Steering gear for a surgical instrument

Abstract

Steering gear (10) for a surgical instrument (52), wherein the steering gear (10) has a gear housing (12) and an interface (14) for coupling with a surgical instrument (52), wherein the interface (14) is designed such that the surgical instrument (52) can be coupled to the steering gear (10) in a direction (S) perpendicular to the longitudinal axis (L) of the steering gear (10), the interface (14) includes: a housing area (16) of the gearbox housing (12) which is designed for coupling with a housing (54) of the surgical instrument (52), and a steering clamp (18) for actuating a steering device (54) of the surgical instrument (52), wherein the steering clamp (18) can be coupled to a swashplate (60) of the steering device (54) of the surgical instrument (52) via the interface (14).

Description

[0001] The present invention relates to a steering gear for a surgical instrument. Furthermore, the present invention relates to a surgical instrument for coupling with such a steering gear. In addition, the present invention relates to a sterile drive system comprising a steering gear and a surgical instrument. The present invention also relates to a method for assembling such a sterile drive system.

[0002] Surgical instruments are known from the prior art that can be guided manually or by a robot and that feature tools whose tips can be pivoted by means of several interlocking pivoting elements. These pivoting elements are connected to a multitude of steering wires or cables to achieve precise control of the tool tip. The steering wires ensure a uniform force distribution in all directions of movement.

[0003] US Patent 7,699,855 B2 discloses a surgical instrument that has an interface for connecting the instrument to a robotic arm. All drives for the instrument's functions are located on the robotic arm. The transmission of rotational angles from the drives to the instrument is achieved via coupling discs in a common separating plane. WO 2014 / 004242 A1 and US Patent 2017 / 0165017 A1 disclose further embodiments of interfaces between a surgical instrument and the robot-mounted drives for powering the surgical instrument.

[0004] From DE 10 2019 121 092 A1, a surgical instrument is known that includes a steering gear. The steering gear allows the angles of two drives to be directly transmitted to a spatially adjustable disc (swashplate) to align it for controlling the tool tip. Steering wires are attached to the swashplate, enabling stepless and smooth control of the tool tip by aligning the swashplate. A gear for a surgical instrument is also known from US 10 105 128 B2. The gear of this surgical instrument comprises a movable disc and connecting rods arranged for moving the movable disc. From DE 10 2021 119 527 B3, another surgical instrument is known that includes a steering gear with a swashplate to control an angulation mechanism at a distal end.

[0005] Starting from this state of the art, the object of the present invention is to provide a steering gear with an interface for a surgical instrument via which a swashplate arranged on the instrument side can be controlled.

[0006] This problem is solved by a steering gear for a surgical instrument according to claim 1. Further embodiments are specified in the dependent claims.

[0007] The steering gear according to the invention comprises a gearbox housing and an interface for coupling with a surgical instrument. The interface is designed such that the surgical instrument can be coupled to the steering gear in a direction perpendicular to the longitudinal axis of the steering gear. The interface includes a housing section of the gearbox housing and a steering clamp for actuating a steering mechanism of the surgical instrument. The housing section of the gearbox housing is designed for coupling with a housing of the surgical instrument. The steering clamp can be coupled to a swashplate of the steering mechanism of the surgical instrument via the interface.

[0008] The steering gear according to the invention is designed to control the steering mechanism of a surgical instrument via its interface. In particular, a swashplate of the surgical instrument's steering mechanism can be controlled via the steering gear's interface. The surgical instrument can be placed on top of the steering gear and coupled to it via the interface. Due to the steering gear's interface, the surgical instrument can be constructed relatively simply and therefore cost-effectively. The surgical instrument can thus be designed as a so-called "limited-use" item. The steering gear's interface allows for intraoperative exchange of the surgical instrument.The sterile steering gear remains continuously coupled to a robot-mounted drive unit throughout the operation, while various surgical instruments can be coupled to the steering gear intraoperatively. The steering gear according to the invention is also sterilizable multiple times.

[0009] The steering clamp can be designed such that it engages with the swashplate of the surgical instrument in a direction perpendicular to the longitudinal axis. The surgical instrument can therefore be placed onto the steering gear in a direction perpendicular to the longitudinal axis of the steering gear. The steering clamp is thus open upwards, allowing the swashplate to engage with the clamp from above. The steering clamp can be coupled to the swashplate so that the movements of the steering clamp can be transmitted to the swashplate on the instrument side. Removing the surgical instrument from the steering gear also occurs in a direction perpendicular to the longitudinal axis of the steering gear. The surgical instrument can be changed intraoperatively, with the steering gear remaining attached to the drive unit throughout the operation.

[0010] The steering clamp can have at least one elastic section. The elastic section can form a central area of ​​the steering clamp. The at least one elastic section can be corrugated. The steering clamp can have two clamp arms. The two clamp arms can extend outwards from the elastic section. The two clamp arms can define a clamp opening into which the swashplate can be inserted to couple the swashplate to the steering clamp. The steering clamp can have axial contact surfaces for the swashplate. Corresponding contact surfaces of the swashplate can bear against the axial contact surfaces of the steering clamp when the swashplate is coupled to the steering clamp. The axial contact surfaces of the steering clamp are arranged oppositely to each other on the steering clamp. In other words, the axial contact surfaces of the steering clamp point away from each other.The axial contact surfaces of the steering clamp can extend at least essentially parallel to each other.

[0011] The steering gear can have at least two slides, each with at least one ball joint. The at least one ball joint can be rigidly connected to its associated slide. The ball joints on the slides serve to couple the slides to the steering clamp. The ball joints of the slides are designed such that the steering clamp can be movably attached to them. Changes in the relative position of the two slides result in changes in the relative positions of the ball joints, thereby allowing the steering clamp to be moved.

[0012] The steering clamp can have ball sockets with which it is connected to the ball joints on the slides. One ball socket can be formed on each of the clamp arms. The ball sockets can be located on the outside of the clamp arms. The elastic section of the steering clamp is positioned between the two clamp arms. The elastic section can therefore also be positioned between the two ball sockets. One ball joint on each slide and one ball socket of the steering clamp can form a joint that allows for articulated movements or deflections of the steering clamp.

[0013] Movements or deflections of the steering clamp can be caused, in particular, by a changing distance between the ball joints. This distance can change due to movements of the sliders along the longitudinal axis of the steering gear, which can cause the steering clamp to move and tilt. The changing distance between the ball joints, which are coupled to the ball sockets of the steering clamp, can be compensated for by the elastic section of the steering clamp.

[0014] The interface may include a traction claw designed for coupling with the steering mechanism of the surgical instrument. The traction claw may have a receptacle designed such that the traction claw can engage with the steering mechanism of the surgical instrument in a direction perpendicular to the longitudinal axis of the steering gear.

[0015] The steering gear can have a first drive spindle and a second drive spindle. Each drive spindle can drive one of the slides. The drive spindles can drive the slides in a direction parallel to the longitudinal axis of the steering gear. Since the two slides can be moved relative to each other via their respective drive spindles, the distance between the ball joints on the slides can change. By changing the relative position of the slides to each other, and thus by changing the distance between the ball joints, movements of the steering clamp can be triggered, which can be transmitted to the swashplate.

[0016] The drawbar can be driven via a third drive spindle. The drawbar can be moved along the longitudinal axis of the steering gear via this third drive spindle.

[0017] The drive spindles can extend through the gearbox housing parallel to the longitudinal axis of the steering gear and each have a drive disc at their ends, which can be coupled to motor drive discs of the robot-side drive unit.

[0018] The interface can include at least one spur gear for driving a shaft of the surgical instrument. The spur gear can be driven by a further drive pulley. The spur gear can be coupled to the drive pulley via a transmission. This transmission can consist of at least two gears. The spur gear can be connected to the transmission via a shaft. The transmission can, for example, compensate for an offset in a direction perpendicular to the longitudinal axis of the steering gear between the spur gear and the drive pulley. The at least one spur gear can be arranged in the direction of the longitudinal axis of the transmission housing between the steering clamp and the drawbar.

[0019] Alternatively, a shaft can be connected to a gear that transmits torque to the spur gear for driving the shaft of the surgical instrument. The spur gear can be located on the side of the steering clamp facing away from the drawbar. The spur gear can also be located at the end of the steering gear housing facing away from the drive pulleys.

[0020] The steering gear can have an additional interface for connection to a drive unit. This interface can include drive pulleys for coupling to the motor drive pulleys of a drive unit. The steering gear can thus have a first interface for coupling to the surgical instrument and a second interface for coupling to the drive unit. This drive unit can be located on the robot side. The coupling to the drive unit can be oriented along the longitudinal axis of the steering gear. The direction of the longitudinal axis can correspond to the direction of the axes of rotation of the steering gear's drive spindles, which run parallel to the longitudinal axis of the steering gear.

[0021] The second interface allows the steering gear to connect to the non-sterile drives on the drive unit, enabling the steering gear to remain continuously coupled to the drive unit and its drives throughout operation. The drive pulleys of the drive spindles can be located at the second interface of the steering gear. Specifically, the second interface can comprise a surface of the gearbox housing extending substantially perpendicular to the longitudinal axis of the steering gear, on which the drive pulleys are arranged. The motor drive pulleys can be located on the drive unit and can be coupled to the drive pulleys to transmit torque and drive the drive spindles of the steering gear.

[0022] The present invention further relates to a surgical instrument for coupling to an interface of a steering gear according to the type described above. The surgical instrument comprises a housing and a steering device arranged in the housing. The steering device can have at least one shaft, a swashplate, and steering wires connected to the swashplate. The housing has an opening through which the steering device can be coupled to the steering gear.

[0023] The surgical instrument is designed to be coupled to the steering gear interface in a direction perpendicular to its longitudinal axis. Due to the steering gear and the interface formed on it, the surgical instrument can have the simple and therefore cost-effective design described above. Because of its simple design, the surgical instrument itself can be a so-called limited-use item.

[0024] The swashplate can have a circumferential groove with axial contact surfaces for the steering clamp. The circumferential groove of the swashplate can engage with the steering clamp. The steering clamp can be at least partially accommodated in the groove. The corresponding axial contact surfaces on the groove of the swashplate and the axial contact surfaces on the steering clamp prevent the swashplate from tilting when movements are transmitted from the steering clamp to the swashplate of the surgical instrument.

[0025] The swashplate may have fastening elements for attaching the steering cables to it. For this purpose, fastening openings may be formed on the swashplate, extending radially into it. The fastening elements can be received in these openings and provide a clamping force for the steering cables to be attached to the swashplate. The fastening elements may be screws. Accordingly, the fastening openings in the swashplate may have an internal thread. In particular, the fastening elements may be set screws.

[0026] The steering device can comprise at least one draw sleeve and a rolling bearing arranged thereon. The draw sleeve and the rolling bearing arranged thereon can be designed for insertion into the receptacle of the draw claw of the steering mechanism. In the coupled state with the draw claw, the draw sleeve can transmit the movements of the draw claw along the longitudinal axis of the surgical instrument to a pull rod of the surgical instrument.

[0027] The steering mechanism can include at least one gear arranged on the shaft and capable of meshing with the spur gear of the steering transmission. The gear arranged on the shaft allows the shaft to be driven via the spur gear of the steering transmission to rotate the shaft. The at least one gear can be arranged longitudinally between the swashplate and the drawbar sleeve on the shaft. Alternatively, the at least one gear can be arranged longitudinally between the swashplate and a wall of the surgical instrument housing that extends perpendicular to the longitudinal axis.

[0028] The present invention further relates to a sterile drive system for a surgical instrument of the type described above. The drive system comprises a steering gear and a drive unit that can be attached to a robot arm. The drive system further comprises at least one sterile covering that surrounds at least the drive unit, wherein the sterile covering exposes an interface of the drive unit. The sterile steering gear can be directly coupled to the interface on the drive unit, the interface being covered by the steering gear. The sterile surgical instrument can be interchangeably coupled to the interface on the steering gear.

[0029] As described above, in addition to the first interface for the surgical instrument, the steering gear also features a second interface for coupling with the interface of the drive unit, which can be attached to a robot arm. The steering gear can be coupled directly to the interface of the drive unit. This means that the coupling can be made without intermediate elements such as a sterile adapter. In other words, the steering gear directly covers the non-sterile interface on the drive unit. The steering gear can remain continuously coupled to and covered by the non-sterile interface of the drive unit throughout an operation.

[0030] The drive unit can, for example, be attached to the robot arm via a guide device. The guide device can be in the form of a guide rail.

[0031] The sterile cover can be made of a film, for example. The sterile cover can have a window that exposes the interface on the drive unit, allowing it to be directly coupled to and covered by the steering gear. This covering of the non-sterile interface between the drive unit and the steering gear allows the sterile cover to be relatively simple in design. Therefore, it is not necessary to integrate a sterile adapter into the sterile cover or to connect a sterile adapter to the sterile cover.

[0032] Furthermore, the present invention relates to a method for assembling a sterile drive system for a surgical instrument described above, wherein the drive system comprises a sterile steering gear and a drive unit that can be attached to a robot arm. The method comprises the following steps: Applying a sterile covering at least to the drive unit, wherein the sterile covering exposes an interface of the drive unit, Attaching the sterile steering gear to the interface of the drive unit, wherein the sterile steering gear is directly coupled to the interface, and wherein the sterile steering gear covers the interface of the drive unit, and Coupling a sterile surgical instrument to the interface on the steering gear, wherein the surgical instrument is interchangeable.

[0033] The sterile steering gear can be directly attached to and coupled with the interface of the drive unit, without any intermediate components. No sterile adapter is required for the interface on the drive unit, as this interface is completely covered by the steering gear. This results in a direct connection between the steering gear and the interface of the drive unit.

[0034] The invention is explained below by way of example with reference to figures. The drawing, the description, and the claims contain numerous features in combination. A person skilled in the art will expediently consider the features individually and use them meaningfully in combination within the scope of the claims.

[0035] If more than one instance of a particular object exists, only one of them may be identified with a reference symbol in the figures and description. The description of this instance can then be applied to the other instances of the object. If objects are named using numerical terms, such as first, second, third object, etc., these serve to identify and / or classify objects. Thus, for example, a first object and a third object, but not a second object, may be included. However, numerical terms could also indicate a number and / or sequence of objects.

[0036] They represent: Fig. 1 a perspective view of a steering gear according to a first embodiment of the invention; Fig. 2 a perspective view of a surgical instrument according to a first embodiment of the invention; Fig. 3 a perspective view of a steering gear according to a second embodiment of the invention in the state coupled with a surgical instrument according to a second embodiment; Fig. 4 a perspective view of a drive unit attachable to a robot arm with a sterile covering; Fig. 5 a perspective view of the drive unit according to Fig. 4 in the state coupled with the steering gear; and Fig. 6 A perspective view of the drive unit, steering gear and surgical instrument in the coupled state.

[0037] Fig. 1 and Fig. Figure 2 shows a perspective view of a steering gear, generally designated 10. The steering gear 10 has a gear housing 12 and an interface 14 designed for coupling with a surgical instrument 52. The interface 14 includes a housing area 16 of the gear housing 12, which is designed for coupling with a housing 54 of the surgical instrument 52 (see Figure 2). Fig. 2) is formed. The housing area 16 has a receiving area 80 and a recess 82. The recess 82 extends along the outer surface 84 of the housing 12 along the housing area 16. The recess 82 is designed such that a rim 86 of the housing 54 of the surgical instrument 52 can be flush with the outer surface 84 of the gear housing 12. The recess 82 forms a contact surface 88 for the rim 86 of the housing 72 (see Fig. 2).

[0038] The receiving area 80 extends from a top surface 90 of the housing area 16 into the gearbox housing 12. The receiving area 78 serves to receive various components and elements of the steering gear 10, which are explained below.

[0039] The interface 14 includes a steering clamp 18 for actuating a steering device 56 of the surgical instrument 52. The steering clamp 18 can be engaged with the swashplate 60 of the surgical instrument 52 in the direction S. The steering clamp 18 has an elastic section 20. In the illustrated embodiment, the elastic section 20 is recognizable by its wave shape. In addition to the elastic section 20, the steering clamp 18 has two clamp arms 92 and 94. The wave-shaped elastic section 20 connects the clamp arms 92 and 94 to each other. The clamp arms 92 and 94 define a clamp opening 96 between them, through which the swashplate 60 can be engaged with the steering clamp 18. Accordingly, the steering clamp 18 is open in the direction S, i.e., upwards. The swashplate 60 can be inserted into the steering clamp 18 in the direction S, i.e., from above.

[0040] The steering clamp 18 further comprises axial contact surfaces 98 and 100 for the swashplate 60. The swashplate 60 can be supported on the axial contact surfaces 98 and 100 of the steering clamp 18. The axial contact surfaces 98 and 100 point away from each other, i.e., they are formed opposite to each other on the steering clamp 18. The contact surfaces 98 and 100 extend essentially parallel to each other.

[0041] The steering gear 10 has slides 22 and 24 that are displaceable parallel to the longitudinal axis L of the steering gear 10. The slides 22 and 24 can move the steering clamp 18. For this purpose, the slides 22 and 24 are coupled to the steering clamp 18. Each of the two slides 22 and 24 has a ball joint 26 that is fixedly attached to the respective slide 22, 24. The slides 22, 24 are coupled to the steering clamp 18 via the ball joints 26. The steering clamp 18 has ball sockets 28, in each of which one of the ball joints 26 is received. The steering clamp 18 is movably connected to the slides 22 and 24 via the ball joints 26. Each ball joint 26 forms a joint with a ball socket 28 of the steering clamp 18, so that the steering clamp 18 can perform articulated movements.

[0042] The ball sockets 28 are formed in the clamp arms 92 and 94. The elastic section 20 of the steering clamp 18 extends between the ball sockets 28. The steering clamp 18 can be moved by axial relative movements, i.e., movements along the longitudinal axis L, of the slides 22 and 24 relative to each other, i.e., by changes in the relative positions of the slides 22 and 24 in the axial direction relative to each other. These movements of the slides 22 and 24 relative to each other can change the distance between the ball heads 26 of the two slides 22 and 24, and thus the distance between the ball sockets 28 of the clamp arms 92 and 94. These changes in the distance between the ball heads 26, and thus between the ball sockets 28 of the steering clamp 28, can be compensated for by the elastic section 20 of the steering clamp 18.The movement patterns of the steering clamp 18 generated by the movements of the sliders 22 and 24 can be transferred to the swashplate 60 when the surgical instrument 52 is coupled to the steering gear 10.

[0043] The interface 14 further comprises a traction claw 30. The traction claw 30 can be coupled to the steering device 56 of the surgical instrument 52. The traction claw 30 has a receptacle 32 that is open in the S direction, i.e., upwards. This allows the traction claw 30 to engage with the steering device 56 of the surgical instrument 52 in the S direction.

[0044] The steering gear 10 has a first drive spindle 34 and a second drive spindle 36, the second drive spindle being in Fig. 1 is not shown. Fig. Figure 3 shows the second drive spindle 36. The first drive spindle 34 drives the first slide 22, and the second spindle 36 drives the second slide 24. Both drive spindles 34 and 36 are each connected to a drive pulley 40, 42. The drive pulley 42 arranged on the second drive spindle 36 is in Fig. Figure 3 shows that the drawbar 30 is connected to a third drive spindle 38, which can displace the drawbar 30 along the longitudinal axis L. The drive spindles 34, 36, and 38 extend parallel to the longitudinal axis L of the steering gear 10 through the gear housing 12.

[0045] The steering gear 10 has a spur gear 46 for driving a shaft 102 (see Fig. 2 and Fig. 6) of the surgical instrument 52. The spur gear is coupled to a gear 78, which is mounted on a shaft 58 of the surgical instrument 52 (see Fig. 2) is arranged. The spur gear 46 is connected to the drive disc 48 via the shaft 104 and a gear train 106, which includes gears 108 and 110. The gear train 106 allows for compensation of any misalignment in the direction S between the spur gear 46 and the drive disc 48.

[0046] The steering gear 10 also has a (second) interface 50. The second interface 50 of the steering gear 10 is designed for coupling with an interface 112 of a drive unit 114, which can be attached to a robot arm (see Fig. 4) The second interface 50 comprises the drive pulleys 40, 42, 44, 48 described above. The drive pulleys 40, 42, 44, 48 can be coupled to corresponding motor drive pulleys at interface 112 of the drive unit 114 for torque transmission. The second interface 50 on the steering gear 10 is designed such that interface 112 on the drive unit 114 can be concealed by the steering gear 10 (see Fig. 5).

[0047] The steering gear 10 thus has not only the first interface 14 but also a second interface 50. The second interface 50 can be formed at an end of the gear housing 12 facing away from the first interface 14 in the direction of the longitudinal axis L of the steering gear 10. The interface 50 can be formed on a coupling surface 116 of the gear housing 12 extending perpendicular to the longitudinal axis L. The drive discs 40, 42, 44, 48 can be arranged transversely and / or offset from one another in the direction S perpendicular to the longitudinal axis L on the coupling surface 116.

[0048] The coupling between the steering gear 10 and the drive unit 114 is in the direction of the longitudinal axis L. The coupling is correspondingly also in the direction of the axes of rotation of the drive spindles 34, 36, 38, since these extend parallel to the longitudinal axis L. The gear unit 106 can be arranged longitudinally L between the drawbar 30 and the second interface 50 with the drive pulleys 40, 42, 44, 48.

[0049] Fig. Figure 2 shows a perspective view of the surgical instrument 52. The surgical instrument 52 has a housing 54. A steering device 56 is arranged in the housing 54. The steering device 56 has a shaft 58, a swashplate 60, and steering wires 62 connected to the swashplate 60. A draw sleeve 74, a rolling bearing 76, and a gear 78, which serves to rotate the shaft 102, are arranged on the shaft 58. The draw sleeve 74 and the rolling bearing 76 arranged thereon can be inserted into the receptacle 32 of the draw claw 30 of the steering gear 10.

[0050] The steering device 56 is rotatably mounted on the housing 54 via rolling bearings 118 and 120. Corresponding bearing points 122 and 124 are provided on the housing 54 for this purpose. The housing 54 also has the opening 64 through which the steering device 56 can be coupled to the interface 14 of the steering gear 10. The opening 64 is at least partially bounded by the rim 86 of the housing 54. The rim 86 comes into contact with the recess 86 on the gear housing 12. The end face of the rim 86 can thereby bear against the contact surface 88 on the gear housing 12.

[0051] The swashplate 60 has a circumferential groove 66. The circumferential groove 66 has axial contact surfaces 68 and 70 for the steering clamp 18. The axial contact surfaces 68 and 70 face each other. The axial contact surfaces 68 and 70 can extend parallel to each other. The corresponding contact surfaces 98 and 100 of the steering clamp 18 are designed to contact or bear against the contact surfaces 68 and 70 of the groove 66. When the swashplate 60 is coupled to the steering clamp 18, the steering clamp 18 is received, at least partially, in the groove 66 of the swashplate 60. In this case, the axial contact surfaces 68, 70 of the groove 66 and the axial contact surfaces 98, 100 of the steering clamp 18 are in contact with each other and can bear against each other.This axial planar contact between the contact surfaces 68, 70, 98 and 100 prevents the swashplate 60 from tilting when pivoting or tilting movements are transmitted from the steering clamp 18 to the swashplate 60 in the coupled state.

[0052] The swashplate 60 has fastening elements 72 for attaching the steering cables 62 to the swashplate 60. For this purpose, fastening openings 126 extending radially in the direction of the longitudinal axis L next to the circumferential groove 66 are formed in the swashplate 60. The fastening elements 72 are received in the fastening openings 126. The fastening elements 72 can be screws and, in particular, set screws.

[0053] Fig. Figure 3 shows a perspective view of a steering gear 10 according to a second embodiment. Furthermore, in Fig. Figure 3 shows a surgical instrument 52 according to a second embodiment. The steering gear 10 and the surgical instrument 52 are shown in the coupled state. The assembly of the steering gear 10 according to Fig. 3 largely corresponds to the design of the steering gear 10 according to Fig. 1. The following description therefore focuses on the differences between these two embodiments.

[0054] The steering gear 10 according to the second embodiment comprises the gear housing 12 and the interface 14, which is designed for coupling with a surgical instrument 52. The interface 14 includes a housing section 16 of the gear housing 12, which is designed for coupling with a housing 54 of the surgical instrument 52. The housing section 16 has a recess 82. The recess 82 extends along the outer surface 84 of the housing 12 along the housing section 16. The recess 82 is designed such that the edge 86 of the housing 54 of the surgical instrument 52 is flush with the outer surface 84 of the gear housing 12. The interface 14 has the pulling claw 30 with the upwardly open receptacle 32.

[0055] The steering gear 10 comprises the first drive spindle 34 and a second drive spindle 36, wherein in Fig. Figure 3 also shows the second drive spindle 36. The first drive spindle 34 is assigned to the first slide 22. The second drive spindle 36 is assigned to the second slide 24. The third drive spindle 38 drives the draw claw 30 to move it along the longitudinal axis L. The drive spindles 34, 36, and 38 are connected to the drive pulleys 40, 42, and 44. Another drive pulley 48 is torque-transmittingly coupled to a spur gear 132 via a shaft 128 and a gear 130. The spur gear 132 drives the gear 134 on the shaft 58 of the surgical instrument 52. The gear 134 drives the shaft 102. The spur gear 132 according to this embodiment thus fulfills the same purpose as the spur gear 46 according to the one shown in Figure 3. Fig. 1. The embodiment shown. However, the spur gear 132 is provided along the longitudinal axis L on the side of the steering clamp 18 facing away from the drawbar 30.

[0056] The gear 134 of the surgical instrument 52 is also different from that of the surgical instrument 52 according to Fig. 2 closer to the shaft 102. According to the second embodiment, the gear 134 is arranged between the guide wires 62 and a wall section 136 of the housing 54. The wall section 136 extends at least partially perpendicular to the longitudinal axis L or to the shaft axis of the shaft 102 of the surgical instrument 52. The bearing point 122 for the rolling bearing 118 is formed on this wall section 136. The wall section 136 defines one end of the housing 54 in the direction of the longitudinal axis L. In other words, the gear 134 is arranged at an end of the housing 54 of the surgical instrument 52 that is forward of the shaft 102. In addition, the rolling bearing 76, which is arranged on the shaft shaft 58, is located in the Fig. In the embodiment of the surgical instrument 52 shown in Figure 3, the roller bearing 120 is arranged between the swashplate 60 and the roller bearing 120, via which the shaft 58 is supported on the housing 54. In the embodiment shown in Figure 3, the roller bearing 120 is arranged between the swashplate 60 and the roller bearing 120, and the shaft shaft 58 is supported on the housing 54. Fig. In the embodiment shown in Figure 2, the rolling bearing 120 for supporting the shaft 58 is arranged on the housing 54 between the swashplate 60 and the rolling bearing 76 on the draw sleeve 74.

[0057] The drive discs 40, 42, 44, and 48 are arranged at the second interface 50 of the steering gear 10. Specifically, the drive discs 40, 42, 44, and 48 are located on the coupling surface 116 of the gear housing 12, which extends perpendicular to the longitudinal axis L. The drive disc 40 associated with the first drive spindle 34 and the drive disc 42 associated with the second drive spindle 36 are arranged on the coupling surface 116 offset from each other in a direction transverse to the longitudinal axis L and in the direction S. In other words, the drive discs 40 and 42 are arranged at an angle to each other on the coupling surface 116 of the second interface 50. For this reason, the second drive spindle 36 is connected to the second slide 24 via a connecting piece 138. The connecting piece 138 is used in particular to compensate for the offset in the direction S between the second drive spindle 36 and the second slide 24 associated with it.Furthermore, the offset in the direction of S between the drive shafts 34, 36 is also compensated for via the connecting piece 138.

[0058] In the Fig. In the coupled state shown in Figure 3, the rim 86 of the housing 54 of the surgical instrument 52 rests against the recess 82. The housing 54 is therefore flush with the gearbox housing 12. The steering clamp 18 is received in the groove 66 of the swashplate 60. The rolling bearing 76 is received in the receptacle 32 of the drawbar 30. In the coupled state, the drawbar 30 is positioned as shown in Figure 3. Fig. 3 embodiment shown between the swashplate 60 and the rolling bearing 120.

[0059] The slides 22, 24 and the ball heads 26 (see Fig. 1) The movement patterns generated by the steering clamp 18 are transmitted via the steering clamp 18 to the swashplate 60. Since the contact surfaces 98 and 100 of the steering clamp 18 and the contact surfaces 68 and 70 of the swashplate 60 are in contact with each other, tilting of the swashplate 60 is prevented and reliable transmission of the movements to the swashplate 60 is achieved. The movements of the swashplate 60 actuate the steering wires 62, which in turn move or pivot the swivel elements of the tool (not shown) of the surgical instrument 52.

[0060] Fig. Figure 4 shows a perspective view of a drive unit 114 that can be attached to a robot arm (not shown). The drive unit 114 has an interface 112 for coupling with the steering gear 10. Four motor drive pulleys 140 are arranged at the interface 112, which can be coupled to the drive pulleys 40, 42, 44, 48 to drive the corresponding drive spindles 34, 36, 38 of the steering gear 10. The drive unit 102 and also parts of the guide device 142 arranged thereon, via which the drive unit 114 can be attached to the robot arm, are designed according to Fig. 4 is covered with a sterile cover 144. The sterile cover 144 encloses the drive unit 114, but leaves the interface 112 exposed. This allows the second interface 50 of the steering gear 10 to be directly coupled to the interface 112 of the drive unit 114. This means that the non-sterile drives with their non-sterile motor drive pulleys 140 do not need to be covered by the sterile cover 144 or an additional sterile adapter, since the non-sterile interface 112 of the drive unit 114 is completely covered by the sterile steering gear 10.

[0061] Fig. Figure 5 shows a perspective view of the drive unit 114 in its coupled state with the steering gear 10. The steering gear 10 is sterile. The steering gear 10 is coupled to the interface 112 of the drive unit 114 via its second interface 50. This coupling is in the direction of the longitudinal axis L of the steering gear 10, i.e., in the direction of the axes of rotation of the drive spindles, which extend parallel to the longitudinal axis L. The sterile steering gear 10 thus covers the non-sterile drives of the drive unit 114. The steering gear 10 can remain continuously attached to the drive unit 114 during an operation and cover the non-sterile drives of the drive unit 114 for the entire duration of the operation. Fig. Figure 6 shows a perspective view of the entire drive system 150. The drive system 150 comprises the drive unit 114, the steering gear 10, and the surgical instrument 52. The drive unit 114, the steering gear 10, and the surgical instrument 52 are arranged according to Fig. 6 coupled together. The surgical instrument 52 was placed on the steering gear 10 in the direction S and connected via the interface 14 of the steering gear 10 (see Fig. 1 to 5) is coupled to the steering gear 10. The shaft 102 of the surgical instrument 52 extends through a guide opening 146 on a guide projection 148 of the guide device 156.

[0062] The present invention relates to a steering gear 10 for a surgical instrument 52, wherein the steering gear 10 has a gear housing 12 and an interface 14 for coupling with a surgical instrument 52, wherein the interface 14 is designed such that the surgical instrument 52 can be coupled to the steering gear 10 in a direction S perpendicular to the longitudinal axis L of the steering gear 10, wherein the interface 14 comprises: A housing area 16 of the gearbox housing 12, which is configured for coupling with a housing 54 of the surgical instrument 52, and a steering clamp 18 for actuating a steering device 54 of the surgical instrument 52, wherein the steering clamp 18 can be coupled to a swashplate 60 of the steering device 54 of the surgical instrument 52 via the interface 14. The drawings, the description, and the claims contain numerous features in combination. Reference symbol list 10 Steering gear 12 Gearbox housings 14 Interface 16 Housing area 18 Steering clamp 20 elastic section 22, 24 sliders 26 ball head 28 ball cups 30 Pull claw 32 recording 34, 36, 38 drive spindles 40, 42, 44 drive pulleys 46 Spur gear 48 Drive pulley 50 interface 52 surgical instruments 54 cases 56 Steering device 58 Shaft 60 Swashplate 62 steering wires 64 Opening 66 Circumferential groove 68, 70 contact surfaces 72 fasteners 74 Pull sleeve 76 rolling bearings 78 gear 80 recording area 82 recess 84 Outside 86 Rand 88 site area 90 Top 92, 94 clamp arms 96 Clamp opening 98, 100 contact surfaces 102 shaft 104 wave 106 Gearboxes 108, 110 gears 112 Interface 114 Drive unit 116 coupling area 118, 120 rolling bearings 122, 124 storage locations 126 mounting holes 128 wave 130 gear 132 Spur gear 134 gear 136 Wall section 138 Connecting piece 140 motor drive pulleys 142 Guide system 144 Sterile Cover 146 Guide opening 148 Leading lead 150 drive system S direction L Longitudinal axis

Claims

[1] Steering gear (10) for a surgical instrument (52), wherein the steering gear (10) has a gear housing (12) and an interface (14) for coupling with a surgical instrument (52), wherein the interface (14) is designed such that the surgical instrument (52) can be coupled to the steering gear (10) in a direction (S) perpendicular to the longitudinal axis (L) of the steering gear (10), the interface (14) includes: a housing area (16) of the gearbox housing (12) which is designed for coupling with a housing (54) of the surgical instrument (52), and a steering clamp (18) for actuating a steering device (54) of the surgical instrument (52), wherein the steering clamp (18) can be coupled to a swashplate (60) of the steering device (54) of the surgical instrument (52) via the interface (14). [2] Steering gear (10) according to claim 1, wherein the steering clamp (18) is designed such that the steering clamp (18) can be brought into engagement with the swashplate (60) of the surgical instrument (52) in a direction (S) perpendicular to the longitudinal axis (L). [3] Steering gear (10) according to claim 1 or 2, wherein the steering clamp (18) has at least one elastic section (20). [4] Steering gear (10) according to one of claims 1 to 3, wherein the steering gear (10) has at least two slides (22, 24) each having at least one ball head (26), wherein the steering clamp (18) has ball sockets (28) with which it is attached to the ball heads (26). [5] Steering gear (10) according to claims 3 and 4, wherein the at least one elastic section (20) of the steering clamp (18) is arranged between the ball sockets (28). [6] Steering gear (10) according to one of claims 1 to 5, wherein the interface (14) has a drawbar (30) designed for coupling with the steering device (56) of the surgical instrument (52), wherein the drawbar (30) has at least one receptacle (32) designed such that the drawbar (30) can be brought into engagement with the steering device (54) of the surgical instrument (50) in a direction (S) perpendicular to the longitudinal axis (L) of the steering gear (10). [7] Steering gear (10) according to one of claims 4 to 6, wherein the steering gear (10) has a first drive spindle (34) and a second drive spindle (36) each driving one of the slides (22, 24). [8] Steering gear (10) according to claim 6, wherein the drawbar (30) can be driven via a third drive spindle (38). [9] Steering gear according to claim 7 or 8, wherein the drive spindles (34, 36, 38) extend parallel to the longitudinal axis (L) of the steering gear (10) through the gear housing (12) and each have a drive disc (40, 42, 44) at their ends which can be coupled to motor drive discs. [10] Steering gear (10) according to one of claims 1 to 9, wherein the interface (14) has at least one spur gear (46; 132) for driving a shaft (S) of the surgical instrument (52), wherein the spur gear (46) can be driven by a further drive disc (48). [11] Steering gear (10) according to claim 10, wherein the at least one spur gear (46; 132) is arranged in the direction of the longitudinal axis (L) of the gear housing (12) between the steering clamp (18) and the drawbar (30) or on the side of the steering clamp (18) facing away from the drawbar (30). [12] Steering gear (10) according to one of claims 9 to 11, wherein the steering gear (10) has a further interface (50) for connection with a drive unit (102), wherein this interface (50) comprises the drive discs (40, 42, 44, 48). [13] Surgical instrument (52) for coupling with an interface (14) of a steering gear (10) according to one of claims 1 to 12, wherein the surgical instrument (52) has a housing (54) and a steering device (56) arranged in the housing (54), wherein the steering device (56) has at least a shaft (58), a swashplate (60) and steering wires (62) connected to the swashplate (60), wherein the housing (54) has an opening (64) through which the steering device (56) can be coupled to the steering gear (10). [14] Surgical instrument (52) according to claim 13, wherein the swashplate (60) has a circumferential groove (66) which has axial contact surfaces (68, 70) for the steering clamp (18). [15] Surgical instrument (52) according to claim 13 or 14, wherein the swashplate (60) has fastening elements (72) for attaching the steering wires (62) to the swashplate (60). [16] Surgical instrument (52) according to one of claims 13 to 15 for coupling with an interface (14) of a steering gear (10) according to claim 6, wherein the steering device (56) comprises a draw sleeve (74) and a rolling bearing (76) arranged thereon, wherein the draw sleeve (74) and the rolling bearing (76) arranged thereon are designed for insertion into the receptacle (32) of the draw claw (30) of the steering gear (10). [17] Surgical instrument (52) according to one of claims 13 to 16 for coupling with an interface (14) of a steering gear (10) according to claim 10, wherein the steering device (56) has a gear (78; 134) which is arranged on the shaft (58) and can be engaged with the spur gear (46; 132) of the steering gear (10). [18] Sterile drive system (150) for a surgical instrument (52) according to one of claims 13 to 17, wherein the drive system (150) comprises a steering gear (10) according to one of claims 1 to 12 and a drive unit (114) attachable to a robot arm, wherein the drive system (150) comprises: at least a sterile covering (144) that surrounds at least the drive unit (114), wherein the sterile covering (144) exposes an interface (112) of the drive unit (114), wherein the sterile steering gear (10) can be directly coupled to the interface (112) on the drive unit (114), wherein the interface (112) is covered by the steering gear (10), and wherein the sterile surgical instrument (52) is interchangeably coupled to the interface (14) on the steering gear (10). [19] System (150) according to claim 18, wherein the coating (144) is a film. [20] Method for assembling a sterile drive system (150) for a surgical instrument (52) according to any one of claims 13 to 17, wherein the drive system (150) comprises a sterile steering gear (10) according to any one of claims 1 to 12 and a drive unit (114) attachable to a robot arm, the method comprising the following steps: Applying a sterile cover (144) at least to the drive unit (114), wherein the sterile cover (144) exposes an interface (112) of the drive unit (114), Attaching the sterile steering gear (10) to the interface (112) on the drive unit (114), wherein the sterile steering gear (10) is directly coupled to the drive unit (114), and wherein the sterile steering gear (10) covers the interface (112) of the drive unit (144), and Coupling a sterile surgical instrument (52) to the interface (14) on the steering gear (10), wherein the surgical instrument (52) is interchangeable.

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