Abstract
An exemplary embodiment provides a locking device (10) which is designed to be arranged in an actuation unit (4) of a surgical instrument (1) which has a hollow shaft (2) with the actuation unit (4) arranged at a proximal end (3) of the shaft (2) and having a tool (7) at the distal end (5) of the shaft (2), which can be actuated by means of an instrument insert (8) which can be movable stored axially in the direction of a main instrument axis (A) in the shaft (2). The locking device (10) has an engagement element and an actuation device with which the engagement element can be transferred from a release position into a locking position. According to an exemplary embodiment, the engagement element is a locking bolt (15) which longitudinal axis (B) runs perpendicular to the main axis (A) of the instrument and which has an engagement section (15a) for engagement with the instrument insert (8) at a first end and a guide section (15b). The locking bolt (15) can be moved in two directions of movement by means of the actuation device.
Claims
1. A locking device designed for arrangement in an actuation unit of a surgical instrument having a hollow shaft with the actuation unit arranged at a proximal end of the shaft and having a tool at the distal end of the shaft, which can be actuated by means of an instrument insert which can be movable stored axially in the direction of a main instrument axis in the shaft, wherein the locking device has an engagement element for engagement with the instrument insert and an actuation unit device which is designed to move the engagement element from a release position in which there is no engagement with the instrument insert into a locking position in which the engagement element is in engagement with the instrument insert, wherein the engagement element is a locking bolt, which longitudinal axis runs perpendicular to the main axis of the instrument and which has an engagement section for engagement with the instrument insert at a first end and a guide section at a second end which is in operative connection with the actuation device, wherein the locking bolt is transferable by the actuation device in a first direction of movement along the longitudinal axis of the locking bolt perpendicular to the main instrument axis from the release position to the locking position and—in a second direction of movement opposite to the first direction of movement along the longitudinal axis of the locking bolt perpendicular to the main instrument axis from the locking position to the release position.
2. The locking device according to claim 1, wherein the actuation device is a cam wheel with a cam track which extends in the shape of a circular arc around an axis of rotation of the cam wheel between a first end stop and a second end stop, wherein a depth of the cam track increases from the first end stop to the second end stop, so that a bottom of the cam track runs inclined between the first end stop and the second end stop, the locking bolt being guided with its guide section on the bottom in the cam track, wherein the longitudinal axis of the locking bolt is parallel to the axis of rotation of the cam wheel.
3. The locking device according to claim 2, wherein the longitudinal axis of the locking bolt lies in the vertical direction, and the first end stop is an upper end stop with respect to the vertical direction and the second end stop is a lower end stop with respect to the vertical direction, and/or the locking device has a fuse element which, regardless of an orientation of the longitudinal axis of the locking bolt in relation to the plumb direction, holds the guide section of the locking bolt on the base of the cam track.
4. The locking device according to at least claim 1, wherein, the instrument insert has a detached section, which provides a distal-side axial contact surface and a proximal-side axial contact surface and is preferably a detached head section at the proximal end of the instrument insert, and the locking bolt has a receiving bore on the engagement section, which extends perpendicularly to the longitudinal axis of the locking bolt and is dimensioned for receiving the detached section, the locking device has a distal counter-contact surface for the distal-side axial contact surface of the detached section and a proximal counter-contact surface for the proximal-side axial contact surface of the detached section, wherein at least the distal contact surface adjoins the receiving bore in the direction of the longitudinal axis of the locking bolt.
5. The locking device according to claim 4, wherein the receiving bore is a through bore, wherein the distal counter-contact surface for the distal-side axial contact surface is present on a proximal outer surface of the locking bolt, and the proximal counter-contact surface for the proximal-side axial contact surface is provided by a separate component which is arranged proximally to the proximal outer surface of the locking bolt.
6. The locking device according to claim 4, wherein the distal counter-contact surface and the proximal counter-contact surface of the locking bolt are provided by an engagement bore which extends perpendicular to the receiving bore parallel to or along the longitudinal axis of the locking bolt extending at least up to the receiving bore, the receiving bore being a through bore or a blind bore.
7. The locking device according to claim 1, wherein, the locking device has at least one guide element which has a guide surface parallel to the longitudinal axis of the locking bolt for guiding the locking bolt along its longitudinal axis perpendicular to the main instrument axis provided, wherein the guide element is preferably arranged on a housing component through which the instrument insert extends.
8. The locking device according to claim 1, wherein, the locking device provides a stop for a stop surface of the locking bolt which extends perpendicularly to the longitudinal axis of the locking bolt, the stop in relation to the instrument insert is positioned in such a way that the locking bolt is in the release position when the stop surface rests against the stop.
9. The locking device according to claim 2, wherein, the cam wheel has, at least along a predetermined circumferential section, a drive ring which is operatively connected to a drive element driven by a motor.
10. The locking device according to claim 9, wherein the drive ring is a ring gear and the drive element engaged therewith is a pinion, or the drive ring and the drive element are formed by traction pulleys that are operatively connected by a traction means.
11. A surgical instrument, which has a hollow shaft with an actuation unit arranged at a proximal end of the shaft and with a tool at the distal end of the shaft, which can be actuated by an instrument insert which is mounted in the shaft so that it can move axially in the direction of a main instrument axis, wherein a locking device is arranged in the actuation unit and has an engagement element for engagement with the instrument insert and an actuation unit device which is designed to move the engagement element from a release position in which there is no engagement with the instrument insert into a locking position in which the engagement element is in engagement with the instrument insert, wherein the locking device is a locking device according to claim 1.
Description
BRIEF DESCRIPTION OF THE DRAWINGS
[0029] Further embodiments of the locking device, as well as some of the advantages associated with these and other embodiments, will become apparent and better understood from the following detailed description with reference to the accompanying figures. Items or parts thereof that are substantially the same or similar may be given the same reference numbers. The figures are only a schematic representation of an embodiment.
[0030] Showing:
[0031] FIG. 1 a schematic perspective side view of a surgical instrument according to one exemplary embodiment,
[0032] FIG. 2 a schematic sectional side view of an embodiment of a locking device according to an exemplary embodiment in a) locking position, b) release position and c) an alternative locking position,
[0033] FIG. 3 a schematic sectional side view of a further embodiment of a locking device according to an exemplary embodiment in a) locking position and b) release position and c) release position with the instrument insert moved axially in the distal direction,
[0034] FIG. 4 a perspective sectional detail view of a further embodiment of a locking device according to an exemplary embodiment in the locking position,
[0035] FIG. 5 a perspective view of a cam wheel as an actuation device of a locking device according to an exemplary embodiment,
[0036] FIG. 6 a perspective sectional view of the locking device from FIG. 4 with the actuation device from FIG. 5,
[0037] FIG. 7 a schematic side sectional view of a further embodiment of a locking device according to an exemplary embodiment in a) locking position and b) release position,
[0038] FIG. 8 a schematic side sectional view of a further embodiment of a locking device in a) locking position and b) release position.
DETAILED DESCRIPTION
[0039] FIG. 1 schematically shows a surgical instrument 1 with a hollow shaft 2, an actuation unit 4, illustrated only schematically, arranged at the proximal end 3 of the shaft 2 and with an instrument tip 6 arranged at the distal end 5 of the shaft 2 with a tool 7, which is designed here as a gripping tool and can be pivoted relative to the longitudinal axis A of the shaft 2 via a joint mechanism 9 made of pivoting members 11. For this purpose, an actuating mechanism, not described here, can be provided via guide wires 12 which are actuated by a drive 13 arranged at the proximal end 3 of the shaft 2 in the actuation unit 4.
[0040] As an alternative to the gripping tool shown, the tool 7 of the instrument tip 6 can be an endoscope, an applicator or the like. To operate the tool 7, e.g., for opening and closing gripping elements, the tool 7 is operatively connected to the actuation unit 4 on the proximal side via an instrument insert 8 mounted in the shaft 2, so that it can be displaced axially in the direction of the longitudinal axis A. To actuate the tool 7, the instrument insert 8, which is mounted axially displaceable in the shaft 2, is designed as a push/pull rod in the examples shown and is referred to below as a pull rod 8, without this limiting the scope of protection. The term “pull rod” should be understood as representing all axially displaceable instrument inserts.
[0041] The actuation unit 4 can preferably be designed for robotic application and thus be a structural unit that can also be actuated without manual intervention—which is advantageous for the reproducibility of the actuation. In addition to the motors for pivoting the tool tip by means of guide wires, the drive 13 can therefore have further motors for a linear movement and for a rotary movement of the pull rod 8 in order to enable further functions or mechanisms of the tool 7, such as actuating the opening and closing of gripping elements.
[0042] Thus, while using the surgical instrument 1, the fixing and subsequent release of the tool 7, e.g., the gripping elements, may be desirable, for example to achieve exact positioning or to exert a constant gripping force. According to the an exemplary embodiment, a locking device 10 is proposed for this purpose in FIGS. 2 to 4. Examples are illustrated. This locking device 10 is intended to be arranged in the proximal actuation unit 4 and has an engaging element for engaging with the pull rod 8 and an actuation device for the engaging element to move the engaging element from a release position in which there is no engagement with the pull rod 8, and its axial movement can be transferred to a locking position and vice versa, in which the engaging element is engaged with the tie rod 8, so that axial movement of the pull rod is prevented. However, a rotational movement of the pull rod 8 for actuating another tool mechanism can also be permitted in the locking position.
[0043] In the locking device according to an exemplary embodiment, the engagement element is a locking bolt 15, for which a first embodiment is shown in FIG. 2 and a second embodiment in FIGS. 3, 4, 6 and 8 and a third embodiment in FIG. 7. The schematic representations in FIGS. 2, 3 and 7 illustrate the locking and release position of the pull rod 8 on the engagement section 15a of the locking bolt 15, while the guide section 15b is not defined there. The locking bolt 15 is arranged with its longitudinal axis B perpendicular to the main instrument axis A and thus perpendicular to the pull rod 8 in the examples of FIGS. 2, 3, 4, 6 and 8. At its proximal end it has a detached head section 81 which provides a distal-side axial bearing surface 82a and a proximal-side axial contact surface 82b. FIG. 7 shows an embodiment of the locking device 10 in which the detached section 81 with the distal-side axial contact surface 82a and the proximal-side axial contact surface 82b is not formed on the proximal end of the pull rod 8, but in the area adjacent to the proximal end. In order to form the step that provides the distal-side axial contact surface 82a on the detached section or head section 81, the detached section or head section 81 can be used as shown in FIGS. 2 and 7 and have a rotationally symmetrical cross-sectional area that is larger than the cross-sectional area of the rest of the pull rod 8. Alternatively, as in FIGS. 3, 4, 6 and 8 to form the step that provides the distal-side axial contact surface 82a, a neck section 83 can be provided between the head section 81 and the rest of the pull rod 8, the cross-sectional area of which is smaller than that of the head section 81 and the rest of the pull rod 8. Correspondingly (not shown figuratively), a detached section that is not formed at the proximal end may be detached by two neck sections. The detached (head) section 81 can be cylindrically formed as in the examples of FIGS. 2, 3, 7 and 8, or almost spherical as in FIGS. 4 and 6.
[0044] For engagement with the pull rod 8 or the detached section/head section 81 of the pull rod 8, the locking bolt 15 has a receiving bore 151 on the engagement section 15a, which bore extends perpendicularly to the longitudinal axis B of the locking bolt 15 in the direction of the main instrument axis A or parallel thereto. The receiving bore 151 is dimensioned to receive the detached section/head section 81 so that it can be moved in and out of the receiving bore 151 in the direction of the main axis A of the instrument without any problems. To transfer the locking bolt 15 between a release position, in which the pull rod 8 is axially movable, and a locking position, in which the locking bolt 15 engages with the pull rod 8, the locking bolt 15 is moved along its longitudinal axis B perpendicular to the main axis A of the instrument.
[0045] The engagement of the locking bolt 15 with the pull rod 8 is provided in that the detached section/head section 81 engages behind the receiving bore 151 in the locking bolt 15 after this has been transferred along its longitudinal axis B into the locking position. Due to a rotationally symmetrical shape of the detached section/head section 81, this rear grip is retained even when the pull rod 8 rotates.
[0046] In the example of FIG. 2 the receiving bore 151 is a through-bore, for which, as can be seen in the release position in FIG. 2b, distal counter-contact surfaces 153 above and below the receiving bore 151 on the proximal outer side of the locking bolt 15 border on which the distal-side axial contact surface 82a on the head section 81 of the pull rod 8 can rest. Optionally and depending on the direction in which locking bolt 15 is actuated, the head section 81 engages behind it in the locking position by contact of the distal-side axial contact surface 82a on the distal counter-contact surface 153 above or below the receiving bore 151, as in FIGS. 2a and c, which is shown to prevent axial movement of the pull rod 8 in the distal direction. If the locking bolt 15, starting from the release position in FIG. 2b, is moved downwards for transfer into the locking position, the head section 81 rests on the distal counter-contact surface 153 above the receiving bore 151, as in FIG. 2a shown. As an alternative to this, the locking bolt 15 is transferred from the release position to FIG. 2b up to a locking position FIG. 2c, in which the head section 81 bears against the distal counter-contact surface 153 below the receiving bore 151. In both cases, the axial movement of the pull rod 8 in the proximal direction is prevented by a proximal counter- contact surface 156 of the locking device 10. The proximal counter-contact surface 156, on which the proximal-side axial contact surface 82b of the head section 81 comes to rest, is shown in the example of FIG. 2 provided by a component that is separate from the locking bolt 15 and that is arranged at the level of the main instrument axis A and spaced from the distal contact surface 153 by the length of the head section 81. Modifications of this embodiment for a pull rod that are not shown, in which the detached section is not formed at the proximal end, but rather at a distance from it in a proximal end region, provide that the proximal counter-contact surface be designed differently than shown, e.g., can be provided by an annular component, so that the end section of the pull rod can extend through an opening aligned with the receiving bore. As an alternative to this, the component that provides the proximal counter-contact surface can be arranged detached parallel to the main axis A of the instrument with respect to the distal counter-contact surface 153.
[0047] FIG. 3 illustrates the function of the locking device 10, which is also shown in FIGS. 4 and 6. In contrast to FIG. 2, here, the receiving bore 151 is not a through-bore but a blind bore, with the distal counter-contact surface 153 being provided by an engagement bore 152, which extends perpendicularly to the receiving bore 151 approximately along the longitudinal axis B of the locking bolt 15 to the receiving bore 151. FIG. 3a (and also FIGS. 4 and 6) show the locking device 10 in the locking position of the locking bolt 15, in which the head section 81 of the pull rod 8 rests with the distal-side contact surface 82a on the distal counter-contact surface 153 above the receiving bore 151, whereby an axial movement of the pull rod 8 in the distal direction is prevented. The proximal contact surface 156 for preventing the pull rod 8 from moving axially in the proximal direction is provided by a proximal wall (borehole base) of the receiving bore 151 designed as a blind hole or by a proximal wall of the engagement bore 152, which adjoins the bore base of the receiving bore designed as a blind bore 151. For transfer to the release position in FIG. 3b starting from the locking position, the locking bolt 15 in FIG. 3a is moved upwards (compare FIG. 8) so that the head section 81 of the pull rod 8 is completely in the receiving bore 151 and the pull rod 8 can thus be moved axially along the main instrument axis A, as in FIG. 3c to operate a distal tool mechanism or to replace the pull rod 8.
[0048] Not shown figuratively, but nevertheless according to an exemplary embodiment, is an embodiment in which the engagement bore 152 extends beyond the receiving bore 151, so that a further distal counter-contact surface 153 and proximal counter-contact surface 156 are created below the receiving bore 151. As in the example of FIG. 2, an alternative locking position can be optionally set, in which the head section 81 of the pull rod 8 comes to rest with the distal-side and proximal-side contact surface 82a, 82b on a distal and proximal counter-contact surface below the receiving bore 151. Furthermore, the use of differently designed tie rods is not limited to the example shown in each case. A locking device according to an exemplary embodiment can thus correspond to a locking bolt with a through hole FIG. 2 for engagement with a pull rod, in which the head section as in FIG. 3 is separated by a neck section. A locking device according to the an exemplary embodiment can also correspond to a locking bolt with a blind hole and an engagement hole FIG. 3 for engagement with a pull rod, in which the head section as in FIG. 2 is deposed by a cross-sectional enlargement.
[0049] Corresponding modifications are also possible for conceivable embodiment illustrated in FIG. 7, which shows a locking device 10 with a detached section 81 which is not formed at the proximal end of the pull rod 8. In this case, the receiving bore 151 in the locking bolt 15 is a through-bore into which the engagement bore 152 opens in order to provide the distal and proximal counter-contact surfaces 153, 156 adjacent to the receiving bore 151 for engagement with the detached section in the locking position of the locking bolt 15 (FIG. 7a). Starting from this locking position, the locking bolt 15 is moved upwards to the release position in FIG. 7b, so that the mounting hole 151 is aligned with the main axis A of the instrument and the detached section 81 of the pull rod 8 is completely in the mounting hole 151 and the pull rod 8 can thus be moved axially along the main axis A of the instrument.
[0050] In FIG. 4 a locking device 10, which essentially corresponds to FIG. 3, is shown in more detail, while the technical interaction with other components, such as the actuation device designed as a cam wheel 16, which is illustrated separately in FIG. 5, is shown in FIG. 6. Therefore, FIG. 4 shows, at the engagement section 15a, a flattened outer section extending from the upper end to a ridge providing a stop surface 154 of the locking bolt 15 extending perpendicularly to the longitudinal axis B. With this stop surface 154, the locking bolt 15 comes to rest in the release position against a stop 182, which in the example of FIG. 6 is formed on a guide element 18. This serves to ensure that the pull rod 8 can only be removed when the locking bolt 8 has moved to the stop. In the example shown, the guide element 18 is also designed to guide the locking bolt 15 and for this purpose it provides a guide surface 181 parallel to the longitudinal axis B of the locking bolt 15 and perpendicular to the stop 182, so that the flattened outer section of the locking bolt 15 can be guided on the guide surface 181. In the example shown, the guide element 18 is arranged on the proximal end face 192 of a housing component 19, through which the pull rod 8 extends, with the pull rod 8 extending at least with the head section 81 for engagement with the locking bolt 15 through a passage opening 191 in the proximal end face 192 extending out of the housing component 19. For a symmetrical guide and stop on both sides, corresponding guide element 18 with guide surface 181 and stop 182 as well as a flattened outer section and stop surface 152 on the locking bolt 15 can be formed on both sides. Of course, different designs and arrangements of stop and guide elements are conceivable.
[0051] The actuation device of a locking device according to the an exemplary embodiment is described in more detail below using an example, in which the actuation device is a horizontally arranged cam wheel 16 with a cam track 17 for guiding the locking bolt 15, which longitudinal axis B extends in the plumb direction, i.e., vertically, so that the movement along the longitudinal axis B for locking and releasing the pull rod is an up and down movement.
[0052] FIG. 4 shows the guide section 15b of the locking bolt 15 with a rounded end 155 to ensure low-friction guidance in the support of the cam track 17 of the cam wheel 16 (compare FIGS. 5, 6 and 8). The diameter of the locking bolt 15 on the guide section 15b can be smaller than on the rest of the locking bolt 15 in order to be guided in the cam track 17 with almost no play. In order to move the locking bolt 15 up and down along its longitudinal axis B, the cam track 17 extends in the shape of a circular arc with a constant radius around the axis of rotation C of the cam wheel 16 with a bottom 171 inclined between a first, upper end stop 172 and a second, lower end stop 173. In the example shown in FIG. 5 the depth of the cam track 17 thus increases anticlockwise. If the locking bolt 15 rests with its guide section 15b on the second, lower end stop 173, as indicated in FIG. 5, drawn longitudinal axis B indicated, the locking bolt 15 is in relation to the plumb direction lower end position, which corresponds to the locking position in the example illustrated in FIGS. 4 and 6. In order to transfer the locking bolt 15 from the locking position to the release position, the locking bolt 15 is moved upwards by the cam wheel 16 of the example shown in FIG. 5 and is rotated anticlockwise, so that the guided locking bolt 15 on the bottom 171 of the cam track 17 is raised following the slope of the bottom 171 to the upper end stop 172. To return to the locking position—e.g., after repositioning of the distal tool 7—the cam wheel 16 is turned clockwise so that the locking bolt 15 is lowered from the upper end stop 172 under the force of gravity along the inclined bottom 171 to the lower end stop 173 along its longitudinal axis B again. If, in an alternative embodiment, the slope of the bottom of a cam track is reversed, i.e., the depth of the cam track increases clockwise, the cam wheel for transferring the illustrated locking bolt 15 from the locking position is correspondingly reversed i.e., rotated clockwise so that the locking bolt 15 is moved upwards to the release position. Correspondingly, the cam wheel has to be turned anticlockwise so that the locking bolt is transferred downwards from the release position to the locking position.
[0053] In order to move the cam wheel 16 by means of a motor (not illustrated), the cam wheel 16 in the illustrated example has a ring gear 161 in which a pinion (also not illustrated) can engage, which is driven by a motor. Of course, alternative drive variants, e.g., conceivable via traction pulleys etc., and the drive ring do not have to extend over the entire circumference, but only over a section corresponding to the length of the cam track.
[0054] FIG. 8 shows the cam track 17 of the cam wheel 16 in a development in the plane of representation, from which the slope of the bottom 171 between the lower end stop 173 and the upper end stop 172 is particularly clearly visible. The representation of a locking bolt 15 at the upper and lower end stop 172, 173 serves only to clarify and compare the locking position provided in a) and the release position in b), between which the locking bolt 15 is guided in the cam track 17 with the rounded end 155 and can be transferred to the bottom 171 by appropriate rotation of the cam wheel 16. In FIG. 8 a fuse element 20 is also shown, which holds the locking bolt 15 on the bottom 171 of the cam track 17 by the fuse element 20 acting on the locking bolt 15 with a restoring force in the direction of the longitudinal axis B. Alternatively, as a fuse element, lateral projections on the guide section of the locking bolt can engage in lateral guide grooves on the cam track parallel to the bottom or vice versa (rails on the cam track in grooves in the locking bolt) in order to hold the locking bolt on the bottom of the guide groove.
[0055] The examples described should not be construed as limiting the invention with respect to the direction of rotation of the cam wheel for up and down movement of the indexing bolt and with respect to the direction of movement of the indexing bolt for locking and releasing. These can be varied in any combination within the scope of protection. Furthermore, the invention should not be limited to the vertical arrangement of the locking bolt, even if this embodiment is particularly advantageous, since gravity ensures that the locking bolt remains on the bottom of the cam track, and additional securing and retaining elements can therefore be dispensed with as is required when the locking bolt is arranged in a manner that deviates from the plumb direction, in order to keep the locking bolt on the bottom of the cam track.
LIST OF REFERENCE NUMBERS
[0056] 1 Surgical instrument
[0057] 2 Shaft
[0058] 3, 5 Proximal, distal end (shaft)
[0059] 4 Actuation unit
[0060] 6 Instrument tip
[0061] 7 Tool
[0062] 8 Instrument insert/pull rod
[0063] 81, 82a/b, 83 Detached (head) section, distal/proximal contact surface, neck section
[0064] 9 Joint mechanism
[0065] 10 Locking device
[0066] 11 Swivel link
[0067] 12 Guide wire
[0068] 13 Drive
[0069] 15 Locking bolt
[0070] 15A, 15b Engagement section, guide section
[0071] 151, 152 Receiving bore, engagement bore
[0072] 153, 156 Distal, proximal counter-contact surface
[0073] 154 Stop surface
[0074] 155 Rounding off
[0075] 16 Cam wheel
[0076] 161 Ring gear
[0077] 17 Cam track
[0078] 171 Bottom
[0079] 172, 173 First (upper) end stop, second (lower) end stop
[0080] 18 Guide element
[0081] 181, 182 Guide surface, stop
[0082] 19 Housing component
[0083] 191, 192 Passage opening, proximal front face
[0084] 20 Fuse element
[0085] A Main instrument axis
[0086] B Axis of movement locking bolt
[0087] C Axis of rotation cam wheel
