MODULAR SURGICAL INSTRUMENT

Abstract

A modular surgical instrument for knocking out or implanting a prosthesis that defines a prosthesis axis and which has a prosthesis neck includes a tool head with a passthrough for accommodating the prosthesis neck, a locking device for locking the mounted prosthesis neck, and a chuck, which has an axis for transferring a clamping force for the locking device. The passthrough and the chuck are arranged on opposite ends of the tool head relative to a lengthwise direction defined by the axis of the chuck, wherein the passthrough defines a passthrough axis which coincides substantially with the prosthesis neck axis when the prosthesis neck is locked in place. The axis of the chuck is at a distance from a plane defined by the lengthwise direction and the passthrough axis and/or is at a distance from a passthrough lengthwise axis that extends in the lengthwise direction and through the passthrough.

Claims

1. Modular surgical instrument for knocking out or implanting a prosthesis (2), which defines a prosthesis axis (6) and which has a prosthesis neck (4) that defines a prosthesis neck axis (8) which extends in a direction not parallel to the prosthesis axis, comprising a tool head (10) with a passthrough (28) for accommodating the prosthesis neck (4), a locking device for locking the mounted prosthesis neck (4) and a chuck (18) which has an axis (20) for transferring a clamping force for the locking device, wherein the passthrough (28) and the chuck (18) are arranged on opposite ends of the tool head (10) relative to a lengthwise direction (48) defined by the axis (20) of the chuck, and wherein the passthrough (28) defines a passthrough axis (29) which coincides substantially with the prosthesis neck axis (8) when the prosthesis neck (4) is locked; wherein the axis (20) of the chuck (18) is at a distance from the plane (50) defined by lengthwise direction and the passthrough axis (29) and/or the axis (20) of the chuck (18) is at a distance from a passthrough lengthwise axis which extends in lengthwise direction (48) and through passthrough (28).

2. Modular surgical instrument according to claim 1, wherein the distance (d) of the axis (20) of chuck (18) from the plane defined by the lengthwise direction (48) and the passthrough axis (29) is in the range from 2 cm-20 cm, preferably 5 cm-15 cm.

3. Modular surgical instrument according to claim 1, wherein the locking device comprises a blocking element (26) which engages movably in passthrough (28) to lock the prosthesis neck (4), wherein the passthrough axis (29) extends substantially perpendicularly to a direction of movement of the blocking element.

4. Modular surgical instrument according to claim 1, further comprising a clamping assembly (12) which is detachably connected to the tool head (10) at the chuck (18) and which has a clamping element (22) for applying a clamping force and actuators for transferring the clamping force.

5. Modular surgical instrument according to claim 4, further comprising an impact frame (14) which is detachably connected to the clamping assembly (12) and which has a first connection device (52) with a first axis (54) for an impacting device for transferring an impact force.

6. Modular surgical instrument according to claim 5, comprising the impacting device, which is attached to the first connection device (52), wherein the impacting device comprises an impact plate (16), a slide hammer (42) or a pneumatic impact machine (44) and is configured such that the impact force is exerted along the first axis (54).

7. Modular surgical instrument according to claim 5, wherein the first connection device (52) or a fixed connection is arranged in the lengthwise direction (48) when viewed from the passthrough (28), so that the first axis (54) is coincident with the prosthesis axis (6) when the prosthesis neck (4) is locked.

8. Modular surgical instrument according to claim 5, wherein the impact frame (14) comprises a first and a second leg; wherein the first connection device (52) or a fixed connection, preferably the connection device with the first axis (56) is arranged on one end of the first leg for the impacting device; wherein a second connection device (56) or a fixed connection, preferably the connection device with a second axis (58) parallel to the first axis (54) is arranged on one end of the second leg for the clamping assembly (12); wherein a space remains free between the ends of the legs in the direction of the first (54) and the second axis (58); and wherein the first axis (54) and the second axis (58) are at a distance from each other.

9. Modular surgical instrument according to claim 5, wherein the impact frame (14) has an L-shape, wherein the clamping assembly (12) is connected detachably to a second leg of the L-shape by means of a second connection device or a fixed connection, and wherein the first connection device or a fixed connection is arranged on a first leg of the L-shape for the impacting device.

10. Impact frame or a modular surgical instrument for knocking out or implanting a prosthesis (2), which defines a prosthesis axis (6) and which has a prosthesis neck (4) that defines a prosthesis neck axis (8) that extends in a direction not parallel to the prosthesis axis, including a first and a second leg; wherein a first connection device (52) with a first axis (54) is arranged on one end of the first leg for an impacting device; wherein a second connection device (56) with a second axis (58) that is parallel to the first axis (54) is arranged on one end of the second leg, parallel to the second axis (58) for a clamping assembly (12); wherein a space remains between the ends of the legs in the direction of the first and second axes (54, 58).

11. Impact frame according to claim 10, wherein the distance (d) between the first axis (54) and the second Axis (58) is in the range from 0 cm-20 cm, preferably 5 cm-10 cm.

12. Impact frame according to claim 10, wherein the impact frame (14) comprises multiple frame sections, wherein the first leg and the second leg form frame sections, the ends of which extend substantially perpendicularly to the first and second axes (54, 58), and wherein at least a part of at least one further frame section, which connects the first leg and the second leg, extends in the direction defined by the first and the second axes.

13. Impact frame according to claim 10, wherein in addition a third connection device (60) with a third axis (62) is provided, which preferably includes a passthrough hole on the impact frame is arranged on the first leg for an impacting device, wherein the third axis (62) is coincident with the second axis (58).

14. Impact frame according to claim 10, wherein an impact plate (16), particularly a flat or a concave impact plate or a slide hammer (42) is attached to the first connection device (52).

15. Impact frame according to claim 10, wherein the first and/or the second connection device each has a passthrough hole (30) in the impact frame (14), an elastomer bushing (38), preferably made of silicone, which is arranged in the passthrough hole (30), and a connection screw (32), which extends through the connection hole and which is fastened by means of a nut, wherein the nut is a hemispherical nut (34) which is supported in an hemispherical nut bed (36) on the impact frame (14).

Description

BRIEF DESCRIPTION OF THE DRAWING

[0034] In the following section, exemplary embodiments of the present invention will be described in greater detail with reference to the figures, wherein

[0035] FIG. 1 shows a front and side view of modular surgical instrument according to the invention;

[0036] FIG. 2 shows a tool head according to the invention for a modular surgical instrument and associated actuators;

[0037] FIG. 3 shows an inset from FIG. 1 with a connection device;

[0038] FIG. 4 shows examples of tool heads;

[0039] FIG. 5 shows various designs of modular surgical instruments in detail figures FIG. 5a-FIG. 5j;

[0040] FIG. 6 shows substantially simplified representations of various impact frames with multiple frame sections; and

[0041] FIG. 7 illustrates shift planes.

[0042] The same reference signs are used for identical or similar elements or components in both the description and the drawing. A list of reference signs is also provided, which applies for all figures. The variants represented in the figures are diagrams only, and do not necessarily represent actual dimensional proportions.

DETAILED DESCRIPTION OF THE INVENTION

[0043] FIG. 1 represents a modular surgical instrument according to the invention (hereinafter also referred to simply as the instrument, the modular instrument or the surgical instrument) including optional elements, wherein the illustration on the left shows a frontal view and the illustration on the right a side view, and wherein a prosthesis is shown secured in place. The surgical instrument is intended for use in knocking out or inserting, mainly for knocking out artificial prostheses, particularly joint prostheses, such as hip, knee and/or shoulder prostheses. Such a prosthesis 2, having a prosthesis neck 4 is illustrated in the figure. Prosthesis 2 defines a prosthesis axis 6, the direction of which corresponds to the direction in which the prosthesis 2 is to be knocked out or inserted. In the same way, the prosthesis neck 4 defines prosthesis neck axis 8, which extends in a direction that is not parallel to prosthesis axis 6.

[0044] The modular surgical instrument represented in FIG. 1 comprises a tool head 10 which has an offset, preferably a lateral offset, as shown in the frontal view of the instrument in the left side of the figure, obviating the need to make a large incision on prosthesis axis 6 to gain access to the operation site, above prosthesis 2 in the figure, thus making minimally invasive access possible. This offset will be described in greater detail subsequently.

[0045] Tool head 10 as shown in FIG. 2 has a passthrough 28 on one end for accommodating the prosthesis neck 4, which is locked in place by a locking device. Passthrough 28 defines a passthrough axis 29 (in the direction of the passthrough). Typically, the (peripheral) border of the passthrough is substantially annular, the passthrough axis then corresponds to the central axis of the annular shape, i.e. it extends perpendicularly to the plane in which the annular shape lies. In this context, the term annular is used in a general sense, that is to say not necessarily in the form of a circular ring, for example it may enclose an oval or rectangular or polygonal shape. Passthrough 28 is designed such that when prosthesis neck 4 is locked in place (as in the figure) the passthrough axis 29 substantially coincided with the prosthesis neck axis 8; the formulation substantially is intended to indicate that a small angle of up to 15 may exist between the two axes, and a small distance of up to 10% of a prosthesis neck diameter may exist between the two axes.

[0046] The passthrough may be open at the side to make it possible and easier to accommodate the prosthesis neck. The rim of the passthrough is then typically in the form of a ring segment.

[0047] Tool head 10 further comprises a locking device which serves to lock (clamp) the mounted prosthesis neck 4 with a clamping force. The locking device may comprise a blocking element 26 which engages movably in the passthrough 28 and is guided in lateral grooves. The blocking element 26 is movable substantially perpendicularly to the passthrough axis 29, so that a cross section of the passthrough 28 can be modified and the prosthesis neck 4 can be locked or clamped in place by the application of a clamping force. The clamping force for the locking device is transferred at a chuck 18, and from there to the locking device; e.g., via actuators 24, 25 as illustrated in FIG. 2.

[0048] Chuck 18 has an axis 20 which defines a lengthwise direction 48. Passthrough 28 and chuck 18 are arranged on opposite ends of the tool head 10 relative to the lengthwise direction 48. There is preferably angle of approximately 45 or approximately 135 (approximately means that variations of up to 5 are possible) between the passthrough axis 29 and the lengthwise direction 48. The parallel displacement of passthrough axis 29 in lengthwise direction 48 defines a plane (perpendicular to the plane of the drawing in the frontal view on the left side of FIG. 1). The lateral offset is then manifested in that the axis 20 of chuck 18 does not lie in this plane, that is to say a distance d is present between the axis 20 of chuck 18 and the plane that is defined by lengthwise direction 48 and passthrough axis 29. (In the frontal view, the axis 20 of chuck 18 is for example offset to the left of the plane which is defined by lengthwise direction 48 and passthrough axis 29; of course, it might also be offset to the right.) In this way, the chuck 18 and the components that apply the clamping force are located outside of the operation site both in lengthwise direction 48 and in the lateral direction (transversely to the lengthwise direction). Distance d between the axis 20 der of chuck 18 and the plane defined by lengthwise direction 48 and passthrough axis 29 is preferably at least 2 cm, more preferably at least 5 cm. Distance d is preferably in the range from 2 cm-20 cm, more preferably in the range from 5 cm-15 cm, more preferably still in the range from 5 cm-10 cm.

[0049] The chuck is thus offset laterally from the passthrough relative to the plane defined by the passthrough axis and the lengthwise direction. An offset parallel to this plane or within this plane which may also exist in addition to or without the above. For example, a passthrough lengthwise axis extending through passthrough 28 and in lengthwise direction 48 (that is to say one which differs from passthrough axis 29), may lie within the plane defined by the passthrough axis 29 and the lengthwise direction 48 and still be located at a distance from the axis 20 of chuck 18. In such a case, in the frontal view of FIG. 1, an offset perpendicular to the plane of the drawing would exist; an example of a corresponding tool head is shown in the second image from bottom in FIG. 4. A lateral offset clearly suggests such a distance. This distance between passthrough lengthwise axis and axis 20 of the chuck is preferably also at least 2 cm, more preferably at least 5 cm, and is preferably in the range from 2 cm-20 cm, more preferably in the range from 5 cm-15 cm, still more preferably in the range from 5 cm-10 cm.

[0050] FIG. 1 further shows an optional clamping assembly (or clamping frame) 12, i.e. an assembly designed to create a clamping force which is connected detachably to the chuck with tool head 10; the term optionally is used here because in principle the clamping assembly may also be integrated with the tool head and/or the impact frame 14 (as discussed below), but a modular construction is preferred. The clamping force is applied by means of a clamping element and transferred to the tool head 10 via actuators. For example, the clamping force may be generated by means of an actuatable clamping lever 22 with an eccentric lever head (not shown) which acts on an actuator.

[0051] Clamping assembly 12 has an axis which coincides with axis 20 of chuck 20 when the clamping assembly 12 is connected to tool head 10 on chuck 18, so that the offset is transferred to the clamping assembly 12, and the clamping assembly 12, which is typically a component of elongated construction, does not protrude into the operating site. The clamping assembly 12 may also be configured to enable a variable preset displacement of the locking device (i.e., an adjustable displacement of the locking device before application of the actual clamping force which clamps the prosthesis neck in place) so that it may be used for various prosthesis necks with different dimensions and/or diameters. In the example given above, an adjustment thread may be provided in the clamping assembly, so that the distance between the clamping lever 22 and the chuck 18 can be changed, exerting a preload on the actuator.

[0052] An impact frame 14 is also represented in FIG. 1, in this case for example in a C shape, which is connected detachably to clamping assembly 12 and has a first connection device 52 with a first axis 54 for an impacting device for transferring an impact force which is generated with the aid of the impacting device and is intended to act along the first axis 54, wherein the impacting device is connected to the impact frame via the first connection device. The impact frame 14 is optional, since the impacting device might also be attached directly to the clamping assembly 12 or integrated therein (see FIG. 5h, for example). The impact frame according to the invention may be used together with a tool head with offset (FIG. 5a-FIG. 5c) or independently thereof, for example the impact frame may also be coupled with conventional tool heads of various types (FIG. 5d-FIG. 5g).

[0053] The impacting device may comprise for example an impact plate 16, which may in particular be flat or level, but is preferably concave (as represented in FIG. 1), a slide hammer 42 (see FIG. 5h and FIG. 5i) or a pneumatic impact machine. An impact plate 16 is struck with a hammer 40, for example, to create the impact force. A concave impact plate 16, that is to say one that is curved in concave manner (e.g., corresponding to a portion of a spherical surface of a ball as seen from the inside of the ball) is advantageous, since the hammer blow is necessarily centred thereby.

[0054] The detachable connection of the clamping assembly 12 to the impact frame 14 is made by means of a second connection device 56 with a second axis 58, wherein in the connected state the second axis 58 coincides with the axis of the clamping assembly 12 and consequently with axis 20 of chuck 18 as well. The first axis 54 and the second axis 58 are preferably parallel and at a distance from each other, more preferably the first connection device 52 should be arranged approximately in lengthwise direction 48 when viewed from passthrough 28, so that the when the prosthesis neck 4 is locked in position the first axis 54 substantially coincides with the prosthesis axis 6 of the prosthesis 2 locked in position on the prosthesis neck 4.

[0055] The distance between the first and second axes preferably corresponds to the distance d between the axis 20 of chuck 18 and the plane defined by the lengthwise direction 48 and the passthrough axis 8, that is to say it is preferably at least 2 cm, more preferably at least 5 cm. Similarly, the distance between the two axes is preferably in the range from 2 cm-20 cm, more preferably 5 cm-15 cm, still more preferably in the range from 5 cm-10 cm. In this way, the first axis 54, along which the impact force acts, coincides with the prosthesis axis 6, along which the prosthesis 2 is to be knocked out or implanted; consequently, transverse forces which would be generated by the lateral offset of tool head 10 and which might cause damage to the bone, for example, only arise to a very limited degree, if at all, and may be minimised further by corresponding design of the connection devices.

[0056] A first option for achieving this, as indicated in FIG. 5i, comprises an L-shaped impact frame. A first leg of the L-shape, on which the first connection device is arranged, extends along the first axis. The clamping assembly 12 is connected detachably to a second leg of the L-shape. The impacting device 16, for example a slide hammer 42, may be attached to the connection device as an extension of the first leg of the L-shape.

[0057] A preferred second embodiment of the impact frame comprises an impact frame 14 having a first and a second leg, wherein the first connection device 52 with the first axis 54 is arranged on an end of the first leg, and the second connection device 56 with the second axis 58 is arranged on an end of the second leg. (Note: The legs in this second option are described only as legs as distinct from the legs of the L-shape described in the previous, first option.) The first axis 54 and the second axis 58 extend parallel and at a distance from each other; the first connection device 52 is provided for fastening the impacting device 16, and the second connection device 56 is provided for fastening the clamping assembly 12. A space between the ends of the legs is left free in the direction of the two axes 54, 58, so that this space is available for the operator; in order to strike an impact plate 16 with a hammer 40, for example, as shown in the figures.

[0058] In the second embodiment of the impact frame, a third connection device 60 with a third axis 62 is preferably arranged on the first leg, and particularly in such manner that the third axis 62 coincides with the second axis 58. This makes it possible for a corresponding impact frame also to be used in conjunction with tool heads that do not have a lateral offset; see also FIG. 5d, FIG. 5e and FIG. 5f. According to the invention, the impact frame according to the second embodiment of the impact frame may thus be used regardless of whether the tool head has an offset. The third connection device may be constructed similarly to the first and second connection devices; see below.

[0059] In specific terms, the impact frame 14 according to the second embodiment of the impact frame may be created if the impact frame 14 comprises a frame element which is curved in a C-shape or a U-shape, the end sections of which form the first and second legs, wherein one leg is longer than the other leg, the first connection device is arranged on the end of the longer leg, and the second connection device is arranged on the end of the shorter leg. However, since it is more flexible and can be used in a greater range of applications, it is preferred if the impact frame 14 comprises a plurality of frame sections, wherein the first and second legs form two frame sections which are connected to each other either directly or, preferably, via (at least one) further frame section(s), which extend at least in part in the direction that is defined by the first or second axis. The ends of the first and the second legs preferably extend substantially perpendicularly to the first and second axes. The individual frame sections may be straight or curved (as in FIG. 1) and may have the form of elongated metal elements. FIG. 6 shows highly simplified representations of impact frames 14 with 3, 4 and 5 Frame sections. If multiple straight frame sections are arranged accordingly, or if curved frame sections are used, the resulting impact frame substantially corresponds to a particularly preferred C-shape.

[0060] The frame sections are preferably connected to each other in fixed or rigid manner, to ensure that the impact frame is of sufficient stiffness. Alternatively, the frame sections may be connected to each other in such manner as to be adjustable and fixable, e.g., by means of screw connections, thereby enabling the shape of the impact frame 14 to be changed and adapted to various tool heads and clamping assemblies. The impact frame may further be furnished with possible attachment means, e.g., recesses or holes, for a handle for holding the impact frame or the surgical instrument (see for example FIG. 5e, FIG. 5f and FIG. 5g).

[0061] There are very many different possibilities for creating each of the connection devices (first, second and third), e.g., threaded connections, clamping connections, tongue-and-groove systems, bayonet catches, etc. In one preferred, at least one (preferably both) connection device(s) has/have a passthrough hole 30 in the impact frame 14, which hole extends in the direction of the first or second axis; the clamping assembly and the impacting device is then fastened by inserting for example a screw or a threaded bolt through the respective passthrough hole and screwing it tight.

[0062] This is shown for example in FIG. 3 in inset A from FIG. 1. A connection screw 32 which is connected to the clamping assembly or integrated therein is inserted through the passthrough hole 30 in the impact frame 14. Connection screw 32 is tightened in place on the impact frame 14 with a nut 34, shown in the figure as a hemispherical nut, for example, which is supported in a hemispherical nut bed 36. An elastomer bushing (elastomer ring) 38 is also arranged in the passthrough hole 30 and surrounds the connection screw 32 in order to damp transversely acting forces, since a hammer blow for example is normally struck slightly obliquely and then also exerts a force transversely to the lengthwise direction; this is indicated in FIG. 1 by a diagram 46 of force vectors. The elastomer bushing 38 is preferably made from silicone or includes silicone. Thus, in this case the connection device is formed by an assembly, and the resulting system is a connecting device complex, as it were.

[0063] The connection device of the embodiment according to FIG. 3 is non-fixed in the sense that the connection created thereby is elastic in some directions (e.g., transversely to the axis of the connection device); it is fixed conditionally so to speakdepending on the direction of the force applied. In this context, connection devices or connectors are also possible which are fixed, i.e., not elastic (or with any damping effect) in any direction. For example, a threaded connection without an elastomer bushing or other elastic element. Non-detachable connections are also conceivable; for example, the clamping assembly and/or the impacting device may be soldered or welded to the impact frame. However, detachable connection devices or connectors are preferred.

[0064] FIG. 4 shows various examples of tool heads, all of which have a lateral offset, except the second from bottom which has an upward offset. In some of the examples, the respective passthrough is open at the side. Various angles (45, 135) between the passthrough axis and the axis of the chuck are also indicated. Examples are also illustrated (1st and 3rd images and 4th and 5th images) which differ only in that the offset is made in different directions (to the left, the right, upwards) relative to a frontal view: these directions each refer to the illustrations in the figure). It is possible to use all these different tool heads together with the impact frame of the present invention.

[0065] FIG. 5, which includes thumbnail figures FIG. 5a-FIG. 5j, represents surgical instruments in various configurations. The figure is intended particularly to illustrate the modular nature of the surgical instrument according to the present invention, and the possibilities for use resulting therefrom with various prostheses and for different access methods. FIG. 5a, FIG. 5b and FIG. 5c show the use of different tool heads 10 according to the invention, which have a lateral offset, wherein the impact frame 14 and the clamping assembly 12 are both used. FIG. 5d, FIG. 5e, FIG. 5f and FIG. 5g illustrate the use of an impact frame 14 which is equipped with the third connection device (in this case a passthrough hole in the impact frame), wherein in each case a tool head (known in the related art) without a lateral offset is used. In FIG. 5d and FIG. 5e, the respective prosthesis 2 is grasped with a spreader forceps (FIG. 5d) or clamping tongs (FIG. 5e). In FIG. 5f, a straight tool head with laterally open passthrough is used. In FIG. 5g, the prosthesis 2 is connected to a rod by a threaded connection, which rod is connected to the impact frame 14 at the second connection device. In these cases (FIG. 5d, FIG. 5e, FIG. 5f and FIG. 5g) the impact force is produced by means of an impact plate 16 (and a hammer), which is connected to the third connection device. In FIG. 5e and FIG. 5g, further prosthesis types are indicated below the prosthesis 2 that is connected to the surgical instrument. FIG. 5h shows the user of a tool head with lateral offset, wherein the impact force is created with a slide hammer 42 with integral clamping assembly, the hammer being connected directly to the tool head 10. FIG. 5i shows the use of a tool head 10 with lateral offset and an L-shaped impact frame 14, wherein the impact force is generated with a slide hammer 42 that is connected to one leg of the L-shape, and a clamping assembly 12 is connected to the other leg of the L-shape. FIG. 5j shows the use of a tool head 10 with lateral offset, wherein the impact force is generated with a pneumatic impact machine 44 which is connected to the tool head 10 via a clamping assembly 12. In the arrangements according to FIG. 5h and FIG. 5j, the axis of the impact force effect is not coincident with the prosthesis axis (which is the same as the knocking-out axis), so transverse forces may arise during knocking out.

[0066] FIG. 7 shows the offset planes in highly simplified form. Part of the tool head is shown here, wherein chuck 18 and axis 20 thereof are shown in particular. The prosthesis axis 6 at a distance from the axis 20 of chuck 18 is also represented, wherein the prosthesis axis with a lateral offset is located outside of the plane 50 defined by the passthrough axis and the lengthwise direction, or in one case, in the thumbnail image at bottom left, within this plane (corresponding to the tool head shown in the second image from the bottom in FIG. 4). The axes shown in the top right thumbnail diagram correspond to tool heads in which the angle between the passthrough axis and the lengthwise direction is approximately 45, in the bottom left thumbnail this angle is approximately 135.

[0067] In summary, the tool head 10 and the impact frame 14 are preferably aligned so that not only is the first axis 54 is coincident with the prosthesis axis 6 but also the second axis 58 is coincident with the axis 20 of chuck 18 and, where applicable with the third axis 62, wherein the first and second axes are at a distance from each other; in this way it is possible to enable a minimally invasive operation and to ensure that force is exerted along the prosthesis axis.

LIST OF REFERENCE SIGNS

[0068] 2 Prosthesis

[0069] 4 Prosthesis neck

[0070] 6 Prosthesis axis

[0071] 8 Prosthesis neck axis

[0072] 10 Tool head

[0073] 12 Clamping assembly

[0074] 14 Impact frame

[0075] 16 (concave) Impact plate

[0076] 18 Chuck

[0077] 20 Chuck axis

[0078] 22 Clamping lever/Clamping element

[0079] 24 Actuator

[0080] 25 Actuator

[0081] 26 Blocking element

[0082] 28 Passthrough

[0083] 29 Passthrough axis

[0084] 30 Passthrough hole

[0085] 32 Connection screw

[0086] 34 Nut/Hemispherical nut

[0087] 36 Hemispherical nut bed

[0088] 38 Elastomer bushing

[0089] 40 Hammer

[0090] 42 Slide hammer

[0091] 44 Pneumatic impact machine

[0092] 46 Diagram of force vectors

[0093] 48 Lengthwise direction

[0094] 50 Plane defined by passthrough axis and lengthwise direction

[0095] 52 First connection device

[0096] 54 First axis

[0097] 56 Second connection device

[0098] 58 Second axis

[0099] 60 Third connection device

[0100] 62 Third axis

[0101] A Detail

[0102] d Distance