaphragm elements are arranged having a same shape about the common axis of rotation.
23. The holder facility of claim 16, wherein the at least three diaphragm elements along the diaphragm layer have a triangular, circle, or triangular and circle segment-shaped form.
24. The holder facility of claim 16, wherein the opening to receive the medical instrument of the first receiving element, the second receiving element, or the first receiving element and the second receiving element is configured as a hole, a slot, or the hole and the slot.
25. The holder facility of claim 16, wherein the first receiving element, the second receiving element, or the first receiving element and the second receiving element are configured in the shape of a wheel.
26. The holder facility of claim 25, wherein the first receiving element, the second receiving element, or the first receiving element and the second receiving element are configured as a toothed wheel, a pulley wheel, or the toothed wheel and the pulley wheel.
27. The holder facility of claim 16, further comprising a motorized drive element configured to move the first receiving element relative to the second receiving element about the common axis of rotation.
28. The holder facility of claim 16, further comprising a fixing element configured to lock the first receiving element in place in relation to the second receiving element.
29. The holder facility of claim 16, further comprising a diaphragm fixing element configured to lock the at least three diaphragm elements in place.
30. The holder facility of claim 16, wherein the first receiving element comprises a second coupling element in each case for each of the at least three diaphragm elements, the second coupling elements of the first receiving element being cut out as an elongated guide and running in a straight line, wherein the second receiving element comprises a second coupling element for each of the at least three diaphragm elements in each case, the second coupling elements of the second receiving element being cut out as an elongated guide and running in a curve, wherein the first receiving element and the second receiving element are configured in the shape of a wheel, wherein the first receiving element, the second receiving element, or the first receiving element and the second receiving element are configured as a toothed wheel, wherein the opening to receive the medical instrument of the first receiving element and the second receiving element is configured as a slot and is delimited by the common axis of rotation, wherein the at least three diaphragm elements have a triangular shape, wherein each diaphragm element of the at least three diaphragm elements has two first coupling elements in each case, the two first coupling element being configured as pin-shaped raised areas, wherein a first of the two first coupling elements of each of the at least three diaphragm elements is arranged on a side of the diaphragm element facing towards the first receiving element, wherein a second of the two first coupling elements of each of the at least three diaphragm elements is arranged on a side of the diaphragm element facing towards the second receiving element, and wherein the two first coupling elements of each of the at least three diaphragm elements do not lie on a spatial axis parallel to the common axis of rotation.
Description
BRIEF DESCRIPTION OF THE DRAWINGS
[0136] Exemplary embodiments are shown in the drawings and are described in greater detail below. In different figures, same reference characters are used for same features.
[0137] FIGS. 1 to 10 show schematic diagrams of different embodiments of a holder facility;
[0138] FIGS. 11 and 12 show a schematic diagram of an opened and a closed holder facility;
[0139] FIG. 13 shows a schematic diagram of an embodiment of a holder facility with a motorized drive element;
[0140] FIG. 14 shows a schematic diagram of an embodiment of a holder facility with a diaphragm fixing element;
[0141] FIG. 15 shows a schematic diagram of an embodiment of a movement facility;
[0142] FIG. 16 shows a schematic diagram of an embodiment of a movement facility with a housing;
[0143] FIG. 17 shows a schematic diagram of one embodiment of a motor element and a fastening element;
[0144] FIG. 18 shows a schematic diagram of one embodiment of a movement facility with a housing and a motor element;
[0145] FIG. 19 shows a schematic diagram of a flowchart of one embodiment of a method for moving a medical instrument by a movement facility;
[0146] FIG. 20 shows a schematic diagram of one embodiment of a coordination facility for coordinated movement of a medical instrument;
[0147] FIG. 21 shows a schematic diagram of another embodiment of a coordination facility;
[0148] FIG. 22 shows a schematic diagram of one embodiment of a coordination facility with a grip element;
[0149] FIG. 23 shows a schematic diagram of a flowchart of one embodiment of a method for coordination of moving a medical instrument by a coordination facility;
[0150] FIG. 24 shows a schematic diagram of a flowchart of one embodiment of a method for optimized movement of a medical instrument by a coordination facility.
DETAILED DESCRIPTION
[0151] FIG. 1 schematically shows one embodiment of a holder facility (e.g., a holder). In this figure, the holder facility may include a first receiving element 1, a second receiving element 2, and at least three diaphragm elements 13. The at least three diaphragm elements 13 may further be arranged within a diaphragm layer 15 between the first receiving element 1 and the second receiving element 2 about a common axis of rotation R. In this figure, the common axis of rotation R may run essentially at right angles (e.g., not in parallel) to the diaphragm layer 15. In this figure, the first receiving element 1 and the second receiving element 2 may each have an opening 12 for receiving the medical instrument (not shown here). The first receiving element 1 and the second receiving element 2 may further be able to be moved about the common axis of rotation R relative to one another. The at least three diaphragm elements 13 may each have at least one first coupling element 14. The first receiving element 1 and/or the second receiving element 2 may include at least a second coupling element 11 in each case for each of the at least three diaphragm elements 13. In this figure, each of the at least three diaphragm elements 13 may be forcibly guided within the diaphragm layer 15 in which the elements are arranged by mechanical coupling between the respective at least one first coupling element 14 of the diaphragm element 13 and the at least one second coupling element 11. Further, for a movement of the first receiving element 1 relative to the second receiving element 2 about the common axis of rotation R, there may be a movement of the at least three diaphragm elements 13 within the diaphragm layer 15 towards the opening 12 for receiving the medical instrument forcibly guided by the first receiving element 1 and the second receiving element 2 such that the at least three diaphragm elements 13 hold a medical instrument arranged in the opening 12 of the first receiving element 1 and the second receiving element 2.
[0152] In the exemplary embodiment shown schematically in FIG. 1, the holder facility includes five diaphragm elements 13, for example. In this figure, the first receiving element 1 may include a second coupling element 11 in each case for each of the at least three diaphragm elements 13. The second coupling element 11 is cut out as an elongated guide and runs in a straight line. The second receiving element 2 may include a second coupling element (not shown) in each case for each of the at least three diaphragm elements 13. The second coupling element of the second receiving element 2 is cut out as an elongated guide and runs in a curve. The first receiving element 1 and the second receiving element 2 may further be embodied in the shape of a wheel. In this figure, the first receiving element 1 given as an example may be embodied as a toothed wheel. The opening 12 for receiving the medical instrument of the first receiving element 1 and the second receiving element 2 may further be embodied as a slot and be delimited by the common axis of rotation R. The at least three diaphragm elements 13 may further have a triangular shape. In this figure, each of the at least three diaphragm elements 13 may further have two first coupling elements 14 in each case, which may be embodied as pin-shaped raised areas. In this figure, a first of the two first coupling elements 14 of each of the at least three diaphragm elements 13 in each case may be arranged on a side of the diaphragm element 13 facing towards the first receiving element 1. A second of the two first coupling elements 14 of each of the at least three diaphragm elements 13 in each case may further be arranged on a side of the diaphragm element 13 facing towards the second receiving element 2. In this figure, the two first coupling elements 14 of each of the at least three diaphragm elements 13 may not lie on a spatial axis parallel to the common axis of rotation R.
[0153] In this figure, the holder facility may be embodied to save space and/or with modular components. The holder facility may further be embodied to hold different elongated medical instruments. The holder facility may further be embodied as an iris diaphragm, including the at least three diaphragm elements 13. In accordance with a further embodiment of the holder facility, the at least one first coupling element 14 of the respective diaphragm element 13 and/or the at least one second coupling element 11 of the first receiving element 1 and/or the second receiving element 2 may be embodied as a shoulder screw. In this figure, the mechanical coupling between at least one first coupling element 14 and at least one second coupling element 11 may be made by a forced guidance of the shoulder screw in an elongated guide.
[0154] There may further be a more even hold on the medical instrument with a higher number of diaphragm elements 13.
[0155] In one embodiment, a diameter of the opening 12 of the first receiving element 1 and the second receiving element 2 is proportional to a rotational movement of the first 1 receiving element relative to the second receiving element 2 about the common axis of rotation R.
[0156] This enables differently embodied medical instruments (e.g., heart catheters in particular various sizes in accordance with the French catheter system, and/or catheters for intracardial echocardiography, such as intracardiac-echo (ICE), and/or guide wires) to be held by the same holder facility. In this figure, the diameter of the medical instruments may range from the sub millimeter range (e.g., coronary guide wires with a diameter of 0.25 mm) through the millimeter range (e.g., ICE catheters with a diameter of 3.3 mm) to the centimeter range (e.g., bronchoscopes and/or laparoscopes with a diameter of over 14 mm). In this figure, the holder facility may be embodied for holding a large bandwidth of diameters of medical instruments (e.g., medical instruments with diameters between 0.25 mm and 14 mm). The holder facility may be embodied for holding medical instruments of a predetermined bandwidth of diameters (e.g., various guide wires with diameters in the sub millimeter range and/or various catheters with diameters in the millimeter range and/or various endoscopes with diameters in the centimeter range). This enables a space requirement (e.g., a spatial extent) of the holder facility to be minimized depending on application.
[0157] Shown schematically in FIG. 2 is a form of embodiment of the first receiving element 1 and/or the second receiving element 2. In this figure, the opening 12 for receiving the medical instrument is embodied by way of example as a hole. The at least one second coupling element 11 of the first receiving element 1 and/or the second receiving element 2 may further be embodied as an elongated guide, in which the at least one first coupling element 14 of respective diaphragm element 13 is accommodated in each case. In this figure, the elongated guides of the first 1 and/or the second receiving element 2 may be embodied as cutouts.
[0158] Shown schematically in FIG. 3, by way of example, is a further form of embodiment of the first receiving element 1 and/or the second receiving element 2 with three diaphragm elements 13. In this figure, each of the three diaphragm elements 13 may have two first coupling elements 14 in each case, which are embodied as raised areas (e.g., pin-shaped raised areas). The first receiving element 1 and/or the second receiving element 2 may further include a second coupling element 11 in each case for each of the first coupling elements 14 of the three diaphragm elements 13, which is cut out as an elongated guide. The three diaphragm elements 13 may have a circle segment shape along the diaphragm layer 15. In addition, the three diaphragm elements 13 may be arranged in the same shape about the common axis of rotation R. This enables an especially even hold on a medical instrument 33 arranged in the opening 12 of the first receiving element 1 and the second receiving element 2 to be made possible.
[0159] Shown schematically in FIG. 4 in an exploded diagram of one embodiment of the holder facility. In this figure, each of the at least three diaphragm elements 13 may include two first coupling elements 14 and 14′ embodied as raised areas (e.g., in the shape of pins). The first receiving element 1 may further include a second coupling element 11 cut out as a hole for receiving a first coupling element 14 of a diaphragm element 13 in each case. This enables a mechanical coupling between the at least three diaphragm elements 13 and the first receiving element 1 to be achieved such that each of the at least three diaphragm elements 13 within the diaphragm layer 15 is supported rotatably. The second receiving element 2 may further have a second coupling element 11′ cut out as an elongated guide in each case for receiving a first coupling element 14′ of a respective diaphragm element 13 in each case. This enables a mechanical coupling between the at least three diaphragm elements 13 and the second receiving element 2 to be achieved such that each of the at least three diaphragm elements is forcibly guided within the diaphragm layer towards the opening 12 for receiving the medical instrument 33.
[0160] Shown schematically in FIG. 5 in an exploded diagram is another embodiment of the holder facility. In this figure, each of the at least three diaphragm elements 13 may have a first coupling element 14′ in each case embodied as a, for example, pin-shaped raised area on a side facing towards the second receiving element 2. Each of the at least three diaphragm elements 13 may also have a first coupling element 14 cut out as an elongated guide on a side facing towards the first receiving element 1. In this figure, the first receiving element 1, for each of the at least three diaphragm elements 13, may have a second coupling element 11 embodied in each case as a pin-shaped raised area, which is accommodated in a first coupling element 14 (e.g., an elongated guide) of a diaphragm element in each case. The second receiving element 2, for each of the at least three diaphragm elements 13, may further have a second coupling element 11′ cut out as a hole in each case, in which the coupling element 14′ of a diaphragm element 13 in each case facing towards the second receiving element 2 is accommodated. This enables a mechanical coupling between the at least three diaphragm elements 13 and the second receiving element 2 to be achieved such that each of the at least three diaphragm elements 13 is supported rotatably within the diaphragm layer 15. The mechanical coupling between the at least three diaphragm elements 13 and the first receiving element 1 further enables a forcibly-guided movement of the at least three diaphragm elements 13 within the diaphragm layer towards the opening 12 for receiving the medical instrument 33 to be provided.
[0161] FIG. 6 shows a schematic of a side view of one embodiment of a holder facility. In this figure, the first receiving element 1 and the second receiving element 2 may be embodied in the shape of a wheel and may be arranged in parallel to one another. A medical instrument 33 may further be arranged in parallel to the common axis of rotation R within the opening 12 of the first receiving element 1 and the second receiving element 2. In this figure, the medical instrument 33 may be held by the at least three diaphragm elements 13, which are arranged within the diaphragm layer 15. In this figure, the first receiving element 1 is embodied as a pulley wheel. For example, the first receiving element 1 may have a cutout around a circumference of the first receiving element 1 to accept a belt.
[0162] Shown schematically and perspectively in FIG. 7 is an embodiment of the holder facility. In this figure, the opening 12 for receiving the medical instrument 33 may be embodied as a hole. The medical instrument 33 may further be held by the at least three diaphragm elements 13 after the holder facility is closed. In this figure, the at least three diaphragm elements 13 may feature a softer material compared to the first receiving element 1 and/or the second receiving element 2. In one embodiment, a grip surface of the respective diaphragm element 13 may feature a non-slip material and/or adhesive material. Through this, a secure hold on the medical instrument 33 by the at least three diaphragm elements 13 can be made possible. In this figure, the at least three diaphragm elements 13 may consist at least partly of a softer material compared to the first receiving element 1 and/or the second receiving element 2 (e.g., visco foam and/or rubber). The at least three diaphragm elements 13 along the diaphragm layer 15 may have a triangular shape.
[0163] Shown schematically in FIG. 8 is another embodiment of the holder facility. In this figure, the opening 12 for receiving the medical instrument 33 of the first receiving element 1 and/or the second receiving element 2 may be embodied as a slot. This enables the medical instrument 33 to be introduced into the holder facility from the side. The holder facility (e.g., the first receiving element 1 and/or the second receiving element 2) may further be able to be put onto the medical instrument 33. In the form of embodiment shown in FIG. 8, the first receiving element 1 and/or the second receiving element 2 for each of the at least three diaphragm elements 13 may include a second coupling element 11 cut out as an elongated guide. In this figure, the second coupling elements 11 may, for example, run in a curve. Each of the at least three diaphragm elements in each case may further have at least one first coupling element 14 embodied as a pin-shaped raised area, which is accommodated in one of the second coupling elements 11 of the first receiving element 1 and/or the second receiving element 2 in each case. This enables the forcibly-guided movement of the at least three diaphragm elements 13 through to the opening 12 for receiving the medical instrument 33 (e.g., along a path predetermined by the curved course of the second coupling elements 11) to take place.
[0164] In the exemplary embodiment of the holder facility shown schematically in FIG. 9, the first receiving element 1 and the receiving element 2, for each of the at least three diaphragm elements 13, may include a second coupling element 14 embodied in each case as a raised area on an edge and/or a side surface. In this figure, the second coupling elements 14 embodied as a raised area may, for example, be connected to one another and/or at least partly enclose the diaphragm layer 15. The at least three diaphragm elements 13 may be at least partly enclosed by the second coupling elements 14 embodied as a raised area. Each of the at least three diaphragm elements 13 may have a first coupling element 13, in each case, that is embodied as a raised area and/or cutout on a side surface of the respective diaphragm element 13. In this figure, the mechanical coupling between the at least three diaphragm elements 13 and the first receiving element 1 may be made between the side surfaces of the diaphragm elements 13 and the second coupling elements 13 of the first receiving elements 1 embodied as a raised area in such a way that the at least three diaphragm elements 13 are forcibly guided through to the opening 12 for receiving the medical instrument 33. Each of the at least three diaphragm elements 13 may also include a first coupling element 14′ embodied as a pin-shaped raised area and/or cut out as a hole for mechanical coupling to the second receiving element 2. This enables each of the at least three diaphragm elements 13 to be rotatably supported about the first coupling element 14′ within the diaphragm layer 15.
[0165] Depicted in FIG. 10 is yet another embodiment of the holder facility, where the at least three diaphragm elements 13 are arranged at least partly overlapping within the diaphragm layer 15. This enables a large number of diaphragm elements 13 to be arranged in a space-saving manner within the diaphragm layer 15. An even hold on the medical instrument 33 within the opening 12 may further be made possible by the at least three diaphragm elements 13.
[0166] Shown schematically in FIG. 11 is an embodiment of the holder facility, where a medical instrument 33 arranged in the opening 12 is able to be moved freely. The holder facility is opened for receiving the medical instrument 33. In this figure, the first coupling elements 14 of the at least three diaphragm elements 13 are in an initial position in relation to the second coupling elements 11. In FIG. 12, the holder facility is shown schematically in the closed state. In this figure, the medical instrument 33 arranged in the opening 12 is held by the at least three diaphragm elements 13. Through a movement of the first receiving element 1 relative to the second receiving element 2, the at least three diaphragm elements 13 have been forcibly guided such that the first receiving element 1 and the second receiving element 2 enclose the medical instrument 33.
[0167] In the embodiment of the holder facility 17 shown schematically in FIG. 13, the holder facility 17 may also include a motorized drive element 70. In this figure, the motorized drive element 70 may be embodied to move the first receiving element 1 relative to the second receiving element 2 about the common axis of rotation R. In this figure, the motorized drive element 70 may include a motor (e.g., an electric motor). The motorized drive element 70 may further include a transmission element 71 that couples the motor mechanically to the first receiving element 1 and/or the second receiving element 2. In this figure, the transmission element 71 may be embodied as a belt and/or toothed wheel and/or transmission and/or leadscrew.
[0168] The medical instrument 33 is held firmly by the at least three diaphragm elements 13 for as long as the first receiving element 1 and the second receiving element 2 of the holder facility 17 remain at rest relative to one another in the closed state. In this figure, the holder facility 17 may also include a fixing element embodied to lock the first receiving element 1 in place in relation to the second receiving element 2. The first receiving element 1 may, for example, be locked in place in relation to the second receiving element 2 by the fixing element in the closed state of the holder facility 17. In this figure, the fixing element may, for example, be embodied as a lock (e.g., a lever and/or a plug connection between the first receiving element 1 and the second receiving element 2) and/or may be embodied as part of the motorized drive element 70.
[0169] Shown schematically in FIG. 14 is another embodiment of the holder facility 17. In this figure, the holder facility 17 may also include a diaphragm fixing element 75 embodied to lock the at least three diaphragm elements 13 in place. In this figure, the diaphragm fixing element 75 may be arranged within the diaphragm layer 15 and/or around the diaphragm layer 15. In one embodiment, at least one of the diaphragm elements 13 may be able to be locked in a fixed position by the diaphragm fixing element 75. The diaphragm fixing element 75 may further be embodied to mechanically rigidly couple the at least one first coupling element 14 of at least one diaphragm element 13 to the corresponding at least one second coupling element 11 of the first receiving element 1 and/or the second receiving element 2 (e.g., so that the receiving element 1, 2 does not move).
[0170] The diaphragm fixing element 75 may further be embodied to lock in place the arrangement of the at least three diaphragm elements 13 (e.g., in the closed state of the holder facility 17). In this figure, the diaphragm fixing element 75 may be embodied as a circumferential band and/or ring and/or lever and/or clamp. In one embodiment, the holder facility 17 may be opened by releasing the lock of the at least three diaphragm elements 13. With an arrangement of the diaphragm fixing element 13 within the diaphragm layer 15, a space-saving design may be made possible.
[0171] In one embodiment, through a locking of the at least three diaphragm elements 13 by the diaphragm fixing element 15, a movement of the first receiving element 1 and/or the second receiving element 2 may be made possible. In this figure, the first receiving element 1 and/or the second receiving element 2 may be able to be removed from the holder facility 17 after locking of the at least three diaphragm elements 13 by the diaphragm fixing element 75.
[0172] FIG. 15 shows a schematic diagram of one embodiment of a movement facility for movement of a medical instrument 33. In this figure, the movement facility may include a holder facility 17, a transmission element 61, and a connection element 60. The holder facility 17 may be further embodied for holding the medical instrument 33. In addition, the transmission element 61 may transmit a movement between at least one part of the holder facility 17 and the connection element 60 (e.g., bidirectionally). In this figure, the connection element 60 may be arranged at a distance from the holder facility 17.
[0173] In the embodiment of the movement facility 18 shown schematically in FIG. 15, the transmission element 61 may have a belt drive. In addition or as an alternative, the transmission element 61 may have a toothed wheel drive (not shown).
[0174] In addition, the holder facility 17 may have a number of degrees of freedom of movement (e.g., three degrees of freedom of movement). In this figure, the transmission element 61 may transmit the movement in accordance with the number of degrees of freedom of movement between the holder facility 17 and the connection element 60 (e.g., bidirectionally and/or simultaneously). The connection element 60 may further have a connection receptacle 60.1, 60.2 and 60.3 in each case for each of the degrees of freedom of movement of the holder facility 17. In this figure, the transmission element 61, for each of the three degrees of freedom of movement of the holder facility 17, for example, may have a belt drive in each case for transmission of the movement to one of the three connection receptacles 60.1, 60.2 and 60.3 in each case.
[0175] FIG. 16 shows a schematic diagram of one embodiment of a movement facility 18 with housing 62. In this figure, the movement facility 18 may include a housing 62 that encloses the holder facility 17 and the transmission element 61 such that the medical instrument 33 is able to be introduced into the holder facility 12 (e.g., into the opening 12 of the holder facility 12).
[0176] In one embodiment, the holder facility 17 and the transmission element 61 may be protected by the housing 62 against any mechanical and/or chemical influence. It can further be made easier by the housing 62 to clean the movement facility 18. In addition, a mechanical stability of the arrangement including the holder facility 17, the transmission element 61, and the connection element 60 may be improved by the housing 62. In the form of embodiment shown in FIG. 16, the housing 62 also includes an opening in each case for each of the connection receptacles 60.1, 60.2 and 60.3.
[0177] Shown in FIG. 17 is a schematic diagram of one embodiment of a motor element 63 and a fastening element 64. In this figure, a movement facility 18 may include the motor element 63 and the fastening element 64. The fastening element 64 may further be embodied for fastening the movement facility 18 to a medical device and/or a patient support facility (e.g., to a guide rail). The motor element 63 may also be embodied to be connected to the connection element 60 (e.g., mechanically), in such a way that the motor element 63 and the connection element 60 are movement-coupled. This enables a movement to be able to be transmitted between the motor element 63 and at least one part of the holder facility 17 by the transmission element 60.
[0178] For example, the fastening element 64 may include a movement unit (e.g., a roller system). This enables a movement of the movement facility 18 to be made possible. In one embodiment, the movement unit of the fastening elements 64 may have a motor drive, where the processing unit 22 may further be embodied to control the motor drive.
[0179] In this figure, the motor element 63 may be embodied both to open and/or to close the holder facility 17, and also for movement of the holder facility 17 in its entirety. Through this, a rotational movement of the medical instrument 33 held in the holder facility 17 may be made possible. The motor element 63 may further be arranged on a side of the first receiving element 1 and/or the second receiving element 2 (e.g., along the common axis of rotation R). Through this, a space-saving arrangement may be made possible.
[0180] The motor element 63 may also include a sensor element 66 for detection of a movement of at least a part of the holder facility 17. In this figure, the sensor element 66 may include an optical and/or electromagnetic sensor, for example.
[0181] The holder facility 17, the transmission element 61, the connection element 60, and the housing 62 may further be embodied as a single-use cassette. In this figure, the motor element 63 and the fastening element 64 may be reusable, while the single-use cassette described is, for example, able to be coupled by the connection element to the motor element. In one embodiment, the single-use cassette may be embodied in a space-saving manner.
[0182] In addition, the movement facility 18 may include a processing unit 22 (e.g., a processor) that is embodied to control the motor element 63 and/or the holder facility 17.
[0183] Shown in FIG. 18 is a schematic diagram of one embodiment of a movement facility 18 with housing 62 and motor element 63. In this figure, the motor element 63 may be mechanically coupled to one of the three degrees of freedom of movement of the holder facility 17 in each case (e.g., using the three connection receptacles 60.1, 60.2 and 60.3). In this figure, the housing 62 may be embodied, for example, as a sterile barrier between the movement facility 18 and the motor element 63.
[0184] Depicted in FIG. 19 is a schematic diagram of one embodiment of a method for moving medical instruments using a first movement facility 18. Accordingly, in a first act r1), the medical instrument 33 may be arranged in the first movement facility 18. Further, in act r2), a first position P1.M of at least a section of the medical instrument 33 may be determined. Hereafter, in act r3), the first receiving element 1 and/or the second receiving element 2 of the holder facility 17 of the first movement facility 18 may be moved such that the at least three diaphragm elements 13 hold the medical instrument 33. In act r4), the first movement facility 18 may be moved from an initial position P1.B into a target position PZ.B, where at least a section of the medical instrument 33 is moved as well. In act r5), a further position P2.M of the at least one section of the medical instrument 33 may be determined. Further, in act r6), the first receiving element 1 and/or the second receiving element 2 of the holder facility 17 of the first movement facility 18 may be moved in such a way that the medical instrument 33 is released by the at least three diaphragm elements 13. In this figure, the acts r2) to r6) may be repeated until a target position Z of the at least one section of the medical instrument 33 is reached. In this figure (e.g., after act r6)), there may be a reconciliation E of the further position P2.M with the target position Z.
[0185] The method may, for example, be useful for automated movement and/or movement assisting an operator of the medical instrument 33 by the movement facility 18 towards target position Z. The method may also include a regulation of the movement by a signal of the sensor element 66 and/or visually-guided navigation (e.g., monitored by a medical imaging method, such as computed tomography angiography and/or magnetic resonance angiography and/or ICE ultrasonography and/or intravascular ultrasound (IVUS) and/or optical coherence tomography (OCT)).
[0186] Shown schematically in FIG. 20 is one embodiment of a coordination facility for coordinated movement of a medical instrument 33. In this figure, the coordination facility may include a first movement facility 18 and at least one further movement facility 18′. The first movement facility 18 and the at least one further movement facility 18′ may further be arranged at a distance from one another. In this figure, the first movement facility 18 and the at least one further movement facility 18′ may be embodied for moving the same medical instrument 33. The first movement facility 18 and the at least one further movement facility 18′ may further move the medical instrument 33 in a coordinated manner. In this figure, the coordination facility may include a processing unit 22 for coordination of the movement of the first movement facility 18 and the at least one further movement facility 18′.
[0187] The coordination of the movement of the medical instrument 33 by the first movement facility 18 and/or the at least one further movement facility 18′ may also include a compensation for a torsion and/or deformation of the medical instrument 33.
[0188] In addition, the coordination facility may also include an instrument detection unit 67 that is embodied for identification of the medical instrument 33 accommodated in the first movement facility 18 and the at least one further movement facility 18′. In this figure, the medical instrument 33 may be moved by the first movement facility 18 and/or the at least one further movement facility 18′ as a function of a material property of the identified medical instrument 33. For this, the instrument detection unit 67 may send a signal to the processing unit 22, for example.
[0189] The coordination facility may include a state detection unit that is embodied to detect a deformation and/or torsion of the medical instrument 33. In this figure, the state detection unit may include a sensor element 66 for the first movement facility 18 and at least one further sensor element 66′ for the at least one further movement facility 18′ in each case. The medical instrument 33 may further be moved by the first movement facility 18 and/or the at least one further movement facility 18′ as a function of the detected deformation and/or torsion. For this, the sensor elements 66 and 66′ of the state detection unit may each send a signal to the processing unit 22.
[0190] In addition, the first movement facility 18 and the at least one further movement facility 18′ may be arranged movably by a fastening element 64 and 64′ (e.g., fasteners) in each case along at least one common movement axis (e.g., at a constant distance from one another).
[0191] Shown schematically in FIG. 21 is another embodiment of the coordination facility. In this figure, the first movement facility 18 and the at least one further movement facility 18′ may be arranged movably by the respective fastening elements 64 and 64′ on a common rail 19. For example, the fastening elements 64 and 64′ may each include a movement unit (e.g., a roller system). Through this, a guided movement of the first movement facility 18 and the at least one further movement facility 18′ along the common rail 19 may be made possible. In one embodiment, at least one of the movement units of the fastening elements 64 and 64′ may have a motor drive, where the processing unit 22 may be further embodied for control (e.g., coordinated control) of the motor drive. In this figure, a movement unit of the fastening elements 64 and/or 64′ may, for example, be able to be moved passively. The first movement facility 18 and the at least one further movement facility 18′ may further be able to be enclosed (e.g., during an intervention) by sterile envelopes (e.g., a housing).
[0192] Shown schematically in FIG. 22 is yet another embodiment of the coordination facility. In this figure, the coordination facility may also include a grip element 77, where the arrangement of the first movement facility 18 and the at least one further movement facility 18′ along the at least one common axis of movement AX are fastened movably to the grip element. In this figure, the grip element 77 may be able to be held by an operator. In one embodiment, the arrangement of the first movement facility 18 and the at least one further movement facility 18′ may be able to be enclosed by a housing 78. In this figure, the housing 78 may further include the grip element 77 and/or be embodied as grip element 77.
[0193] Shown schematically in FIG. 23 is a flow diagram of one embodiment of a method for coordination of a movement of a medical instrument 33 by a coordination facility. In this figure, in a first act s1), the medical instrument 33 may be arranged in the first movement facility 18 and the at least one further movement facility 18′. In addition, in act s2), a first position P1.M of at least one section of the medical instrument 33 may be determined. Hereafter, in act s3), the first receiving element 1 and/or the second receiving element 2 of the holder facility 17 of the first movement facility 18 may be moved such that the at least three diaphragm elements 13 hold the medical instrument 33 in each case. Further, in act s4), the first movement facility 18 may be moved from an initial position P1.B into a target position PZ.B. In this figure, at least sections of the medical instrument 33 are moved as well. In act s5), a further position P2.M of the at least one section of the medical instrument 33 may be determined. In act s6), the first receiving element 1 and/or the second receiving element 2 of the holder facility 17 of the at least one further movement facility 18′ may be moved such that at least three diaphragm elements 13 hold the medical instrument 33 in each case. Hereafter, in act s7), the first receiving element 1 and/or the second receiving element of the holder facility 17 of the first movement facility 18 may be moved such that the medical instrument 33 is released by the at least three diaphragm elements 13. In act s8), the first movement facility 18 may be moved from the target position PZ.B into a further initial position P2.B. In this figure, the further initial position P2.B in act s4) may be predetermined as initial position P1.B. The acts s1) to s8) may further be repeated until a target position Z of the at least one section of the medical instrument 33 is reached. In this figure, for example, after act s8), there may be a reconciliation E of the further position P2.M with the target position Z.
[0194] Through this, an almost infinite movement of the medical instrument 33 may be made possible. A movement trajectory of the medical instrument independent of a distance of the first 18 in relation to the at least one further movement facility 18′ may be realized by repeatedly carrying out the acts s1) to s8).
[0195] Shown schematically in FIG. 24 is a flow diagram of an embodiment of a method for optimized movement of a medical instrument 33 by a coordination facility. In this figure, the coordination facility may include a state detection unit for detecting a state of a torsion and/or deformation of the medical instrument 33. In a first act t1), the medical instrument 33 may be arranged in the first movement facility 18 and the at least one further movement facility 18′. Hereafter, in act s2), the first receiving element 1 and/or the second receiving element 2 of the holder facility 17 of the first movement facility 18 and the at least one further movement facility 18′ may be moved such that the at least three diaphragm elements 13 hold the medical instrument 33 in each case. In act s3), an initial state Z1.M of a torsion and/or deformation of the medical instrument 33 may be detected by the state detection unit. Hereafter, in act t4), there may be a movement of the first movement facility 18 from an initial position P1.B1 into a target position PZ.B1, where at least sections of the medical instrument 33 are moved as well. In act t5), an intermediate state Z2.M of a torsion and/or deformation of the medical instrument 33 may be detected by the state detection unit. Hereafter, in act t6), the at least one further movement facility 18′ may be moved as a function of the movement of the first movement facility in act t4) and/or of the detected intermediate state Z2.M b. In this figure, the at least one further movement facility 18′ may be moved from an initial position P1.B2 into a target position P2.B2. Further, in act t7) (e.g., after and/or during the movement of the at least one further movement facility 18′ in act t6), a further intermediate state Z3.M of the at least one section of the medical instrument 33 may be detected by the state detection unit. In this figure, a deviation A between the further intermediate state Z3.M and the initial state Z1,M through the movement in act t6) may be minimized.
[0196] The schematic diagrams contained in the figures described do not depict any scale or size ratio.
[0197] The method described in detail above, as well as the facilities shown, merely involve exemplary embodiments, which may be modified by the person skilled in the art in a variety of ways without departing from the area of the invention. Further, the use of the indefinite article “a” or “an” does not exclude the features concerned also being present more than once. Likewise, the terms “unit” and “element” do not exclude the components concerned consisting of a number of sub-components working together, which, if necessary, may also be spatially distributed.
[0198] The elements and features recited in the appended claims may be combined in different ways to produce new claims that likewise fall within the scope of the present invention. Thus, whereas the dependent claims appended below depend from only a single independent or dependent claim, it is to be understood that these dependent claims may, alternatively, be made to depend in the alternative from any preceding or following claim, whether independent or dependent. Such new combinations are to be understood as forming a part of the present specification.
[0199] While the present invention has been described above by reference to various embodiments, it should be understood that many changes and modifications can be made to the described embodiments. It is therefore intended that the foregoing description be regarded as illustrative rather than limiting, and that it be understood that all equivalents and/or combinations of embodiments are intended to be included in this description.
