奥地利专利AT514914A4 Curving device, in particular robotic arm

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专利摘要:
Curving device (1), in particular a robot arm, with one of a plurality of mutually rotatable, hollow-shaped segments (2) formed hollow shaft (10), wherein the segments (2) to each other by at least one support means (16) are stabilized, wherein the at least one support device (16) is arranged between two adjacent segments (2) and the two adjacent segments (2) and the support device (16) form a continuous cavity (11).
公开号:AT514914A4
申请号:T754/2013
申请日:2013-09-30
公开日:2015-05-15
发明作者:
申请人:Lungenschmid Dieter Dr；
IPC主号:

专利说明:

The invention relates to a bending device, in particular a robot arm, with one of a plurality of mutually rotatable, hollow-shaped segments formed hollow shaft, wherein the segments to each other by at least one support means are stabilized.
A curving device of the type mentioned in the introduction is known from WO2013 / 080197 A1 and already belongs to the state of the art. This patent shows a robotic arm which can also be used in endoscopy and can adopt snake-like shapes and movements by twisting a plurality of wedge-shaped segments.
A curving device of this type should be easy in their design with small dimensions so as not already deformed by its own weight in the stretched state, for example, durchzubiegen or even kink. These characteristics, such as lightness, stability, compact design, are very contradictory. In addition, because of the large number of mutually rotatable segments which result in a change in the shape of the curving device, it is very difficult to stably fix this arrangement of individual components to each other. This is done, for example, as in the aforementioned patent by a joint which is installed between the segments. This joint is located at a location of the device that could actually be used. Because of the squat design, especially in a bender, there is already some leeway for, for example, drive components in the device, it would be advantageous if the internal cavity were free from interfering components Curving device is to be able to lay there - important for example for endoscopy - multi-purpose supply channel, which is not disturbed or interrupted even with a curvature of the curving device.
It is an object of the invention to avoid the drawbacks previously described and to provide a prior art improved bending device which is intrinsically stable yet offers more space for a more usable guide channel in its cavity.
This object is achieved according to the invention in that the at least one support device is arranged between two adjacent segments and the two-adjacent segments and the support device form a continuous cavity.
By the gimbal joint, which extends around the cavity of the shaft, a guide channel is formed which is free in itself and forms no obstacle in the guide channel even at the curvature of the bending device, which could influence, for example, the lines located there. Driving components and sensors, as Example, are internally installed in and encased in a base segment, these drive components lying outside the formed guide channel. Due to the use of each gimbal joint per angular segment, the gimbal point does not lie in the same plane as the contact surfaces of the segments, resulting in that the internally routed leads, for example, are not so severely kinked.
Brief Description:
Further details and advantages of the present invention will become more apparent from the following description of the figures with reference to the embodiments shown in the drawings. Show:
Fig. 1 a to Fig. 1 c different embodiments of a bending device in schematic sectional views
Fig. 1x to Fig. 1z schematic representation of the longitudinal axes and intersections
Figures 2a and 2b is a schematic representation of a gimbal joint in different views
3a to 3c are schematic representations different
Embodiments of a curved device in curved shapes,
Fig. 4 is a schematic representation of an embodiment consisting of two base segments and two angle segments in a sectional view
Fig. 5a and Fig. 5b several Angulierungssegmente in curved forms in a schematic sectional view
Figures 6a and 6b are schematic representations of an embodiment consisting of two base segments and two angle segments with a drive system in a sectional view
Figures 7a to 7c show several examples of drive systems and sensors in schematic sectional views
Fig. 8 schematically shows an example of an arrangement of
Segments in a stabilizing element, outer cover, inner cover and cables
9 shows an exemplary embodiment of a cooperating arrangement of the curving device, introduction tube and control unit in a sketch
Fig. 10 shows an embodiment of a bending device in her
commitment
1a shows a very simple embodiment of a plurality of mutually arranged segments 2, which are individually rotatable about its longitudinal axis and in their form at their contact surfaces 32 engage in order to
Assembling a stable hollow shaft 10 to give. The contact surfaces 32 are formed as symmetrical circular rings to allow for rotation of the individual segments 2 about the longitudinal axis 33 after engagement with the next segment 2. For example, the mating contact surfaces 32 may be provided with a low friction coating 6 and thus serve as a sliding bearing. This can be achieved, for example, with a Teflon coating, wherein instead of a coating 6, a pivot bearing 5 can be used. There are various types of bearing bearings, subordinate in plain bearings or roller bearings. Depending on the embodiment, therefore, a friction-poor arrangement of the individual segments 2 can be realized with each other both directly via a coating 6, as well as a pivot bearing 5 such as a plain bearing or roller bearings, such as needle roller bearings or ball bearings or a combination of all the possibilities. The bearing properties must be very low friction, so that at a slight contact of the hollow shaft 10, the segments 2 rotate in the opposite direction and the hollow shaft thus changed their shape. The hollow shaft 10 must be adaptable in shape to the environment that must move in its intended application through narrow and possibly soft, delicate, tubular formations, such as a colon 90 of a human body in a colonoscopy. By rotating the segments 2, the angle of the segments 2 to each other changed. Thus, by rotating one, and / or more segments 2, at different locations of the hollow shaft 10, a variety of shapes can be made. Similar to a snake, the arrangement of the segments 2 as a hollow shaft 10 can thus drift through obstacles and can escape when in contact with an obstacle, or, for example, follow the anatomical course of a bowel 90 without force on the intestinal wall.
The illustrated embodiment shows only one type of segments 2, each segment 2 being supported by a support means 16, in this embodiment by a gimbal hinge 3, to each other. Instead of the gimbal joints 3, a pivot bearing 5, such as an axial ball bearing can be glued between the segments. One side of the gimbal hinge 3, the armature disc 36, is fixedly connected to the segment 2, the other side, the sliding disc 34, serves as a pivotable platform for the next segment 2, on which it rotatably supported about its longitudinal axis 33. The gimbal joint 3 is shown in detail sketched in FIGS. 2a and 2b. The segments 2 and the gimbal joints 3 together form a flexible, yet rotationally stable hollow shaft 10, which can be used as a bending device 1. The gimbal joints 3 do not interfere with the cavity 11 in the hollow shaft 10 and remain fully functional in, for example, guide channel 4 for medical devices such as biopsy devices, cameras, purge lines, etc. No joint hinders the hollow shaft 10 in its cavity 11. The system shown in Fig. 1a has the advantage that few components are needed. Uncomplicated in the construction by the use of only angle segments 2b also gives the further advantage of very tight radii, which are achievable in the curvature of the hollow shaft 10. Nevertheless, it is difficult to accommodate, for example, a drive system in this type of Hohlwelle10.
1b shows a further, simple embodiment of a hollow shaft 10, this time consisting of two different segments 2, which are arranged in multiple numbers on symmetrical annular surfaces to each other. In this example, a distinction is made between angle segment 2b and base segment 2a.
Like the segments 2 in the figure description of FIG. 1 a, the individual segments 2 a, 2 b are rotatably mounted to one another on pivot bearings 5 or simply on the contact surfaces 32 due to their intermeshable form. The gimbal joint 3 used here as a support device 16, according to the invention shown annularly in this example, now sits firmly anchored, for example, on the base segment 2 with the armature disk 36 and supports with its sliding disk 34 the angle segment 2b. During a rotational movement on at least one angular segment 2 b, the system begins to warp - equipped with a continuous cavity 11, which is usable as a guide channel 4. The cylindrically structured base segments 2a make it easier to install drive components in the system or to stabilize the hollow shaft 10 by means of stabilizing elements 7 arranged around the segments 2, in which the base segments 2a are rotatably mounted. A hollow shaft 10, which consists only of angular segments 2b, as described in Fig. 1a, has due to the achievable radii in the bending of the hollow shaft 10 quite high demands on the
Flexibility of the stabilizing element 7. The expansion at the outer radius of the curved hollow shaft provides for extension on the stabilizing element 7, the compression at the inner radius provides for compression. In Fig. 1b, a base segment 2a is used between the angular segments 2b, which can additionally compensate for the extension-elongation differences on the stabilizing element 7 due to its length. Nevertheless, from the arrangement example as in Fig. 1b called a disadvantage. With only one angular segment between the base segments, the achievable radius is not as narrow as in Figure 1a.
Fig. 1c shows a combination of the embodiments of Figs. 1a and 1b. Between each base segment 2a are two angle segments 2b; Thus, the advantages of the two previously described embodiments are combined in one: tight radii can be achieved, there is sufficient space for drive components, the stabilizing element 7 can compensate for the expansion-extension differences that occur during twisting. Also in this embodiment, the support means 16 is an annular gimbal joint 3 installed, which is firmly anchored to the base segment 2a and other sliding disc 34, the associated angle segment 2b is supported. The resulting cavity 11 remains usable as a guide channel as in FIGS. 1a and 1b. In the case of the contact surfaces 32, a shaping with coating 6 is responsible for the easily rotatable mounting of the individual segments 2 in FIG. 1c. However, this can also be effected by rotary bearings 5 such as plain and / or roller bearings, as also explained in further description of the figures and, for example, in FIG For example, the individual segments 2 may be made of a plastic in an injection molding process, but as another example, of sintered light metal such as aluminum or titanium. It is important that the bending device 1 has a low dead weight and yet is stable. If the bending device 1 were too heavy, it would already sag by its own weight and tend to buckle.
FIG. 1 schematically shows the longitudinal axes 33 of the segments 2 about which these can rotate rotatably and thus change the angle to one another. Cardan points 51 are the points at which the gimbal joints 3, which are not apparent in FIG. 1 b, are used as support means 16. The intersections 31 are the starting points at which the angle of the segments change from each other. In this sketch, it is shown in which relation the gimbals 51 are located at the points of intersection 31. If only one gimbal joint were used for each point of intersection 31 to support the segments 2, the kink in the joints would be much more pronounced. The simply executed gimbal joint would thus bend off at the imaginary gimbal point 61. This also has the consequence that the cavity in which the gimbal joint is located, would have to be designed to be larger in order to make room for the further projecting gimbal 61. If all the segments 2 are oriented so that the hollow shaft 10 does not twist but forms a straight line, the gimbal points 51 are located on the longitudinal axis 33 together with the points of intersection 31.
Fig. 1y schematically shows the longitudinal axes 33 of the base segments 2a and the angular segments 2b. Due to only one gimbal joint 3 used as support means 16 between the base segments and also only one angular segment 2b, only one gimbal 51 results.
Fig. 1y schematically shows the longitudinal axes 33 of the base segments 2a and the two angular segments 2b lying between the base segments 2a, together with the gimbals 51. Again, as in Fig. 1x, it can be seen that by using two gimbal joints 3 no protruding cardan point 61 which would result from the use of only one gimbal joint 3.
Fig. 2a shows schematically the example of an annular gimbal joint 3, usable as a support means 16 consisting essentially of three basic bodies. The sliding disk 34 in its annular configuration with a sliding surface, which can not be seen in FIG. 2a, and an annular surface facing away therefrom, on which the receptacle of the annular disc 35 is located. This recording can be performed differently. In this schematic representation, there are two cuboid elevations. By means of, for example, recesses in the receptacles, the sliding disk 34 can be connected to the annular disk 35 by means of bolts 37, the annular disk 35 then being rotatably mounted about the longitudinal axis of the bolts 37. 90 ° offset to the annular disc is, for example, in turn pivotally attached to the receptacles of the armature disc 36 with bolts 37. The armature disk 36 is subsequently fastened to a segment 2 with its armature surface, which is not visible in FIG. 2a; glued to, for example, the base segment 2a. By the annular shape of the gimbal joint 3, it is possible to pass, for example, leads or supply cannulas, which are not impaired in the event of a kinking of the gimbal joint 3. Instead of bolts 37, by intermeshing shapes formed on the sliding disk 34, ring disk 35 and armature disk 36, flexible connection can also be made, such as by snap-fitting formed pins into openings provided therefor. Instead of a direct contact of the sliding disk 34 to the angle segment 2b, the contact can also be made on the sliding disk 35 fixed pivot bearing 5.
FIG. 2b shows a schematic representation of an assembled cardan ring joint 3. The angle segment 2b is guided guided on the sliding surface and / or on the circumference of the sliding disk 34 in the assembled state of the cardan ring joint 3, it also being possible for a further pivot bearing 5anbaubar on the sliding disk 34, which facilitates the rotation of the angle segment 2b about the gimbal joint 3. Like the segments 2, the gimbals joints 3 can be produced from a plastic or light metal.
Fig. 3a shows the arrangement shown in Fig. 1a of segments 2 in different curved shapes. Here, the advantage of the narrow radii can be seen, which can be achieved by a hollow shaft 10 constructed only by wedge segments 2b. In Fig. 3a you can see only the most extreme radii that can drive the hollow shaft 10. For example, due to the individually adjustable segments 2, each radius between the image and a larger one is possible. If only one segment 2 is rotated in the entire hollow shaft 10, the hollow shaft 10 will only have a bend and a straight line before or after the bend. If two segments are rotated simultaneously, and these are not directly juxtaposed, the hollow shaft 10 has a Z-shaped configuration. If several adjacent segments 2 are rotated simultaneously and relative to each other, a serpentine distortion of the hollow shaft 10 takes place; As a result, it is possible that if the rotation of the individual segments 2 were effected by, for example, at least one drive, such as one electric motor per segment 2, the hollow shaft could move in a serpentine manner by itself.
FIG. 3b shows a schematic representation of the arrangement of base segment 2a and wedge segment 2b already shown in FIG. 1b, wherein only one wedge segment 2b is inserted between the base segments 2a. Compared with Fig. 3a, the achievable radius is much smaller compared to Fig. 3a.
3c again shows a schematic representation of the base segment 2a arrangement explained in FIG. 1c and two adjacent angle segments 2b arranged in multiple rows to form a hollow shaft 10, for example usable as a bending device 1. The radius which can be achieved by two juxtaposed angle segments 2b is recognizable despite installed, cylindrical base segments 2a , Again, as in FIG. 3a, due to the two individually adjustable angle segments 2b, each radius can be approached between the one shown in FIG. 3c and a larger radius, insofar as in several angulation segments 12, consisting of a base segment 2a and two angular segments 2b, the adjoining angle segments 2b be twisted relative to each other.
Fig. 4 is a schematic illustration of an arrangement example of base segments 2a and angle segments 2b; detailed. This illustration shows how the base segments 2a and the angle segments 2b are positioned with respect to each other via a pivot bearing 5. These pivot bearings 5 can be designed both as rolling bearings, as well as plain bearings. As can also be seen in FIG. 1c, as an alternative to a rotary bearing 5, there is also a molding with coating 6 on the interface 32. On this rotary bearing 5, or the molding with
Coating 6 as shown in Fig. 1a to Fig. 1c, the segments 2 can rotate freely.
Supported by the annular gimbal joints 3, which are mounted with their sliders 34 in this example on a pivot bearing 5 between the angular segments 2b, the angle segments 2b rotate and cause at the points of intersection 31 by the relative rotation of an adjustment of the longitudinal axes 33 in relation to each other. This may be due to external influences, for example caused by the environment in which the hollow shaft 10 is moving, or by a drive system. The armature discs 36 of the cardan joint 3 are firmly connected to the base segment 2a. The ring segment 35, the sliding disk 34 and the angular segments 2b are thus movable.
Fig. 5a or 5b shows an example of differently adjusted angulation segments 12, each consisting of one base segment 2a and two angular segments 2b. Each element itself has a cavity 11. Further, the gimbal joint 3 is annular and sits in the cavity 11 of the angular segments 2b. Thus, the guide channel 4, which extends through the hollow shaft 10 results. The guide channel 4 is, as shown in FIGS. 5a and 5b, never interrupted; even if the hollow shaft 10 is twisted strongly as shown in this figure, the cavity 11 is always maintained.
Fig. 6a is a schematic representation of one embodiment of an assembly of a base segment 2a and two angular segments 2b, gimbal joints 3, positioned over each other over the pivot bearings 5 and marked by the cavity 11. In this cavity 11, which can now be used as a guide channel 4, there is the gas-tight and liquid-tight inner coating 20, which may include, for example, cables and lines. From this inner cover, individual supply lines emerge, which supply the drive units 22, such as electric motors, and the sensors 41, such as optical sensors. In this inner cover 20 are optional Bowden cables for medical devices 84, the camera line 83, irrigation and drainage lines 82, channels for therapeutic instruments, etc., which may be up to the end of the hollow shaft 11 mounted head 13, which can be seen in Fig. 9, continue. In this embodiment of the invention, two gimbals joints 3 are installed between the base segments 2a, so as not to affect the guide channel 4 at a distortion of the hollow shaft 10 too strong. If here only one gimbal joint 3 per segment was installed, which could only be bent at the intersection 31 of the two angle segments 2b, the bending occurring there would be twice as pronounced in the case of a curvature of the hollow shaft 10 than in the case of two gimbal joints 3. This has already been described in US Pat Fig. 1znäher explained. Thus, for example, the conduits in the guide channel 4 may better conform - arc in an arc through the angular segments 2b - and will not deflect there by just one hinge. Furthermore, the shear forces when using two gimbals 3 are reduced. With only one cardan joint 3, the load on the bolts 37 therein and their mounting would be higher, as seen in Figs. 2a and 2b. In the case of two gimbal joints arranged one on the other, the forces acting on it are divided.
On the shafts of the drive units 22 are gear wheels 25 which engage in a toothed rim 24 located at an angular segment 2b. The ring gear 24 is, like the cutting surface 32 of the angle segment 2b, symmetrically mounted or configured around the longitudinal axis 33 in the interior of the cavity 11 and is set in motion when the drive unit 22 is activated. Thus, the angle segment 2b rotates about the longitudinal axis upon activation of the drive unit 22, resulting in a curvature of the hollow shaft 11. If several drive units 22in the hollow shaft activated simultaneously, the whole hollow shaft 11 curves, whereby here the base segments 2a, in which the drive units 22 must be rotationally stable to each other, since otherwise by the rotational movement of the drive units 22 all segments would rotate in opposite directions, which may be could lead to shearing of the inner cover 20 and the lines therein. The stabilizing element 7 prevents this by the base segments located therein are rigidly attached to the stabilizing element 7, for example glued. The stabilizing segment 7 is explained in more detail in FIG. 8.
If the angle segments 2b rotate as a result of the drive units 22, their rotational position is detected by one sensor 41 per angle segment 2b.
The sensor 41 may, for example, be an optical sensor 41 in combination with a grid plate 26 on the opposite segment 2.
By way of example, it can be said that when the hollow shaft 11 is in a neutral state, that is, no angle element 2b generates a curvature on the hollow shaft 11, all sensors detect a value of zero. As soon as two adjoining angle segments 2b have rotated in opposite directions by a quarter turn, the sensor detects that the maximum angle of the angle segment 2b has been reached and at this point a curvature of the hollow shaft 10 has taken place. The direction of twisting is still set in neutral by rotation of both angle segments 2b by a maximum of half a turn. If now both angular segments 2b have been displaced from the neutral position in opposite directions by a quarter turn relative to each other, this corresponds to the maximum angle of both angular segments 2b and thus the maximum curvature at this location of the hollow shaft 10. The values such as neutral position, maximum range and everything in between are detected by the sensors 41 and passed to a control unit 40. This is explained in more detail in FIG. 9. If one now notifies at least one drive unit 22 that it has to rotate until it reaches a setpoint value at its associated sensor 41, the curvature can take place at this point of the hollow shaft 11 in a defined manner. Applying this message to several drive units 22 and awaiting feedback by the sensors 41, various motion scenarios or sequences, as well as shapes and positions on the hollow shaft 11 can be made by programmer 40, or simply flipped to accommodate their environment can. The plurality of drive units 22 and sensors 41 would be shifted via a bus signal, since otherwise each one of the components would occupy its own line. The control line 44 serves as a bus line and allows driving and detection of each individual angular segment 2b. If the bus line is made separable via a plug connection in each base segment 2a, or the base segments 2 are separably connected to the stabilizing element 7, as for example by screw connections or a bolt system, in the case of repair or
Maintenance the crumbling device 1 are decomposed into its components, which is a significant cost savings.
Fig. 6b shows in a schematically illustrated embodiment, a further variant of an Angulierungssegmentes 12, in this case without gimbals joints 3. The stability of the hollow shaft 10 is achieved in that the pivot bearing 5, shown in this example as an axial ball bearing, firmly connected to the contact surfaces 32 are. This can be done for example by a non-separable connection such as bonding, welding or soldering, or by a separable connection such as screwing or tapping. It is important that the rotary bearing 5 are placed in the peripheral region of the segments 2 a and 2 b and have a central passage opening so as not to interrupt the guide channel 4. The segments are thus secured to each other, but rotatable and form a continuous, stable hollow shaft 10. The guide channel 4 can thus also be equipped in this embodiment with an inner coating 20, which can accommodate lines, for example. The base segments 2a are secured to each other in a rotationally stable manner via a stabilizing element 7, as clearly shown in FIG.
Fig. 7a shows in a schematically illustrated example a further variant of an angulation segment 12, wherein the shape of the angle segment 2b engages in the shape of the base segment 2a. The ring gear 24 in this embodiment is now formed around a symmetrical elevation at the angular segment 2b, which after the assembly of angular segment 2b and base segment 2a, the gear 25 of the drive unit 22, for example, electric motor, can be contacted and driven by this. In this ring gear now also the sensor 41 engages with its own gear 25. In this embodiment, the sensor 41 is designed as a rotary potentiometer, further, the interlocking shapes of the segments 2 are configured with a coating 6 to allow a low-friction rotational movement.
Fig. 7b shows another example of a schematically illustrated angulation segment 12. Here, the sprocket 24 is mounted in the cavity 11 with the gear 25 engaging the sprocket 24 after assembling base segment 2a and angular segment 2b. In this embodiment, an optical sensor 41 is used, which registers the rotational position of the angle segment 2b via a raster disk 26. The drive units 22 and the sensors 41 are both located in the base segment 2a - each angulation segment 12 thus has two drive units 22 and two sensors 41. In this example, the angular segments 2b are mounted on the base segment 2a by means of rolling bearings as a pivot bearing 5. The bearing shells of the rolling bearings can be attached to the segments 2 in a bonding process; This results in a self-supporting, stable structure for the hollow shaft 10th
FIG. 7c schematically shows an example of an angulation system in which there are no drive units 22, for example in the form of an electric motor, in the angulation segments 12, but power transmission units 23. These are for example composed of couplings which are opened by an electrical signal from the control unit 40 or can be closed. These power transmission units 23 transmit, for example with a belt 81, the rotational movement of one of the rotary shafts 27 onto a gearwheel 25, which in turn rotates the ring gear 24. The rotary shafts are externally, that is, driven outside the hollow shaft 11, for example by means of an electric motor. When two counter rotating rotary shafts 27 are used, as shown in Fig. 7c, the power transmission units 23 may be coupled into one of the two rotary shafts 27 depending on the desired rotational direction, while the rotational position is detectable by means of optical sensors 41. The flexible rotary shafts 27 must be stored in a stable manner in order to be able to counteract the loads during engagement. For this purpose, the rotary shaft bearings 72 are provided, which may only be fastened in the base segments 2a. The rotary shafts 27 must pass through the angle segments 2 without contacting them. Otherwise, an endless rotation of the angle segments 2b would no longer be possible in relation to each other or to the base segments 2a.
FIG. 8 shows a schematic representation of an arrangement of base and angled segments 2 a, 2 b, which are gripped in a stabilizing element 7 and provided with an outer cover 21 and an inner cover 20. The stabilizing segment 7, for example, a torsionally stiff spiral steel shaft or a plastic fiber torsionally rigid fiber tube, or interlocking tubular plastic elements, is fixedly connected to the base segments 2a via a connection 8. For example, a base segment 2a may at least partially be bonded to its surrounding surface with the surrounding coil spring. The intermediate angle segments 3b remain rotatably mounted on the rotary bearings 5 and have no fixed connection with the stabilizing element 7. The bonding of the individual base segments 7 stabilizes the hollow shaft 10 and is supported in addition to the internally mounted cardan ring joints 3 also from the outside. The hollow shaft 10 is surrounded by an outer cover 21, which prevents ingress of gases and liquids. The outer cover 21 must be flexible enough to be able to compensate for the windings of the curving device 1. The inner cover 20, which seals the hollow shaft from the inside, surrounds the lines present in the guide channel 4.
FIG. 9 is a schematic illustration and an embodiment of a bending device 1 combined with an auxiliary device 42 connected to a regulating unit 40 and a display unit 45.
At one end of the curving device 1 is the head 13, which may be provided with, for example, a camera or sonography probe, mouths for the irrigation suction channel and therapy channel and may also be equipped with medical devices 84. Furthermore, in the head 13, the opening may be provided for an exit opening for a separate, external and thinner endoscope. The supply of these elements, which are located in the head 13, takes place for example via lines, cables, Bowden cables, etc, which are in the example of Fig. 1c declared cavity 11 or guide channel 4 said portion of the curving device 1 and leak at the end of the curving device 1her.
The conduits that exit there, such as the purge lines or aspiration conduits 82, are thus harnessed and can be used in concert with medical devices. Medical devices 84, as already mentioned above, are operated via the cables which also terminate in the end, shown in the sketch as Bowden cables. Furthermore, a camera line 83 emerges from the bending device 1, which can be connected directly to the display unit 45 or to the control unit 40 in a further sequence. to be able to get a picture of the camera positions in the head 13. The transmission of the image data of the camera can alternatively also take place via a wireless medium. The control and regulation of the curvature and curvature of the bending device 1 itself takes place via a control line 44, via which the commands reach the drive units 22 and the signals of the sensors 41. The ananatomically curved insertion tube 42, which determines the length and the rotational position of the passed through curving device 1, also hangs on this control line 44. Anatomically curved insertion tubes 42 are known from endoscopy; They serve to facilitate the insertion of the bending device 1. In addition to the length and angle sensors, the insertion tube 42 could be equipped with a feed device, which, controlled by, for example, a control device 40, allow a controlled, exact back and forth of the curving device 1.
If the bending device 1 is now used, for example, on a human and introduced in advance with the head 13, the anatomically curved insertion tube 42 initially serves as an insertion aid. Now, if the curving device 1 travels on its way through, for example, the human intestine 90, the length of penetration by the auxiliary device 42 is detected. The angulation of the head 13 is controlled visually controlled, with the speed of the insertion, the speed of the angular transfer is passed to the still outer segments 2. At a bending point of the intestine 90, in spite of forward or backward movements of the curving device 1, the direction and extent of the angulation remain constant. Despite the often bizarre curvatures of the intestine 90, no pain or injury occurs during an examination, even if the curving device 1 is intentionally or unintentionally hypnotized around the insertion, since the angle of rotation of the entire curving device is determined by the angle of rotation
Introduced insertion tube 42 attached angle sensor and passed to the control unit 40, which in turn drives the segments 2 so that they conform to the shape of the intestine 90. If, for example, a curvature of the intestine 90 now passes around the head 13 and the curving device 1 has to continue its path, the advance of the insertion tube 42 can continue to be used or the curling device 1 can be pushed on manually. The arc now formed on the bending device 1 must now not be pushed further, but must remain in place, relative to the forward movement of the bending device 1 - determined by the length of penetration and the angle of rotation of the bending device 1, passed to the control unit 40 and compared with the actual values of the sensors 41 and the angles of the angular segments 2b determined therefrom, the individual angle segments 2b are successively turned back or towards neutral in such a way that the curvature of the bending device 1 at the arch is maintained at the location of the intestine 90 and is no longer advanced into a now possibly straight intestinal area. This is applicable to all obstacles and convolutions of the intestine.
For example, since the small intestine is constantly moving, distending, compressing, etc., it may be that stresses can act on the curving device 1. If the bending device 1 remains longer in a certain position in the intestine 90, this can be switched off, which means that the contractions exerted by the arm walls on the curving device 1 can be compensated by means of free-running angle segments 2 and the curving device 1 freely exerts no influence on the environment in the intestine 90 , This "slack circuit" via a command, which can be notified via the control unit 40 to the bending device 1. In the event of a defect on the bending device 1 or an electronic disturbance, it must be immediately possible to switch all the angulation units 12 currentless and to interrupt the supply of the drive units 22. Thus, all angle segments 2b are rotatable and the curving device 1 can be pulled out of the intestine 90.
10 shows in an embodiment schematically a penetrated into the intestine 90 curving device 1, which requires no active movement in the insertion tube after insertion for propulsion. From a certain length, which the bending device 1 has penetrated, this, for example, super-serpentine movements can move on its own in the intestine 90. Controlled by adjustable parameters in the control unit 40, the curving device 1 can move down and thus "meander" through the bowel 90. Thus, the number of angulation segments 12 could be minimized because the feed made, for example, by the insertion tube 42 or manually , from a certain penetrated length is no longer necessary. Then, as it moves further into the intestine 90, the supply lines of the curving device 1 are simply retraced and the curling device 1 makes its way to the desired area by itself. In an emergency, the curling device 1 can be pulled out of the intestine 90 in a de-energized state on the control line 44.

权利要求:
Claims (17)
[1]
Claims 1. A bending apparatus (1), in particular a robot arm, having a hollow shaft (10) formed of a plurality of mutually rotatable, hollow-shaped segments (2), said segments (2) being stabilized relative to each other by at least one support means (16) characterized in that - the at least one supporting device (16) is arranged between two adjacent segments (2) and the two adjacent segments (2) and the supporting device (16) form a continuous cavity (11).
[2]
2. bending device according to claim 1, characterized in that the support means (16) as a gimbal joint and / or a pivot bearing (5) is formed.
[3]
3. bending device (1), in particular a robot arm, comprising a hollow shaft (10) formed of a plurality of mutually rotatable segments (2), in particular according to claim 1, wherein the segments (2) have at least two different groups of shapes and in these two groups Base segments (2a) and angle segments (2b) are distinguishable, characterized in that the base segment (2a) at least one for a drive unit (22) and / or power transmission unit (23) and / or at least one sensor (41) formed chamber (14).
[4]
4. bending device according to one of claims 1 to 3, characterized in that at least one of the two contact surfaces (32) of the at least one angular segment (2b) in their cutting angle both obliquely with respect to its longitudinal axis (33) and deviating from the orthogonal to the longitudinal axis (33) extends, wherein the contact surfaces (32) of the at least one base segment (2a) in its intersection angle orthogonal to the longitudinal axis (33).
[5]
5. bending device according to one of claims 1 to 4, characterized in that the plurality of composite segments (2) with a plurality of support means (16) resulting hollow shaft (10) forms a continuous cavity (11) which is usable as a guide channel (4), which is not interrupted even at a curvature of the curving device (1).
[6]
A bending device according to any one of claims 1 to 5, characterized in that the segments (2) are secured to their contact surfaces (32) by an interlocking mold formed by the segments (2) with a low-friction coating (6) such as Teflon and / or or by annularly configured pivot bearing (5), such as plain bearings or bearings, are mutually rotatably movable, wherein the contact surfaces (32) are formed as a symmetrical ring circles.
[7]
A curving device according to any one of claims 1 to 6, characterized in that the curving device (1) consists of a plurality of mutually rotatable, stackable angulation segments (12) formed by the arrangement of one base segment (2a) attached to the two contact surfaces (32). each having a rotatable angle segment (2b), each with an annular gimbal joint (3).
[8]
8. bending device according to one of claims 1 to 7, characterized in that the hollow shaft of a flexible stabilizing element (7), such as a spiral shaft or tissue wave, is surrounded.
[9]
9. bending device according to one of claims 1 to 8, characterized in that the flexible stabilizing element is bendable but still torsionally stable and thus a relative rotation of the at least two therein base segments (2a) about the longitudinal axis (33) to each other preventable.
[10]
10. bending device according to one of claims 1 to 9, characterized in that the at least one base segment (2a) in the flexible stabilizing element (7) is mounted rotationally stable, for example glued, the angle segments (2b) but about its longitudinal axis (33) are rotatable.
[11]
11. A bending device according to one of claims 1 to 10, characterized in that the curving device (1) in its guide channel (4) by a flexible inner cover (20) and from the outside by a flexible outer cover (21) is sheathed, through which a and permitting leakage of liquids and / or gases.
[12]
12. Curving device according to one of claims 1 to 11, characterized in that the rotation of the at least one segment (2, 2a, 2b) by at least one in the base segment (2a) or the support means (16) located drive unit (22) and / or power transmission unit (23) is operable.
[13]
13. Curving device according to one of claims 1 to 12, characterized in that the curving device (1) is at least partially or fully retractable in an anticipated, curved shape.
[14]
14. bending device (1) according to one of claims 1 to 13, characterized in that the bending device (1) via a slack circuit by external influences and not on the at least one drive unit (22) and / or power transmission unit (23) can be brought into shape.
[15]
15. The bending device according to claim 1, characterized in that a control unit is provided, wherein a rotational position of the at least one angle segment as an actual value can be detected via at least one sensor and can be communicated to the control unit Control unit (40) the actual value (70) is comparable to at least one communicable setpoint value (71), wherein the at least one angular segment (2b) is rotatable via the at least one drive unit (22) and / or power transmission unit (23) until the actual value (70) of the Rotary position coincides with the at least one communicable setpoint (71).
[16]
16. A bending device according to any one of claims 1 to 15, characterized in that via an insertion tube (42) together with the control unit (40), the position and the movement speed of the bending device (1) in relation to the insertion tube (42) is measurable, wherein on the insertion tube (42) preferably a feed unit (43) is available, via which the curving device (1) in the direction of its longitudinal axis (33) is displaceable.
[17]
17. A bending device according to any one of claims 1 to 16, characterized in that a control unit (40) is provided, wherein the bending device (1) via a data transmission means (44) for data exchange with the control unit (40) is connectable.

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同族专利:

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AT514914B1|2015-05-15|

DE202014007764U1|2014-10-14|

引用文献:

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US4990050A|1984-10-15|1991-02-05|Tokico Ltd.|Wrist mechanism|

EP0439931A1|1989-12-28|1991-08-07|Kabushiki Kaisha Machida Seisakusho|Method of producing a bending device, in particular for an endoscope or surgical catheter|

JP2000225591A|1999-02-09|2000-08-15|Nachi Fujikoshi Corp|Wrist device for industrial robot|

WO2006036067A2|2004-09-29|2006-04-06|Sinvent As|A controllable articulated element and a robotic snake including a skin structure and fire extinguishing nozzle|CN105729458A|2016-03-24|2016-07-06|天津理工大学|Rigid-flexible coupled trunk-shaped continuous robot|WO2013080197A1|2011-11-29|2013-06-06|Technion Research & Development Foundation Ltd.|Robotic mechanism with two degrees of freedom|CN104440944B|2014-12-26|2016-04-20|哈尔滨工业大学|A kind of skilful mechanical arm of oversoul with spine structure principle|

CA3046437A1|2016-12-16|2018-06-21|Universitat Basel|Apparatus and method for determining the orientation and position of two rigid bodies|

法律状态:
2019-05-15| MM01| Lapse because of not paying annual fees|Effective date: 20180930 |

优先权:

申请号 | 申请日 | 专利标题

ATA754/2013A|AT514914B1|2013-09-30|2013-09-30|Curving device, in particular robotic arm|ATA754/2013A| AT514914B1|2013-09-30|2013-09-30|Curving device, in particular robotic arm|

DE201420007764| DE202014007764U1|2013-09-30|2014-09-24|Curving device, in particular robotic arm|

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