Abstract
A transmission adapter for a medical instrument with a shaft, a transmission device movable in the shaft, and a manipulating device with a first part, which can be coupled mechanically rigidly to a proximal end of the shaft, and a second part, which is movable relative to the first part, includes a first coupling element for releasable mechanical coupling to the second part of the manipulating device, and a second coupling element for releasable mechanical coupling to a proximal end of the transmission device.
Claims
1. A system including a transmission adapter for a medical instrument, the system comprising: a shaft; a transmission device movable in the shaft; a manipulating device with a first part rigidly coupled to a proximal end of the shaft such that the first part and the proximal end of the shaft are positionally fixed relative to one another during use of the medical instrument, and a second part movable relative to the first part; a first coupling element configured to be releasably coupled to the second part of the manipulating device; and a second coupling element configured to be releasably coupled to a proximal end of the transmission device, and configured to transmit a torque to the transmission device when coupled to the transmission device; wherein the second coupling element comprises a movable grip jaw configured to hold the proximal end of the transmission device with a form fit or force fit, and an elastic element configured to mechanically pretension the movable grip jaw to a position gripping the proximal end of the transmission device; and wherein the movable grip jaw is configured to lie completely within a contour of the shaft when the proximal end of the transmission device is held with the form fit or force fit by the movable grip jaw, and to protrude beyond the contour of the shaft when the movable grip jaw is uncoupled from the proximal end of the transmission device.
2. The system according to claim 1, the second coupling element is configured to be locked when the second coupling element is arranged in the manipulating device.
3. The system according to claim 1, wherein the first coupling element has a surface portion in the shape of a spherical surface.
Description
BRIEF DESCRIPTION OF THE FIGURES
(1) Embodiments are explained in more detail below with reference to the attached figures, in which:
(2) FIG. 1 shows a schematic view of a medical instrument;
(3) FIG. 2 shows a schematic view of a transmission adapter in a shaft;
(4) FIG. 3 shows another schematic view of the transmission adapter from FIG. 2;
(5) FIG. 4 shows a schematic view of a transmission adapter in a shaft adapter;
(6) FIG. 5 shows a schematic view of a transmission adapter;
(7) FIG. 6 shows another schematic view of the transmission adapter from FIG. 5;
(8) FIG. 7 shows another schematic view of the transmission adapter from FIGS. 5 and 6;
(9) FIG. 8 shows another schematic view of the transmission adapter from FIGS. 5 to 7;
(10) FIG. 9 shows a schematic view of another transmission adapter;
(11) FIG. 10 shows a schematic view of another transmission adapter;
(12) FIG. 11 shows a schematic view of another transmission adapter;
(13) FIG. 12 shows a schematic view of another transmission adapter;
(14) FIG. 13 shows a schematic view of another transmission adapter;
(15) FIG. 14 shows another schematic view of the transmission adapter from FIG. 13;
(16) FIG. 15 shows another schematic view of the transmission adapter from FIGS. 13 and 14;
(17) FIG. 16 shows a schematic view of another transmission adapter;
(18) FIG. 17 shows schematic views of another transmission adapter;
(19) FIG. 18 shows a schematic view of another transmission adapter;
(20) FIG. 19 shows another schematic view of the transmission adapter from FIG. 18;
(21) FIG. 20 shows a schematic view of part of another transmission adapter;
(22) FIG. 21 shows another schematic view of the transmission adapter from FIG. 20;
(23) FIG. 22 shows another schematic view of the part of the transmission adapter from FIG. 20;
(24) FIG. 23 shows another schematic view of the transmission adapter from FIGS. 20 to 21;
(25) FIG. 24 shows a schematic view of another transmission adapter;
(26) FIG. 25 shows another schematic view of the transmission adapter from FIG. 24;
(27) FIG. 26 shows a schematic view of another transmission adapter;
(28) FIG. 27 shows a schematic view of part of another transmission adapter.
DETAILED DESCRIPTION OF THE INVENTION
(29) FIG. 1 shows a schematic view of a medical instrument 10, in particular of an instrument for microinvasive surgery, with a manipulating device 20 at the proximal end, a shaft 30, and a tool 40.
(30) The manipulating device comprises a first, stationary part 21, a second, movable part 22, and a wheel 23. The second part 22 is connected to the first part 21 by a hinge, in such a way that it is pivotable relative to the first part 21 about a pivot axis 28 perpendicular to the plane of the drawing in FIG. 1.
(31) The shaft 30 comprises a proximal end 31, which is mechanically coupled to the manipulating device 20 in a releasable manner, and a distal end 32, which is mechanically coupled to the tool 40 in a releasable manner. The shaft 30 is rigid or flexible, straight or curved. In the example shown, the shaft 30 is straight and has a longitudinal axis 37, in relation to which the shaft 30 is rotationally symmetrical. The proximal end 31 of the shaft 30 is mechanically coupled to the wheel 23 in such a way that, by means of the wheel 23, it is possible for the shaft 30, and for the tool 40 at the distal end 32 of the shaft 30, to be rotated about the longitudinal axis 37 of the shaft 30.
(32) The tool 40 has a proximal end 41, which is mechanically coupled to the distal end 32 of the shaft 30 in a releasable manner, and a distal end 42. At the distal end 42, the tool 40 has a stationary jaw part 43 and a pivotable jaw part 44. By way of a transmission rod (not shown in FIG. 1) movable in the shaft 30, the pivotable jaw part 44 is coupled to the second part 22 of the manipulating device 20 such that a movement of the second part 22 of the manipulating device 20 relative to the first part 21 causes a movement of the pivotable jaw part 44 relative to the stationary jaw part 43 about a pivot axis perpendicular to the plane of the drawing in FIG. 1. For this purpose, the transmission rod (not shown in FIG. 1) is movable particularly in translation inside the shaft 30, parallel to the longitudinal axis 37 of the shaft 30, in order to transmit a pulling or pushing force between the second part 22 of the manipulating device 20 and the pivotable jaw part 44 of the tool 40. Alternatively or in addition, the transmission rod can be rotatable in the shaft 30 (in particular about the longitudinal axis 37 of the shaft 30), in order to transmit a torque between the manipulating device 20 and the tool 40.
(33) In FIG. 1, solid lines show the pivotable jaw part 44 of the tool 40 in an open position and the second part 22 of the manipulating device 20 in a corresponding position. Broken lines show the pivotable jaw part 44 of the tool 40 in a wider open position and the second part 22 of the manipulating device 20 in a corresponding position. When the second part 22 of the manipulating device 20 is pivoted in the direction of the first part 21 starting from the position shown in solid lines, the pivotable jaw part 44 of the tool 40 is pivoted toward the stationary jaw part 43 starting from the open position shown in solid lines.
(34) FIG. 2 shows a schematic and enlarged view of a partial area of the medical instrument 10 from FIG. 1. It shows in particular a section through the proximal end 31 of the shaft 30 and a part of the manipulating device 20. The sectional plane contains the longitudinal axis 37 of the shaft 30. Sectional surfaces of the shaft 30, of a transmission rod or pulling rod or a transmission device 50, and of a transmission adapter 60 are shown by hatching. The parts 21, 22 of the manipulating device are only indicated in outline, in order to differentiate them more clearly from the shaft 30, transmission device 50 and transmission adapter 60. The wheel 23 indicated in FIG. 1, and devices for the rotary coupling of the wheel 23 to the shaft 30 or to the transmission device 50, are not shown in FIG. 2.
(35) The proximal end 31 of the shaft 30 is arranged in a recess of corresponding shape in the first part 21 of the manipulating device 20. The shaft 30, or the proximal end 31 thereof, can be locked mechanically in a releasable manner in the manipulating device 20, or in the first part 21 thereof, for example by means of a spring-loaded detent (not shown in FIG. 2) which engages in a recess on the shaft 30.
(36) Like a tube, the shaft 30 has a lumen in which the transmission device 50 is arranged. The lumen in the shaft 30 and the transmission device 50 each have substantially a circular cylindrical configuration. The cross section of the lumen in the shaft 30 and the cross section of the transmission device 50 are chosen such that the transmission device 50 is movable in the shaft 30 in a direction parallel to the longitudinal axis 37 of the shaft 30 and is rotatable about the longitudinal axis 37 and guided with minimal play and friction. A proximal end 51 of the transmission device 50 is substantially spherical.
(37) The transmission adapter 60 is largely arranged inside the shaft 30, near the proximal end 31 of the latter. The transmission adapter 60 comprises a first coupling element 61 at its proximal end and a second coupling element 68 at its distal end. The first coupling element 61 has substantially the shape of a ball and is coupled in a hinged manner to the second part 22 of the manipulating device 20. In the position of the second part 22 of the manipulating device 20 as shown in FIG. 2, which corresponds to the wider open position of the pivotable jaw part 44 of the tool 40 described above with reference to FIG. 1, the mechanical coupling between the first coupling element 61 of the transmission adapter 60 and the second part 22 of the manipulating device 20 can be produced or released. The mechanical coupling between the first coupling element 61 of the transmission adapter 60 and the second part 22 of the manipulating device 20 corresponds in particular to a conventional mechanical coupling between the proximal end of a conventional transmission device and the pivotable part of a conventional manipulating device. Therefore, details of this mechanical coupling are not given here.
(38) The second coupling element 68 at the distal end of the transmission adapter 60 is coupled mechanically to the proximal end 51 of the transmission device 50. Details are given below with reference to FIGS. 5 to 8.
(39) The transmission device 50 and the transmission adapter 60 are movable parallel to the longitudinal axis 37 of the shaft 30. FIG. 3 shows another schematic view which, in terms of the features shown and of the sectional plane, corresponds to FIG. 2. However, compared to the view in FIG. 2, the transmission device 50 and the transmission adapter 60 in the view in FIG. 3 have been moved in the proximal direction. Accordingly, the second part 22 of the manipulating device 20 is pivoted (clockwise) about the pivot axis 28.
(40) Between the proximal end 51 of the transmission device 50 and the second coupling element 68 of the transmission adapter 60, there is a mechanical connection which, although releasable, is rigid in the unreleased state (in particular free of play or with minimal play). Therefore, each movement of the first coupling element 61 and each force exerted on the first coupling element 61 of the transmission adapter 60 in a direction parallel to the longitudinal axis 37 of the shaft 30 is transmitted to the transmission device 50 and from this to the distal end of the medical instrument 10 and to the tool 40, and vice versa.
(41) FIG. 4 shows a schematic view of a section through a shaft 30, a transmission device 50, a shaft adapter 70, and a transmission adapter 60 arranged in the shaft adapter 70. The nature of the view, in particular the sectional plane shown, corresponds substantially to that of FIGS. 2 and 3. For reasons of space, only a partial area of the first part 21 of the manipulating device is shown.
(42) The illustrative embodiment in FIG. 4 differs from the illustrative embodiment in FIGS. 2 and 3 in that the transmission adapter 60 is not arranged in the proximal end 31 of the shaft 30, or in an area near the proximal end 31, but instead in a separate shaft adapter 70. The shaft adapter 70 has a proximal end 71 and a distal end 72 with a recess 73. The shaft adapter 70 is designed (like a proximal area of the shaft 30 in the illustrative embodiment in FIGS. 2 and 3) to be received in a recess 26 in the first part 21 of the manipulating device. The recess 73 at the distal end 72 of the shaft adapter 70 is designed to receive the proximal end of the shaft 30.
(43) In FIG. 4, the shaft 30 with the transmission device 50 on the one hand, and the shaft adapter 70 with the transmission adapter 60 on the other hand, and also the first part 21 of the manipulating device, are each shown separately. An arrow labeled “1” indicates how the shaft 30 with the transmission device 50 can be inserted into the recess 73 at the distal end 72 of the shaft adapter 70, and the second coupling element 68 of the transmission adapter 60. An arrow labeled “2” indicates how the shaft adapter 70 with the transmission adapter 60, which in the view in FIG. 4 are shown only partially inserted in the recess 26 in the first part 21 of the manipulating device, can be inserted completely into said recess 26. It will be shown below that in particular the coupling of the proximal end 51 of the transmission device 50 to the second coupling element 68 of the transmission adapter 60 according to the arrow “1” has to take place before the complete insertion of the shaft adapter 70 with the transmission adapter 60 into the recess 26 in the first part 21 of the manipulating device.
(44) FIGS. 5 to 8 show schematic and enlarged sectional views of a transmission adapter 60 which, in terms of many features, is similar to the transmission adapters described above with reference to FIGS. 2 to 4. The sectional planes of FIGS. 5 to 8 correspond to the sectional planes of FIGS. 2 to 4 and are parallel to the longitudinal axis 37 (cf. FIGS. 1 to 3) of the shaft 30. The views in FIGS. 5 to 8 differ from one another in terms of different positions and states of a transmission device 50 and of the transmission adapter 60.
(45) In FIGS. 5 to 8, the transmission adapter 60 is in each case shown in a proximal area of a shaft 30 or in a shaft adapter 70. Since a shaft 30 and a shaft adapter 70 do not differ in terms of the features shown in FIGS. 5 to 8, but instead only differ at the distal end (cf. FIGS. 3 and 4), the following explanation with reference to FIGS. 5 to 8 applies both to a shaft and also to a shaft adapter.
(46) The transmission adapter 60 comprises a main body 64 with an abutment 67, a first grip jaw 81 and a second grip jaw 82. The first grip jaw 81 and the second grip jaw 82 form the second coupling element 68 (cf. FIGS. 2 to 4) of the transmission adapter 60. The first grip jaw 81 and the second grip jaw 82 are connected in a hinged manner to the main body 64 of the transmission adapter 60 and are pivotable independently of each other about a pivot axis 88 perpendicular to the planes of the drawings in FIGS. 5 to 8. Details of the connection between main body 64 and grip jaws 81, 82, by way of spars not shown in FIGS. 5 to 8, are described below with reference to FIG. 13.
(47) The shaft 30 and the shaft adapter 70 have two lateral openings 38 lying opposite each other. The grip jaws 81, 82 are arranged partially in the openings 38 and, in the positions shown in FIG. 5, lie completely within the contour of the shaft 30 or of the shaft adapter 70. Each grip jaw 81, 82 is designed in one piece with an associated elastic element 87. The elastic elements 87 are each beam-shaped. Ends of the elastic elements facing away from the grip jaws 81, 82 bear on the abutment 67 on the main body 64 of the transmission adapter 60 and are supported thereon. Forces or torques applied by the elastic elements 87 to the grip jaws 81, 82 keep the latter in the positions shown in FIG. 5, as long as no external force acts on them.
(48) When the proximal end 51 of the transmission device 50 is pushed in the proximal direction and thereby pressed against the grip jaws 81, 82 (in particular the oblique slide surfaces indicated), the grip jaws 81, 82 are deflected from the positions shown in FIG. 5 to the positions shown in FIG. 6. The grip jaws 81, 82 are pivoted in opposite directions about the pivot axis 88, and the elastic elements 87 are elastically deformed. The elastic deformation of the elastic elements 87 effects a restoring force or a restoring torque in the direction of the positions of the grip jaws 81, 82 shown in FIG. 5.
(49) In the excursion of the grip jaws 81, 82 shown in FIG. 6, the outer areas (in FIG. 6 the lower area of the first grip jaw 81 and the upper area of the second grip jaw 82) protrude beyond the contour of the shaft 30 or of the shaft adapter 70.
(50) If, starting from the position shown in FIG. 6, the transmission device 50 is pushed farther in the proximal direction, the proximal end 51 of the transmission device 50 reaches recesses 85 in the grip jaws 81, 82. The shape of the recesses 85 corresponds to the shape of the proximal end 51 of the transmission device 50. In particular, both the proximal end 51 of the transmission device 50 and also the recesses 85 are spherical. When the proximal end 51 of the transmission device 50 has reached its most proximal position relative to the transmission adapter 60, the grip jaws 81, 82 are moved by the elastic elements 87 into the positions shown in FIG. 7, which correspond completely or substantially to the positions shown in FIG. 5. The proximal end 51 of the transmission device 50 lies in the recesses 85 in the grip jaws 81, 82 and is thus held by these with a form fit.
(51) When a sufficient pulling force is applied to the transmission device 50 in the distal direction, the proximal end 51 of the transmission device 50 can be released from the form-fit connection to the grip jaws 81, 82. The grip jaws 81, 82 are then brought (temporarily) to the positions shown in FIG. 6 counter to the forces or torques exerted by the elastic elements 87.
(52) In the views in FIGS. 7 and 8, the illustrated proximal area of the shaft 30, or the shaft adapter 70, and the transmission adapter 60 are arranged in a recess in a part 21 of a manipulating device (cf. FIGS. 2 to 4). In FIGS. 7 and 8, only the immediately adjoining walls or areas of the part 21 of the manipulating device are indicated. The grip jaws 81, 82 bear on the part 21 of the manipulating device and are prevented by the latter from deflecting to the positions shown in FIG. 6. In this way, the mechanical coupling between the proximal end 51 of the transmission device 50 and the coupling element formed by the grip jaws 81, 82 at the distal end of the transmission adapter 60 is locked. The mechanical connection between the proximal end 51 of the transmission device 50 and the transmission adapter 60 can therefore be produced or separated only when the transmission adapter 60 is located, together with the shaft 30 or the shaft adapter 70, outside the part 21 of the manipulating device.
(53) The lateral openings 38 in the proximal area of the shaft 30 or in the shaft adapter 70 are substantially longer, or have a length, measured in a direction parallel to the longitudinal axis 37 of the shaft 30 (cf. FIGS. 1 to 3), which is substantially greater than the areas of the grip jaws 81, 82 arranged in the lateral openings 38. Therefore, the grip jaws 81, 82 are movable in a direction parallel to the longitudinal axis of the shaft. In FIGS. 7 and 8, the transmission device 50 and the transmission adapter 60 are shown in different positions, which in particular correspond to different positions of the pivotable jaw part 44 (cf. FIG. 1) of a tool at the distal end of the medical instrument.
(54) FIG. 9 shows a schematic view of another transmission adapter 60 which, in terms of some features, is similar to the transmission adapter described above with reference to FIGS. 5 to 8. The nature of the view, in particular the sectional plane shown, corresponds to the views in FIGS. 5 to 8.
(55) The transmission adapter 60 shown in FIG. 9 differs from the transmission adapter described above with reference to FIGS. 5 to 8 particularly in that the outer surfaces of the grip jaws 81, 82 are convexly curved, in particular cylindrically (with a cylinder axis perpendicular to the plane of the drawing) or spherically.
(56) FIG. 10 shows a schematic view of another transmission adapter 60 which, in terms of some features, is similar to the transmission adapters 60 described above with reference to FIGS. 5 to 9. The nature of the view, in particular the sectional plane shown, corresponds to the views in FIGS. 5 to 9.
(57) In contrast to the properties and features described above with reference to FIGS. 7 and 8, the transmission adapter 60 of FIG. 10 is arranged in a part 21 of a manipulating device that has recesses 25. The recesses 25 each have a shape corresponding to the outer areas of the grip jaws 81, 82. Therefore, the grip jaws 81, 82, in their most distal position as shown in FIG. 10, can be deflected to the positions also shown in FIG. 6, in which positions a mechanical connection to the proximal end 51 of a transmission device 50 can be produced or released. By contrast, when the transmission adapter 60 with the grip jaws 81, 82 is moved in the proximal direction (cf. FIG. 8), the mechanical coupling between the transmission device 50 and the transmission adapter 60 is locked, similarly to the manner described above with reference to FIGS. 7 and 8.
(58) FIG. 11 shows a schematic view of another transmission adapter 60 which, in terms of some features, is similar to the transmission adapters 60 described above with reference to FIGS. 5 to 10. The view in FIG. 11 corresponds to the views in FIGS. 5 to 10, particularly as regards the sectional plane shown.
(59) In the illustrative embodiment in FIG. 11, the elastic elements 87 are designed as solid hinges, which connect the main body 64 integrally to the grip jaws 81, 82. The elastic elements 87 thus fulfil two functions at the same time, namely the hinged connection to the main body 64 and the restoring action.
(60) FIG. 12 shows a schematic view of another transmission adapter 60 which, in terms of some features, is similar to the transmission adapters 60 described above with reference to FIGS. 5 to 11. The view in FIG. 12 corresponds to the views in FIGS. 5 to 11, particularly as regards the sectional plane shown.
(61) The illustrative embodiment in FIG. 12 differs from the illustrative embodiments described above with reference to FIGS. 5 to 11 particularly in that the first grip jaw 81 is connected rigidly to the main body 64 of the transmission adapter 60. Only the second grip jaw 82 is connected to the main body 64 in a hinged manner, specifically by an elastic element 87 designed as a flexure hinge in the example shown. When a mechanical connection between the transmission device 50 and the transmission adapter 60 is produced or released, only a deflection of the second grip jaw 82 takes place. Corresponding to this asymmetrical movement, a deflection of the transmission device 50, in particular of the proximal end 51 thereof, is needed, which can be seen in FIG. 12.
(62) FIGS. 13 to 15 show schematic axonometric views of a transmission adapter 60 which, in terms of some features, corresponds to the transmission adapters described above with reference to FIGS. 5 to 10, particularly to the transmission adapter described above with reference to FIG. 9.
(63) FIG. 13 shows only the transmission adapter 60 with a mechanically coupled transmission device 50. The main body 64 of the transmission adapter 60 has, at its proximal end, the spherical first coupling 61 and, at its distal end, two spars 65, 66 arranged in a fork shape. The grip jaws 81, 82 are connected to the spars 65, 66 by a shaft 89 parallel to their pivot axis 88 (cf. FIGS. 5 to 10). Each end of the shaft 89 is joined to a respective spar 65, 66. The mounting of the grip jaws 81, 82 on the shaft 89 permits the described pivoting function. The elastic elements 87 designed in one piece with the grip jaws 81, 82 bear against the abutment 67 on the main body 64.
(64) In the view in FIG. 14, the distal end of the transmission adapter and in particular the grip jaws 81, 82 are arranged in a distal sleeve 35. In the view in FIG. 15, the distal sleeve 35 is supplemented by a proximal sleeve 36 for the proximal area of a shaft (or of a shaft adapter). The lateral openings 38, in which the grip jaws 82 are partially arranged, are formed by longitudinal slits in the distal sleeve 35.
(65) In contrast to what is shown in FIGS. 2 to 12, the proximal area of the shaft formed by the sleeves 35, 36, in particular the proximal sleeve 36, has no circular cylindrical cross section. A broad and shallow annular groove allows a mechanical connection of the shaft to a manipulating device to be locked with a form fit, by means not shown in FIGS. 1 to 12.
(66) In the illustrative embodiments described above with reference to FIGS. 2 to 15, the second coupling element 68 in each case comprises two grip jaws 81, 82, of which at least one is pivotable. Alternatively, the second coupling element 68 can comprise one or more grip jaws that are movable or displaceable along a predetermined straight or curved path. A grip jaw can be simultaneously pivotable and movable along a predetermined path. A path is predetermined, for example, by a slotted guide or a similar guide means that can couple a translation movement with a pivoting movement.
(67) FIG. 16 shows a schematic view of a section through another transmission adapter. The sectional plane is parallel to the plane of the drawing in FIG. 1 and corresponds substantially to the sectional planes in FIGS. 2 to 12. Similarly as in FIGS. 5 to 12, only the distal end of the transmission adapter is shown. The proximal end of the transmission adapter corresponds, for example, to the proximal end described above with reference to FIGS. 2 to 4.
(68) The second coupling element of the transmission adapter as shown in FIG. 16 comprises two grip jaws 81, 82. Each grip jaw is pivotable about a pivot axis 88 perpendicular to the sectional plane of FIG. 16. Each pivot axis 88 is defined by a pin or a bolt or a shaft, by means of which the grip jaw 81, 82 is connected in a hinged manner to a main body 64 of the transmission adapter.
(69) The transmission adapter is arranged in a shaft 30, particularly in a proximal area of the shaft 30. The lumen of the shaft 30, in which a transmission device 50 is arranged, is widened to form a cavity, which also receives the transmission adapter. The distal end 39 of the cavity is designed to permit an outward pivoting of the grip jaws 81, 82 when the transmission adapter with the main body 64 and with the grip jaws 81, 82 is pushed in the distal direction relative to the position shown in FIG. 16.
(70) Slotted guides 83 are arranged near the distal end 39 of the cavity. The slotted guides 83 each have a substantially straight proximal portion and a curved distal portion. On each grip jaw 81, 82, near the distal end thereof, a pin 84 is arranged which engages in one of the slotted guides 83. By means of the slotted guides 83 and the pins 84 engaging in the slotted guides 83, a linear movement of the transmission adapter between a proximal position shown in FIG. 16 and a distal position is coupled with a pivoting movement of the grip jaws 81, 82 about their pivot axes 88. In the proximal position of the transmission adapter as shown in FIG. 16, and in an area located distally from this position, the grip jaws 81, 82 are situated in the gripping or holding positions which are shown in FIG. 16 and in which they hold the proximal end 51 of the transmission device 50 with a form fit. In an area located farthest in the proximal direction, the grip jaws 81, 82 pivot away from each other and release the proximal end 51 of the transmission device 50.
(71) FIG. 17 shows two schematic, axonometric views of another transmission adapter. In particular, a coupling member 90 of the transmission adapter is shown which can be coupled to a proximal end 51 of a transmission device. Further elements and components of the transmission adapter and a shaft or shaft adapter, in which the transmission adapter can be arranged, are not shown.
(72) The coupling member 90 is rotatable about a rotation axis 98, which is substantially parallel to the longitudinal axis of a transmission device 50 to be coupled to the coupling member 90. The coupling member 90 has an opening or recess 91 with a first end 92 and a second end 93. The first end 92 has a cross section (with respect to a plane perpendicular to the rotation axis 98) which is adapted to the proximal end 51 of the transmission device 50. The proximal end 51 of the transmission device 50 can therefore be guided through the first end 92 of the recess 91, when the first end 92 of the recess 91 is aligned with the proximal end 51 of the transmission device 50, as is shown on the left in FIG. 17.
(73) The second end 93 of the recess 91 has a cross section which is adapted to the cross section of a neck 52 located distally from the proximal end 51 of the transmission device 50. Therefore, the rotatable coupling member 90 can be rotated about its rotation axis 98 to the position shown on the right in FIG. 17, when the neck 52 of the transmission device lies in the recess 91. In the position of the rotatable coupling member 90 as shown on the right in FIG. 17, the transmission device 50 is coupled to the coupling member 90 with a form fit.
(74) FIGS. 18 and 19 show schematic sectional views of another transmission adapter. In particular, they show a distal end of the transmission adapter with a coupling element for coupling to a proximal end 51 of a transmission device 50. A proximal end (not shown in FIGS. 18 and 19) of the transmission adapter corresponds, for example, to the proximal end described above with reference to FIGS. 2 to 4. The sectional plane is parallel to the plane of the drawing in FIG. 1 and corresponds substantially to the sectional planes of FIGS. 2 to 12 and 16.
(75) Within a main body 64, the transmission adapter comprises a coupling member 90 which is rotatable about a rotation axis 98 perpendicular to the sectional plane in FIGS. 18 and 19. The coupling member 90 is shown in two different positions in FIGS. 18 and 19. The coupling member 90 has a substantially circular cross section and is arranged in a corresponding cavity in the main body 64. The coupling member 90 has a recess 91, which passes all the way through the coupling member 90 from distal to proximal, parallel to the sectional plane of FIGS. 18 and 19.
(76) The recess comprises a substantially circular cylindrical through-bore 92 which, at each end, has a keyhole-like widening 93 in a counterclockwise direction and parallel to the sectional plane of FIGS. 18 and 19. In terms of their mechanical interaction with the transmission device 50, or with the proximal end 51 of the latter, the circular cylindrical through-bore 92 corresponds to the first end, and the keyhole-like widenings 93 to the second end, of the recess in the rotatable coupling member of the illustrative embodiment in FIG. 17.
(77) In the position of the coupling member 90 as shown in FIG. 18, the through-bore 92 is parallel to the longitudinal axis of the transmission device 50. As is indicated by a straight arrow, the proximal end 51 of the transmission device 50 can be guided all the way through the through-bore 92 to a niche 69 in the main body 64. Thereafter, as is indicated by a curved arrow, the coupling member 90 can be rotated about its rotation axis 98 as far as the position shown in FIG. 19. In the position of the coupling member 90 as shown in FIG. 19, the proximal end 51 of the transmission device is held in the niche 69 with a form fit by means of the coupling member 90.
(78) FIG. 20 shows a schematic and enlarged sectional view of part of another transmission adapter 60 (cf. FIGS. 2 to 4) which, in terms of some features, is similar to the transmission adapters described above with reference to FIGS. 2 to 15. The sectional plane of FIG. 20 corresponds to the sectional planes of FIGS. 2 to 12 and is parallel to the longitudinal axis 37 (cf. FIGS. 1 to 3) of the shaft. FIG. 20 shows a much smaller partial area of the transmission adapter than that shown in FIGS. 5 to 12. In particular, it shows only the area of the grip jaws 81, 82 of the second coupling element 68 of the transmission adapter 60 (cf. FIGS. 2 to 4).
(79) The illustrative embodiment in FIG. 20 differs from the illustrative embodiments described above with reference to FIGS. 2 to 15 particularly in terms of a different design of the transmission device 50 and a corresponding design of the grip jaws 81, 82 of the second coupling element. In the area located distally, in particular immediately distally, from its spherical proximal end 51, the transmission device 50 has a short circular cylindrical neck 52 and, distally from this neck 52, a flattening 53. In the area of the flattening 53, the transmission device 50 has a substantially rectangular cross section with two substantially straight and flat sides lying opposite each other. The thickness or height of this substantially rectangular cross section corresponds, for example, to the diameter of the circular cylindrical neck 52. The width of the rectangular cross section of the flattening 53 in particular corresponds substantially to the diameter of the transmission device 50 distally from the flattening 53. In FIG. 20, the transmission device 50 is shown rotated about its longitudinal axis by an angle of ca. 45°.
(80) FIG. 21 shows another schematic sectional view of the illustrative embodiment from FIG. 20. The sectional plane B-B of FIG. 21 is perpendicular to the sectional plane A-A of FIG. 20 and perpendicular to the longitudinal axis 37 (cf. FIG. 1). The position of the sectional plane B-B of FIG. 21 is indicated in FIG. 20. The position of the sectional plane A-A of FIG. 20 is indicated in FIG. 21.
(81) It will be seen in FIG. 21 that the two grip jaws 81, 82 each have a recess 58 for receiving the flattening 53 on the transmission device 50. The substantially rectangular cross section of the flattening 53 can also be seen. In a departure from an ideal rectangle, the short sides of the cross section of the flattening 53 can be arc-shaped.
(82) FIGS. 20, 21 show a configuration or situation in which the transmission device 50, in particular the flattening 53 on the transmission device 50, is rotated through ca. 45° in relation to a position predetermined by the shape of the flattening 53 and by the shape of the recess 58 in the grip jaws 81, 82. Starting from the configuration shown in FIGS. 20, 21, restoring forces generated by elastic elements 87 for example (cf. FIGS. 5 to 14), and acting on the grip jaws 81, 82, cause a rotation of the transmission device 50 to the predetermined position.
(83) FIG. 22 shows another schematic sectional view of the illustrative embodiment from FIGS. 20, 21. The sectional plane A-A and the nature of the view in FIG. 22 correspond to those of FIG. 20. In FIG. 22, the transmission device 50 is shown in the above-described position predetermined by the shape of the flattening 53 and by the shape of the recesses 58 in the grip jaws 81, 82. The grip jaws 81, 82 adopt positions in which they bear on the proximal end 51, on the neck 52 and on the flattening 53 of the transmission device 50 and hold the transmission device 50 with a form fit in the predetermined position.
(84) FIG. 23 shows another schematic sectional view of the illustrative embodiment from FIGS. 20 to 22. The sectional plane B-B of FIG. 23 corresponds to the sectional plane of FIG. 21. The situation or configuration shown in FIG. 23 corresponds to that of FIG. 22.
(85) It will be seen from FIG. 23 that, in the situation or configuration shown in FIGS. 22, 23, a form fit between the grip jaws 81, 82 or the recesses 58 in the grip jaws 81, 82, on the one hand, and the flattening 53 on the transmission device 50, on the other hand, holds the transmission device 50 in the above-mentioned predetermined position in respect of a rotation about the longitudinal axis 37.
(86) The holding of the transmission device 50 in the predetermined rotation position causes in particular a locking of a bayonet coupling or of a screw coupling or of another releasable mechanical connection of a tool 40 to the distal end 32 of a shaft 30 (cf. FIG. 1). Alternatively, the form-fit mechanical connection between the transmission adapter and the transmission device permits, for example, a rotation of the transmission device 50 about the longitudinal axis 37 by means of the transmission adapter, in order to rotate a tool 40 at the distal end 32 of a shaft 30.
(87) FIG. 24 shows a schematic sectional view of another transmission adapter and of a transmission device 50 which, in terms of some features and properties, are similar to those described above with reference to FIGS. 18 and 19. The sectional plane of FIG. 24 and the nature of the view also correspond to those of FIGS. 18 and 19. Only those features and properties are described below which differentiate the illustrative embodiment of FIG. 24 from the illustrative embodiment of FIGS. 18 and 19.
(88) In the illustrative embodiment of FIG. 24, the transmission device 50 has a flattening 53 located distally from a substantially circular cylindrical neck 52. In the area of the flattening 53, the transmission device 50 has a substantially rectangular cross section with two flat sides lying opposite each other and substantially parallel to each other, similarly to the cross section of the flattening described above with reference to FIGS. 20 to 23. The rotatable coupling member 90 is substantially similar to the one described above with reference to FIGS. 18 and 19 and, in relation thereto, is adapted only to the cross section of the flattening 53.
(89) FIG. 25 shows another schematic view of the illustrative embodiment from FIG. 24. The sectional plane and the nature of the view correspond to those of FIG. 24. The situation or configuration shown in FIG. 25 differs from the one shown in FIG. 24 in that, similarly to FIG. 19, the transmission device 50 is inserted completely into the transmission adapter and the rotatable coupling member 90 is rotated through ca. 45°. In the position of the coupling member 90 as shown in FIG. 25, the proximal end 51 of the transmission device 50 is held with a form fit in the niche 69 (cf. FIG. 24) by the coupling member 90. In this way, a mechanical connection, which is rigid in terms of forces and movements parallel to the longitudinal axis 37, is created between the coupling member 90 and the transmission device 50. Moreover, the flattening 53 on the transmission device 50 is held by the rotatable coupling member 90 such that the transmission device 50 cannot rotate about the longitudinal axis 37, and instead is also held in terms of rotation in the position shown in FIG. 25.
(90) The holding of the transmission device 50 in the predetermined rotation position causes in particular a locking of a bayonet coupling or of a screw coupling or of another releasable mechanical connection of a tool 40 to the distal end 32 of a shaft 30 (cf. FIG. 1). Alternatively, the form-fit mechanical connection between the transmission adapter, comprising the coupling member 90, and the transmission device permits, for example, a rotation of the transmission device 50 about the longitudinal axis 37 by means of the transmission adapter, in order to rotate a tool 40 at the distal end 32 of a shaft 30.
(91) FIG. 26 shows a schematic view of another transmission adapter 60 which, in terms of some features, is similar to the transmission adapters described above with reference to FIGS. 2 to 12, in particular to the transmission adapter described above with reference to FIGS. 5 to 8. The nature of the view, in particular the sectional plane shown, corresponds to the views in FIGS. 5 to 12.
(92) The transmission adapter 60 shown in FIG. 26 differs from the transmission adapter described above with reference to FIGS. 5 to 8 particularly in that an elastic element 86 is provided which is not designed in one piece with the grip jaws 81, 82. Instead, the elastic element 86 is provided as a component that is separately produced and that is then mechanically connected to the grip jaws 81, 82. In particular, the elastic element 86 is produced from a U-shaped piece of wire made of spring steel or of another elastic material, wherein the two ends of the elastic element 86 are fitted into corresponding bores in the grip jaws 81, 82.
(93) Instead of a U-shaped elastic element 86, another kind of elastic element made from an elastic material can be provided which, during deflection of the grip jaws 81, 82 from their positions shown in FIG. 26, is exposed to stretching, compressing, twisting or shearing forces or moments and is elastically deformed. For example, the elastic element can be a leaf spring, or a helical spring stressed by tension or pressure. The elastic element can comprise a metal or a non-metallic material, for example an elastomer.
(94) The elastic element 86 has the same function as the elastic elements 87 of the embodiments of FIGS. 5 to 15. In particular, the elastic element 86 applies forces or moments to the grip jaws, which move the latter in the direction of the positions shown in FIG. 26, in which they hold the proximal end 51 of a transmission device 50 with a form fit.
(95) FIG. 27 shows a schematic and enlarged sectional view of part of another transmission adapter 60 (cf. FIGS. 2 to 4) which, in terms of some features, is similar to the transmission adapters described above with reference to FIGS. 2 to 15. The sectional plane B-B of FIG. 27 is perpendicular to the longitudinal axis 37 (cf. FIG. 1) and corresponds to the sectional planes of FIGS. 21 and 23.
(96) The embodiment of FIG. 27 differs from the embodiment of FIGS. 20 to 23 particularly in terms of other cross sections of the flattening 53 on the transmission device in the intended position, and corresponding cross sections of the recesses 58 on the grip jaws 81, 82. The cross section of the flattening 53 on the transmission device 50, in the position defined by the recesses 58 on the grip jaws and shown in FIG. 27, is turned through 90 degrees relative to the embodiment of FIGS. 20 to 23. Accordingly, the recesses 58 are not shallow and broad, but narrow and deep.
(97) The design of the flattening 53 and of the recesses 58 on the grip jaws 81, 82 according to FIG. 27 can allow the transmission device 50 to be held in the depicted rotation position even when the grip jaws 81, 82 are not held, by an elastic element or elastic elements or by a form fit, in their position in which they hold the proximal end 51 of a transmission device 50 with a form fit.
LIST OF REFERENCE SIGNS
(98) 10 medical instrument 20 manipulating device 21 first part of the manipulating device 20 22 second part of the manipulating device 20 23 wheel on the manipulating device 20 25 recess 26 recess in the second part 22 28 pivot axis of the second part 22 30 shaft 31 proximal end of the shaft 30 32 distal end of the shaft 30 35 distal sleeve 36 proximal sleeve 37 longitudinal axis of the shaft 30 38 lateral opening at the proximal end 31 of the shaft 30 or of the shaft adapter 70 39 distal end of a cavity 40 tool 41 proximal end of the tool 40 42 distal end of the tool 40 43 stationary jaw part of the tool 40 44 pivotable jaw part of the tool 40 50 transmission device 51 proximal end of the transmission device 50 52 neck located distally from the proximal end 51 of the transmission device 50 53 flattening located distally from the neck 52 58 recess on grip jaw 81 60 transmission adapter 61 first coupling element of the transmission adapter 60 64 main body of the transmission adapter 60 65 first spar 66 second spar 67 abutment for elastic portions 87 of the grip jaws 81, 82 68 second coupling element of the transmission adapter 60 69 niche in the main body 64 70 shaft adapter 71 proximal end of the shaft adapter 70 72 distal end of the shaft adapter 70 73 recess at the distal end 72 of the shaft adapter 70 81 first grip jaw of the second coupling element 68 82 second grip jaw of the second coupling element 68 83 slotted guide 84 pin 85 concave portion on the first grip jaw 81 86 elastic element 87 elastic element 88 pivot axis of the grip jaws 81, 82 89 shaft 90 rotatable coupling member 91 recess in the rotatable coupling member 90 92 first end of the recess 91 93 second end of the recess 91 98 rotation axis of the rotatable coupling member 90
