Input unit for a medical instrument, and medical system comprising an input unit

Patent metadata

Field	Value
Publication number	US-2025082353-A1
Application number	US-202218291695-A
Country	US
Kind code	A1
Filing date	Jul 25, 2022
Priority date	Jul 28, 2021
Publication date	Mar 13, 2025
Grant date	—

Abstract

An input unit for operating a medical instrument includes: a hollow shaft extending along a longitudinal axis for receiving steering wires; a tool arranged at the distal end of the shaft and formed along an axis of extent; and a control unit, which is arranged at the proximal end of the shaft, for manipulating the tool by means of the steering wires. The input unit comprises first input means for continuously converting, in a pivotably and/or rotationally true manner and preferably without interruption and/or absolutely, an ergonomically limited user input, in particular a natural user movement of movable first operating means, into an adjustment movement of the tool in a first handling mode, in order to pivot the tool to a limited extent relative to the longitudinal axis and/or rotate it to a limited extent about the axis of extent by means of the control unit.

First claim

1 . An input unit for operating a medical instrument including: a hollow shaft extending along a longitudinal axis for receiving steering wires; a tool which is arranged at the distal end of the shaft and is formed along an axis of extent; and a control unit, which is arranged at the proximal end of the shaft, for manipulating the tool by means of the steering wires, the input unit comprising:
a first input means for continuously converting, in a pivotably and/or rotationally true manner and preferably without interruption and/or absolutely, an ergonomically limited user input, in particular a natural user movement of movable first operating means, into an adjustment movement of the tool in a first handling mode, in order to pivot the tool to a limited extent relative to the longitudinal axis and/or rotate it to a limited extent about the axis of extent by means of the control unit; and a second input means for at least partially, non-absolutely converting at least one further user input into an endless rotational movement of the tool about its axis of extent in a second handling mode, wherein the first input means are formed by a tweezer element suspended cardanically via a carrier element and including at least two leg sections which are oriented and formed in such a way that they can be gripped between the thumb and index finger of an operator in a working position in order to move the two leg sections toward each other from a rest position by means of application of force, in order to manipulate the tool, in particular a jaw part, wherein the tweezer element includes a pistol grip section designed for placing the palm of the operator's hand in the working position, and wherein the second input means are designed as second operating means either on the pistol grip section or on one or both of the leg sections.

2 . The input unit as set forth in claim 1 , wherein the second operating means is formed by a rotary element or rocker element, in particular a rotary wheel, a gauge wheel or a rocker switch, which is received by and/or arranged on the pistol grip section, in particular on a lateral outer surface of the pistol grip section, such that it protrudes in some regions, in such a way that it can be rotated or actuated, in the working position of the operator, by the remaining fingers of the hand used to pivot the leg sections, in order to serve the further user input.

3 . The input unit as set forth in claim 2 , wherein the rotary element is rotatable about an axis of rotation which runs substantially parallel to an axis of longitudinal extent of the pistol grip section.

4 . The input unit as set forth in claim 2 , wherein the rotary element is rotatable from a rest position along a positive angular range into a positive end stop and along a negative angular range into a negative end stop, in order to rotate the tool in the positive end stop in a first direction and in the negative end stop in a second direction counter to the first direction by the further user input.

5 . The input unit as set forth in claim 1 , wherein the second operating means are formed by at least one switch element for switching between the first handling mode and the second handling mode, wherein in the second handling mode the tweezer element is rotatable from the rest position into a left end stop and into a right end stop, wherein a permanent left rotation movement of the tool is able to be activated in the left end stop and a permanent right rotation movement of the tool is able to be activated in the right end stop.

6 . The input unit as set forth in claim 1 , wherein the second operating means includes a first switch element and a second switch element, wherein the first switch element is designed such that, by permanent or brief actuation of the first switch element, a first switching state can be activated in order to activate a permanent left rotational movement of the tool, and wherein the second switch element is designed such that, by permanent or brief actuation of the second switch element, a second switching state can be activated in order to activate a permanent right rotation movement of the tool.

7 . The input unit as set forth in claim 6 , wherein the at least one switch element or the first switch element and the second switch element is/are arranged on the pistol grip section, in particular on a side surface of the pistol grip section, such that, in the working position of the operator, it can be rotated by the remaining fingers of the corresponding hand provided for pivoting the leg sections.

8 . The input unit as set forth in claim 1 , wherein the leg section includes an upper leg section and a lower leg section, and
wherein the upper leg section and the lower leg section can be pivoted together about a first pivot axis, in particular in order to manipulate the jaw part, and wherein the upper leg section can be pivoted relative to the lower leg section about a second pivot axis, in order to control the further user input, in particular to rotate the jaw part, wherein the second pivot axis is oriented in particular orthogonally to the first pivot axis.

9 . The input unit as set forth in claim 1 , wherein the leg section, in particular the upper leg section, includes an in particular annular finger loop, which in particular is arranged at the end of the leg section.

10 . The input unit as set forth in claim 1 , wherein the tweezer element includes energy storage means, wherein the leg sections are pivotable from the rest position counter to the force of the energy storage means.

11 . A medical system, in particular an end effector and/or surgical robot, with at least one input unit as set forth in claim 1 , and with at least one medical instrument including a hollow shaft extending along a longitudinal axis for receiving steering wires for a tool which is arranged at the distal end of the shaft and is formed along an axis of extent and is provided for medical use on a patient, and a control unit, which is arranged at the proximal end of the shaft and which is operatively connected to the tool via the steering wires in order to move the tool in a first handling mode and in a second handling mode.

12 . The medical system as set forth in claim 11 , wherein the medical system includes a spatially adjustable plate which is in operative contact with the steering wires in order to pivot the tool to a limited extent by means of the steering wires along the longitudinal axis of the shaft, wherein the plate is endlessly rotatable about the longitudinal axis together with the shaft and the steering wires.

Assignees

• Storz Karl Se & Co Kg

Inventors

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

Classifications

• A61B2017/305

  Tweezer like handles with tubular extensions, inner slidable actuating members and distal tools, e.g. microsurgical instruments · CPC title

• A61B2017/00424

  ergonomic, e.g. fitting in fist · CPC title

• A61B2017/00367

  Details of actuation of instruments, e.g. relations between pushing buttons, or the like, and activation of the tool, working tip, or the like · CPC title

• A61B34/71

  Manipulators operated by drive cable mechanisms · CPC title

• A61B2090/033

  Abutting means, stops, e.g. abutting on tissue or skin · CPC title