Surgical instrument and steering gear for same

Patent metadata

Field	Value
Publication number	US-12539185-B2
Application number	US-202218290942-A
Country	US
Kind code	B2
Filing date	Jul 25, 2022
Priority date	Jul 28, 2021
Publication date	Feb 3, 2026
Grant date	Feb 3, 2026

Abstract

A steering gear for a surgical instrument includes an angling mechanism which can be controlled by a spatially adjustable wobble plate. The steering gear has a first and a second drive wheel with a respective associated motor, and the second drive wheel is arranged offset by 180° relative to the first drive wheel on an axis of rotation in common with the first drive wheel and perpendicular to the longitudinal axis. The wobble plate is mounted between the first drive wheel and the second drive wheel in a steering ring. A retaining bracket rotatably about the common axis of rotation of the drive wheels, wherein the steering ring is mounted in the retaining bracket an rotatable about the axis of rotation of the third gear wheel, such that the engagement between the third gear wheel and the drive wheels is secured.

First claim

The invention claimed is:

1 . A steering gear for a surgical instrument, wherein the steering gear is arrangeable at the proximal end of a shaft, which defines a longitudinal axis and includes, at the distal end of the shaft, a deflection mechanism which is controllable by a spatially alignable wobble plate, wherein the steering gear comprises:
a first drive wheel and a second drive wheel, each with an assigned motor, and the second drive wheel is arranged offset by 180° from the first drive wheel on an axis of rotation common with the first drive wheel and running perpendicular to the longitudinal axis, and the wobble plate is mounted between the first drive wheel and the second drive wheel in a steering ring connected to a third gear wheel for conjoint rotation therewith, said third gear wheel for meshing with the first drive wheel and the second drive wheel and being rotatable about an axis of rotation which runs perpendicular to the common axis of rotation of the drive wheels; and wherein the steering gear further includes a support yoke which is rotatably mounted about the common axis of rotation of the drive wheels, wherein the steering ring is mounted in the support yoke in a manner rotatable about the axis of rotation of the third gear wheel such that the meshing of the third gear wheel with the drive wheels is ensured.

2 . The steering gear as set forth in claim 1 , wherein the support yoke has a u-shaped embodiment with a base and two limbs, wherein the base has a receptacle opening in which a steering ring connector formed on the steering ring is rotatably mounted, and wherein each limb has a bearing eye by means of which the support yoke is mounted in a manner rotatable about the common axis of rotation of the drive wheels ( 18 , 19 ), preferably in a manner rotatable on a journal of the drive wheels.

3 . The steering gear as set forth in claim 2 , wherein the steering ring connector has a cylindrical shape and is mounted by way of a steering ring bearing in a cylindrical portion of the receptacle opening.

4 . The steering gear as set forth in claim 2 , wherein the third gear wheel is present on the steering ring diametrically to the base ( 20 . 3 ) of the support yoke, or
the third gear wheel and the base of the support yoke are disposed on the same side of the steering ring.

5 . The steering gear as set forth in claim 4 , wherein the steering gear, in which the third gear wheel is disposed on the steering ring diametrically to the base ( 20 . 3 ) of the support yoke, includes a fastening element which provides an operative connection between the support yoke and the steering ring and which is designed to pull the steering ring with the connected third gear wheel in the direction of the base of the support yoke in order to ensure the meshing of the gear wheel with the drive wheels.

6 . The steering gear as set forth in claim 5 , wherein the fastening element of the steering gear with the cylindrically shaped steering gear connector, which is mounted by way of the steering ring bearing in the cylindrical portion of the receptacle opening ( 20 . 1 ), is a screw which is screwed into the steering ring connector ( 30 . 1 ) in the axis of rotation of the third gear wheel.

7 . The steering gear as set forth in claim 1 , wherein the steering ring is formed in one piece with the third gear wheel; and/or
the drive wheels each comprise at least one bevel gear rim portion for meshing with at least one bevel gear rim portion of the third gear wheel, wherein the bevel gear rim portions of the drive wheels and the bevel gear rim portion of the third gear wheel are formed as bevel rims over the entire circumference or extend over a first pre-determinable circumferential portion of the respective drive wheel and over pre-determinable circumferential portions of the third gear wheel, which provide the meshing of the drive wheels with the third gear wheel over a pre-determinable range of motion of the steering ring.

8 . The steering gear as set forth in claim 1 , wherein each drive wheel is actuatable by the assigned motor by way of a respective drive shaft, the drive axis of which corresponds to the common axis of rotation of the two drive wheels;
or
each drive wheel is actuatable by the assigned motor by way of a respective drive shaft and a respective gearing, wherein the drive axis of the drive shaft does not correspond to the common axis of rotation of the two drive wheels.

9 . The steering gear as set forth in claim 8 , wherein the gearing is one of:
a pinion, and the drive wheels each comprise at least one drive rim portion for meshing with the respective pinion, wherein the drive axes of both drive shafts run parallel to the common axis of rotation of the two drive wheels; and a worm shaft, and the drive wheels each comprise at least one drive rim portion for meshing with the respective worm shaft, wherein the drive axes run perpendicular to the common axis of rotation of the two drive wheels; and a drive bevel gear, and the drive wheels each comprise at least one drive rim portion for meshing with the respective drive bevel gear, wherein the drive axes of both drive shafts run perpendicular to the common axis of rotation of the two drive wheels.

10 . The steering gear as set forth in claim 9 , wherein the drive wheels are designed as double wheels, wherein the respective bevel gear rim portion is arranged axially adjacent to the drive rim portion and the bevel gear rim portions of the two double wheels face one another for the purpose of meshing with the third gear wheel; or
the respective drive rim portion extends over a second pre-determinable circumferential portion of the respective drive wheel, which provides the meshing of the drive wheels with the respective pinion or the respective worm shaft or the respective drive bevel gear over a pre-determinable range of motion of the steering ring, wherein the drive rim portion has no overlap with the respective bevel gear rim portion.

11 . The steering gear as set forth in claim 8 , wherein the gearing comprises a drive pinion, a toothed rack having an end toothing and a lateral toothing, and a transmission pinion, wherein the drive pinion is actuatable by the respectively assigned motor by way of the drive shaft and meshes with the lateral toothing of the toothed rack; and
the transmission pinion meshes with the end toothing of the toothed rack and is connected via an output shaft to the drive wheel; and wherein the drive axes run perpendicular to the common axis of rotation of the two drive wheels.

12 . The steering gear as set forth in claim 8 , wherein the gearing comprises a spindle and a traction mechanism, and the drive wheels are designed as double wheels, wherein the drive rim is designed as a traction mechanism plate, and wherein
the traction mechanism provides an operative connection between the spindle, which is arranged on the drive shaft, and the drive rim designed as a traction mechanism plate, wherein an orientation of the drive axes can be chosen as desired in relation to the common axis of rotation of the two drive wheels.

13 . The steering gear as set forth in claim 8 , wherein the gearing comprises a pulley and a traction mechanism, and the drive wheels are designed as double wheels, wherein the drive rim is designed as a pulley, and wherein
the traction mechanism provides an operative connection between the pulley, which is arranged on the drive shaft, and the drive rim designed as a traction mechanism plate, wherein the drive axes run parallel to the common axis of rotation of the two drive wheels.

14 . A surgical instrument i

Assignees

• Storz Karl Se & Co Kg

Inventors

• Grüner Sven Axel
• Längle Dominik
• Schneider Janosz
• Stefan Jochen

Classifications

• A61B2017/2903

  transferring rotary motion · CPC title

• A61B2017/00398

  using powered actuators, e.g. stepper motors, solenoids · CPC title

• B25J9/1035

  Pinion and fixed rack drivers, e.g. for rotating an upper arm support on the robot base · CPC title

• A61B17/29 Primary

  Forceps for use in minimally invasive surgery · CPC title

• A61B34/71 Primary

  Manipulators operated by drive cable mechanisms · CPC title