Steering gear for a surgical instrument

Abstract

Steering gear (10) for a surgical instrument (70), wherein the steering gear (10) has a gearbox housing (12) and an interface (14) for coupling with a surgical instrument (70), wherein the interface (14) is designed such that the surgical instrument (70) 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) designed for coupling with a housing (72) of the surgical instrument (70), and a rotatably mounted steering fork (18) for actuating a steering device (74) of the surgical instrument (70), wherein the rotatably mounted steering fork (18) can be coupled to a swashplate (78) of the steering device (74) of the surgical instrument (70) 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 A 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 disk (swashplate) for aligning it to control the tool tip. Steering wires are attached to the swashplate, enabling stepless and smooth control of the tool tip by aligning the swashplate. From DE 10 2021 119 527 B3, another surgical instrument is known that includes a steering gear with a swashplate and steering wires for controlling the tool tip. A gear for a surgical instrument is also known from US 10 105 128 B. The gear of this surgical instrument comprises a movable disk and connecting rods arranged for moving the movable disk.

[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 rotatably mounted steering fork 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 rotatably mounted steering fork 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 onto the steering gear from above and coupled to it via the interface. The rotatably mounted steering fork is open at the top, allowing the swashplate to be inserted into the fork from above. 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 enables 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 fork can be designed such that it can engage with the swashplate of the surgical instrument in a direction perpendicular to its longitudinal axis. The surgical instrument can accordingly be mounted onto the steering gear in a direction perpendicular to its longitudinal axis. The rotatably mounted steering fork can be coupled to the swashplate so that the movements of the steering fork can be transmitted to the swashplate located 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. Changes of the surgical instrument can be performed intraoperatively, with the steering gear remaining attached to the drive unit throughout the operation.

[0010] The steering fork can have a groove. The groove can have axial contact surfaces for the swashplate. The axial contact surfaces of the groove can face each other. The axial contact surfaces can extend parallel to each other. The groove can be located on the inside of the steering fork. The groove can extend completely along the inside of the steering fork. The axial contact surfaces for the swashplate prevent the swashplate from tilting in the steering fork when tilting or rotational movements are transmitted from the steering fork to the swashplate.

[0011] 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.

[0012] The steering gear can have at least one mounting bracket, which is rotatably mounted on the gear housing about a first axis of rotation. The steering fork can be rotatably mounted on the mounting bracket about a second axis of rotation. The mounting bracket can have two connecting sections and a bearing section extending between the connecting sections. The steering fork can be rotatably mounted on the bearing section. The mounting bracket can thus pivot about the first axis of rotation. The second axis of rotation of the steering fork can intersect the first axis of rotation defined by the bearing shafts. In this way, a cardan joint mounting of the steering fork can be achieved.

[0013] The steering gear can have a first drive wheel and a second drive wheel, each rotatably mounted on the gearbox housing about the first axis of rotation via a bearing shaft. The retaining bracket can be rotatably mounted on the bearing shafts of the drive wheels. The retaining bracket can be connected to the bearing shafts via its connecting sections, so that the retaining bracket is rotatably mounted on the bearing shafts via these connecting sections.

[0014] The first and second drive gears can each have bevel gear teeth. The bevel gear teeth on the first and second drive gears can each be segmented. The bevel gear teeth can be in the form of a circular segment. These circular segments can, for example, extend over an angle of 60° to 120°.

[0015] The steering fork can have at least two bevel gear sections. These bevel gear sections can also be segmented. This means that the bevel gear sections can be in the form of circular segments. The bevel gear sections can, for example, extend over an angle of 60° to 120°. The bevel gear sections can mesh with the bevel gears on the drive wheels to enable movement of the steering fork.

[0016] The segmented design of the bevel gears and bevel gear sections allows for space savings. The steering gear can be manufactured without complete bevel gears, thus reducing the required installation space accordingly. Furthermore, the segmented design of the bevel gears and bevel gear sections prevents collisions between these elements and the steering wires of the surgical instrument when the surgical instrument is coupled to the steering gear via the interface.

[0017] The bevel gear sections can be formed integrally with the steering fork. Alternatively, the bevel gear sections can be manufactured independently of the steering fork as a separate component or components. In this case, the bevel gear sections can be connected to the steering fork to transmit torque. Manufacturing these components can be simplified by using a two- or multi-part design for the steering fork and the bevel gear sections to be connected to it.

[0018] The steering gear can have a first gear, a second gear, a first drive spindle, and a second drive spindle. The first gear can be assigned to the first drive spindle, and the second gear to the second drive spindle. The first and second gears can be rotatably mounted on the bearing shafts of the drive gears. The drawbar can be driven via a third drive spindle. The drawbar can be displaced along the longitudinal axis of the steering gear via the third drive spindle.

[0019] 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.

[0020] The interface can have 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 gearbox. This gearbox can consist of at least two gears. The spur gear can be connected to the gearbox via a shaft. The gearbox 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.

[0021] 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.

[0022] 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 this second interface of the steering gear. Specifically, this interface can encompass a surface of the gearbox housing that is 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.

[0023] 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.

[0024] 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.

[0025] The swashplate can have a circumferential projection with axial contact surfaces for the steering fork. The axial contact surfaces of the circumferential projection can point away from each other. The axial contact surfaces can be arranged oppositely to each other on the projection. The axial contact surfaces can extend parallel to each other. The circumferential projection of the swashplate can engage with the groove on the inside of the steering fork. The corresponding axial contact surfaces on the groove of the steering fork and the axial contact surfaces on the circumferential projection of the swashplate prevent tilting during the transmission of tilting and rotational movements from the steering fork to the swashplate of the surgical instrument.

[0026] The circumferential projection of the swashplate can incorporate fastening elements for attaching the steering cables to the swashplate. Since the fastening elements can be accommodated in the circumferential projection of the swashplate, they, along with the circumferential projection, can be housed in the groove of the steering fork, saving space, when the steering fork is coupled to the swashplate. For this purpose, openings extending radially into the swashplate can be formed in the circumferential projection. 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 can be screws. Accordingly, the openings in the swashplate can have an internal thread. In particular, the fastening elements can be set screws.

[0027] 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.

[0028] The steering device can have at least one gear arranged on the steering shaft and capable of meshing with the spur gear of the steering transmission. The gear arranged on the steering shaft allows the steering shaft to be driven by the spur gear of the steering transmission, thus setting the steering shaft into rotation.

[0029] 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.

[0030] As described above, in addition to the interface for the surgical instrument, the steering gear also features a further 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.

[0031] The drive unit can, for example, be attached to the robot arm via a guide device.

[0032] 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.

[0033] 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.

[0034] 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.

[0035] 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.

[0036] 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, in particular by means of 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, a number and / or a sequence of objects could also be derived from numerical terms. The drawings, the description, and the claims contain numerous features in combination.

[0037] They represent: Fig. 1 a perspective view of a steering gear according to an embodiment of the invention; Fig. 2 another perspective view of the steering gear according to Fig. 1; Fig. 3 a perspective view of a surgical instrument according to an embodiment of the invention; 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 to the steering gear; Fig. 6. A perspective view of the drive unit, steering gear, and surgical instrument in the coupled state; and Fig. 7 A partially cutaway view of the drive unit, steering gear and surgical instrument in the coupled state.

[0038] The Fig. 1 and Fig. Figure 2 shows perspective views of a steering gear, generally designated 10. The steering gear 10 has a gearbox housing 12 and an interface 14 for coupling with a surgical instrument 70 (see Figure 2). Fig. 3) is formed. The interface 14 comprises a housing area 16 of the gear housing 12, which is designed for coupling with a housing 72 of the surgical instrument 70 (see Fig. 3) is formed. The housing area 16 has a receiving area 108, two bearing sections 110 and 112, and a recess 114. The recess 114 extends along the outer surface 116 of the housing 12 along the housing area 16. The recess 114 is designed such that a rim 118 of the housing 72 of the surgical instrument 70 can be flush with the outer surface 116 of the gear housing 12. The recess 114 forms a contact surface 120 for the rim 118 of the housing 72 (see Fig. 3).

[0039] The receiving area 108 is formed between the two bearing sections 110 and 112 and extends from a top surface 122 of the housing area 16 into the gearbox housing 12. The receiving area 108 serves to receive various components and elements of the steering gear 10, which are explained below. The bearing sections 110 and 112 project substantially in the direction S from the top surface 122.

[0040] The interface 14 comprises a rotatably mounted steering fork 18 for actuating a steering mechanism 74 of the surgical instrument 70. The steering fork 18 can be engaged with the swashplate 78 of the surgical instrument 70 in the direction S. The steering fork 18 is open in the direction S. In other words, the steering fork 18 is open upwards. Accordingly, the steering fork 18 has an insertion opening 124 through which the swashplate 78 of the surgical instrument 70 can be inserted into the steering fork 18 in the direction S. The steering fork 18 has a groove 20 with axial contact surfaces 22 and 24 for the swashplate 78. The contact surfaces 22 and 24 are opposite each other and extend parallel to each other. The groove 20 is formed on the inside of the steering fork 18 and extends along its inner surface.

[0041] The interface 14 further comprises a traction claw 26. The traction claw 26 can be coupled to the steering device 74 of the surgical instrument 70. The traction claw 26 has a receptacle 26 that is open in the S direction, i.e., upwards. This allows the traction claw 26 to engage with the steering device 74 of the surgical instrument 70 in the S direction.

[0042] The steering gear 10 has a first drive wheel 32 (see Fig. 2) and a second drive wheel 34. A bearing shaft 36, 38 is assigned to each of the first drive wheel 32 and the second drive wheel 34. The first drive wheel 32 and the second drive wheel 34 are rotatably mounted on each of the bearing sections 110 and 112 of the housing area 16 via the bearing shafts 36 and 38. The bearing shafts 36 and 38 define a first axis of rotation D1.

[0043] The steering gear 10 has a retaining bracket 30, which is rotatably mounted on the bearing shafts 36 and 38 about the first axis of rotation D1. The retaining bracket 30 is rotatably mounted via the bearing shafts 36 and 38 on the bearing sections 110 and 112 of the housing area 16. The steering fork 18 is rotatably mounted on the retaining bracket 30 about a second axis of rotation D2. Already in Fig. Figure 1 shows that the second axis of rotation D2 and the first axis of rotation D1 intersect. Both axes of rotation D1 and D2 are perpendicular to each other.

[0044] The steering gear 10 further comprises a first gear 48 and a second gear 50. The first gear 48 and the second gear 50 are rotatably mounted on each of the bearing shafts 36 and 38, respectively. The gears 48 and 50 are thus rotatable about the first axis of rotation D1. The first gear 48 engages with a first drive spindle 52. The second gear 50 engages with a second drive spindle 54. The drive spindles 52 and 54 drive the gears 48 and 50 to displace the steering fork 18. The drawbar 26 is connected to a third drive spindle 56, which can displace the drawbar 26 along the longitudinal axis L.

[0045] The drive spindles 52, 54 and 56 extend parallel to the longitudinal axis of the steering gear 10 through the gearbox housing 12. At the ends of the drive spindles 52, 54 and 56, a drive pulley 58, 62 is arranged, each of which can be coupled to a motor drive pulley (not shown). Fig. Figure 1 shows only the drive pulleys 58 and 62 on the drive spindles 52 and 56. The drive pulley arranged on the drive spindle 54 is shown in Fig. 1 not shown.

[0046] The steering gear 10 has a spur gear 64 for driving a shaft 60 of the surgical instrument 70 via a gear 98 on a shaft shaft 76 of the surgical instrument 70 (see Fig. 3) The spur gear 64 is connected to a drive pulley 66 via the shaft 126 and a gear train 128, which includes gears 130 and 132. The gear train 128 compensates for any misalignment in the direction S between the spur gear 64 and the drive pulley 66.

[0047] The steering gear 10 also has a further interface 68. The interface 68 is designed for coupling with an interface 106 of a drive unit 102, which can be attached to a robot arm (see Fig. 4) Interface 68 comprises the drive pulleys 58, 62, and 66 described above. The drive pulleys 58, 62, and 66 can be coupled to corresponding motor drive pulleys at interface 106 of the drive unit 102 to transmit torque. Interface 68 on the steering gear 10 is designed such that interface 106 on the drive unit 102 can be concealed by the steering gear 10 (see Figure 1). Fig. 5) The coupling between the steering gear 10 and the drive unit 102 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 52, 54, 56, since these extend parallel to the longitudinal axis L. The gear unit 128 can be arranged longitudinally L between the drawbar 26 and the interface 68 with the drive pulleys 58, 62 and 66.

[0048] The steering gear 10 thus has not only the first interface 14 but also a second interface 68. The second interface 68 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 68 can be formed on a coupling surface 134 of the gear housing 12 extending perpendicular to the longitudinal axis L. The drive discs 58, 62, and 66 can be arranged transversely and / or offset from one another in the direction S perpendicular to the longitudinal axis L on the coupling surface 134.

[0049] In Fig. 2 is compared to Fig. It is clearly evident that the steering fork has 18 bevel gear sections 44 and 46. The same applies to the bevel gears 40, 42 on the drive gears 32, 34, which are in Fig. 2 are shown.

[0050] In view according to Fig. 2. The bevel gear sections 44 and 46 are formed integrally with the steering fork 18. However, the bevel gear sections 44 and 46 can also be formed as elements independent of the steering fork 18. In this case, the bevel gear sections 44 and 46 can have at least one connecting element (not shown) that can serve to transmit torque between the bevel gear sections 44 and 46 and the steering fork 18.

[0051] The bevel gear sections 44, 46 on the steering fork 18 engage with the bevel gears 40, 42 on the drive gears 32, 34. From the Fig. 1 and Fig. Figure 2 shows that the bevel gear sections 44, 46 on the steering fork 18 and the bevel gears 40, 42 on the drive wheels 32, 34 are only formed in segments. The segmented design of the bevel gear sections 44, 46 and the bevel gears 40, 42 saves installation space. Furthermore, the segmented design of the bevel gear sections 44, 46 and the bevel gears 40, 42 prevents collisions with the steering wires 80 of the surgical instrument 70.

[0052] In Fig. Figure 2 shows the arrangement of the drive wheels 32, 34, the gears 48, 50, the retaining bracket 30, and the steering fork 18. Gears 48 and 50, driven by the drive spindles 52 and 54, are arranged inwards along the axis of rotation D1. The retaining bracket 30 is arranged on the bearing shafts 36 and 38 inwards along the axis of rotation D1.

[0053] The retaining bracket 30 has two connecting sections 136 and 138, by means of which the retaining bracket 30 is rotatably attached to the bearing shafts 36 and 38. The connecting sections 136 and 138 extend essentially parallel to each other and parallel to the second axis of rotation D2. The two connecting sections 136 and 138 are connected to each other via a bearing section 140. The bearing section 140 forms the base of the retaining bracket 30. The bearing section 140 is therefore referred to as a bearing section because it is designed for the rotatable mounting of the steering fork 18. The steering fork 18 is rotatably mounted about the second axis of rotation D2 on the bearing section 140 of the retaining bracket 30. For this purpose, the retaining bracket 30 has a bearing device 142 for the steering fork 18 on its bearing section 140. Such a bearing device 142 can, for example, be a rolling bearing. The axes of rotation D1 and D2 intersect perpendicularly.This creates a cardan bearing for the steering fork 18 by means of the retaining bracket 30, which is open upwards in the direction S.

[0054] In the direction of the axis of rotation D1 within the retaining bracket 30, or between the connecting sections 136 and 138 of the retaining bracket 30 and the steering fork 18, the drive gears 32 and 34 with their bevel gears 40, 42 are arranged. The bevel gears 40, 42 engage with the bevel gear sections 44, 46 on the steering fork 18.

[0055] Fig. Figure 3 shows a perspective view of the surgical instrument 70. The surgical instrument 70 has a housing 72. A steering device 74 is arranged in the housing 72. The steering device 74 has a shaft 76, a swashplate 78, and steering cables 80 connected to the swashplate 78. A draw sleeve 94, a rolling bearing 86, and a gear 98, which serves to rotate the shaft 60, are arranged on the shaft 76. The draw sleeve 94 and the rolling bearing 94 arranged thereon can be inserted into the receptacle 28 of the draw claw 26 of the steering gear 10.

[0056] The steering device 74 is rotatably mounted on the housing 72 via rolling bearings 144 and 146. Corresponding bearing points 148 and 150 are provided on the housing 72 for this purpose. The housing 72 also has the opening 82 through which the steering device 74 can be coupled to the steering gear 10. The opening 82 is at least partially defined by the rim 118 of the housing 72. The rim 118 comes into contact with the recess 114 on the gear housing 12. The end face of the rim 118 can thereby bear against the contact surface 120.

[0057] The swashplate 78 has a circumferential projection 84. The circumferential projection 84 has axial contact surfaces 86 and 88 for the steering fork 18. The contact surfaces 86 and 88 point away from each other and extend parallel to each other. When the swashplate 78 is coupled to the steering fork 18, the circumferential projection 84 is received in the groove 20 of the steering fork 18. In this case, the axial contact surfaces 22, 24 of the groove 20 and the axial contact surfaces 86 and 88 on the circumferential projection 84 are in contact with each other and can bear against each other. This axial planar contact between the contact surfaces 22, 24, 86, and 88 prevents the swashplate 78 from tilting during rotation and / or tilting movements when coupled to the steering fork 18.

[0058] Furthermore, the circumferential projection 84 has fastening elements 90 for attaching the steering cables 80 to the swashplate 78. For this purpose, radially extending openings 152 are formed in the circumferential projection 84. The fastening elements 90 are received in the openings 152. The fastening elements 90 can be screws.

[0059] Fig. Figure 4 shows a perspective view of a drive unit 102 that can be attached to a robot arm (not shown). The drive unit 102 has an interface 106 for coupling with the steering gear 10. Four motor drive pulleys 154 are arranged at the interface 106, which can be coupled to the drive pulleys 58, 62, and 66 to drive the corresponding drive spindles 52, 54, and 56 of the steering gear 10. As already mentioned, one of the drive pulleys is located in the Fig. 1 and Fig. 2 not shown. However, the steering gear 10, or the second interface 68 of the steering gear 10, comprises four drive pulleys that can be coupled to the motor drive pulleys 154. The drive unit 102 and also parts of the guide device 156 arranged thereon, by means of which the drive unit 102 can be attached to the robot arm, are shown according to Fig. 4 is covered with a sterile cover 104. The sterile cover 104 encloses the drive unit 102, but leaves the interface 106 exposed. This allows the second interface 68 of the steering gear 10 to be directly coupled to the interface 106 of the drive unit 102. This means that the non-sterile drives with their non-sterile motor drive pulleys 154 do not need to be covered by the sterile cover 104 or an additional sterile adapter, since the non-sterile interface 106 of the drive unit 102 is covered by the steering gear 10.

[0060] Fig. Figure 5 shows a perspective view of the drive unit 102 in the coupled state with the steering gear 10. The steering gear 10 is sterile. The steering gear 10 is coupled to the interface 106 of the drive unit 102 via its second interface 68. 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 102. The steering gear 10 can remain continuously attached to the drive unit 102 during an operation, covering the non-sterile drives of the drive unit 102.

[0061] Fig. Figure 6 shows a perspective view of the drive unit 102, the steering gear 10 coupled to it, and the surgical instrument 70 now coupled to the steering gear 10. The surgical instrument 70 was placed on the steering gear 10 in the direction S and connected via the interface 14 of the steering gear 10 (see Figure 6). Fig. 1 to 5) coupled to the steering gear 10. The shaft 60 of the surgical instrument 70 extends through a guide opening 158 on a guide projection 160 of the guide device 156.

[0062] Fig.Figure 7 shows a partially cut-out perspective view depicting the surgical instrument 70, the steering gear 10, and the drive unit 102 in their coupled state. The steering gear 10 was coupled to the drive unit 102 via its interface 68. The surgical instrument 70 was placed onto the steering gear 10 in the S direction. This brought the housing area 16 of the steering gear 10 housing 12 into engagement with the surgical instrument 70 housing 72. The rim 118 rests against the recess 114. When the surgical instrument 70 is coupled to the steering gear 10, the swashplate 78 is located in the steering fork 18, and the roller bearing 94 is located in the receptacle 28 of the drawbar 26. The circumferential projection 84 of the swashplate 78 is received in the groove 20 of the steering fork 18.

[0063] The spur gear 64 of the steering gear 10 engages with the gear 98 on the shaft 76 to drive the shaft 60. In the coupled state, the surgical instrument 70 can be controlled via the steering fork 18, whose movements are transmitted via the swashplate 78 and the steering wires 80 to the surgical instrument or the actual tool (not shown).

[0064] In the coupled state of the steering gear 10 and the surgical instrument 70, the movements of the steering fork 18 and swashplate 78 can be effected by the steering gear 10 as follows: If the drive spindles 52 and 54 are driven in opposite directions, causing the gears 48 and 50 to move in opposite directions around the first axis of rotation D1, the steering fork 18 can be rotated around the second axis of rotation D2.

[0065] If the drive spindles 52 and 54 are driven in the same direction of rotation, so that the gears 48 and 50 move in the same direction, the retaining bracket 30, and thus the steering fork 18, is pivoted about the first axis of rotation D1. This pivoting movement results from the fact that, when the drive spindles 52 and 54 are driven in the same direction of rotation, the meshing bevel gear sections 44, 46 and the bevel gears 40, 42 do not cause a rotational movement of the steering fork 18 about the second axis of rotation D2. Since the axes of rotation D1 and D2 intersect, a cardan bearing can be provided for the steering fork 18.

[0066] The movements of the steering fork 18 described above allow the swashplate 68 of the surgical instrument 70 to be displaced and thus spatially adjusted. The movements of the swashplate 78 are transmitted via the steering wires 80 to the pivot links of the actual tool (not shown) on the surgical instrument 70.

[0067] The present invention relates to a steering gear 10 for a surgical instrument 70, wherein the steering gear 10 has a gear housing 12 and an interface 14 for coupling with a surgical instrument 70, wherein the interface 14 is configured such that the surgical instrument 70 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 gear housing 12, which is configured for coupling with a housing 72 of the surgical instrument 70, and a rotatably mounted steering fork 18 for actuating a steering device 74 of the surgical instrument 70, wherein the rotatably mounted steering fork 18 can be coupled to a swashplate 78 of the steering device 74 of the surgical instrument 70 via the interface 14.Furthermore, the present invention relates to a surgical instrument, a sterile drive system, and a method for assembling such a drive system. 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 fork 20 Nut 22, 24 contact surfaces 26 Pull claw 28 recording 30 retaining brackets 32 first drive wheel 34 second drive wheel 36, 38 Bearing shafts 40, 42 conical gears 44, 46 bevel gear sections 48 first gear 50 second gear 52, 54, 56 drive spindles 58 Drive pulley 60 shaft 62 Drive pulley 64 Spur gear 66 Drive pulley 68 interface 70 surgical instruments 72 cases 74 Steering device 76 Shaft 78 Swashplate 80 steering wires 82 Opening 84 lap lead 86, 88 contact surfaces 90 fasteners 92 Pull sleeve 94 rolling bearings 98 gear 100 drive system 102 Drive unit 104 Sterile Cover 106 Interface 108 Recording area 110, 112 storage sections 114 recess 116 Outside 118 Rand 120 investment area 122 Top 124 Insertion opening 126 wave 128 Gearbox 130, 132 gears 134 contact area 136, 138 connecting sections 140 storage section 142 Storage device 144, 146 Rolling bearings 148, 150 storage locations 152 openings 154 motor drive pulleys 156 Guide system 158 Guide opening 160 lead S direction L Longitudinal axis D1 first axis of rotation D2 second axis of rotation

Claims

[1] Steering gear (10) for a surgical instrument (70), wherein the steering gear (10) has a gearbox housing (12) and an interface (14) for coupling with a surgical instrument (70), wherein the interface (14) is designed such that the surgical instrument (70) 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) designed for coupling with a housing (72) of the surgical instrument (70), and a rotatably mounted steering fork (18) for actuating a steering device (74) of the surgical instrument (70), wherein the rotatably mounted steering fork (18) can be coupled to a swashplate (78) of the steering device (74) of the surgical instrument (70) via the interface (14). [2] Steering gear (10) according to claim 1, wherein the steering fork (18) is designed such that the steering fork (18) can be brought into engagement with the swashplate (78) of the surgical instrument (70) in a direction (S) perpendicular to the longitudinal axis (L) of the steering gear (10). [3] Steering gear according to claim 1 or 2, wherein the steering fork (18) has a groove (20) which has axial contact surfaces (22, 24) for the swashplate (78). [4] Steering gear (10) according to one of claims 1 to 3, wherein the interface (14) has a drawbar (26) designed for coupling with the steering device (74) of the surgical instrument (70), wherein the drawbar (26) has at least one receptacle (28) designed such that the drawbar (26) can be brought into engagement with the steering device (74) of the surgical instrument (70) in a direction (S) perpendicular to the longitudinal axis (L) of the steering gear (10). [5] Steering gear (10) according to one of claims 1 to 4, wherein the steering gear (10) has at least one retaining bracket (30) which is rotatably mounted on the gearbox housing (12) about a first axis of rotation (D1), wherein the steering fork (18) is rotatably mounted on the retaining bracket (30) about a second axis of rotation (D2). [6] Steering gear (10) according to one of claims 1 to 5, wherein the steering gear (10) has a first drive wheel (32) and a second drive wheel (34), each of which is rotatably mounted on the gearbox housing (16) about the first axis of rotation (D1) via a bearing shaft (36, 38), wherein the first drive wheel (32) and the second drive wheel (34) each have a bevel gear (40, 42). [7] Steering gear (10) according to claim 6, wherein the steering fork (18) has at least two conical tooth sections (44, 46), wherein the conical tooth sections (44, 46) of the steering fork (18) engage with the conical teeth (40, 42) on the drive wheels (32, 34). [8] Steering gear according to claims 5 and 6, wherein the retaining bracket (30) is rotatably mounted on the bearing shafts (36, 38) of the drive wheels (32, 34). [9] Steering gear (10) according to one of claims 5 and 6, wherein the second axis of rotation (D2) of the steering fork (18) intersects the first axis of rotation (D1) defined by the bearing shafts (36, 38). [10] Steering gear (10) according to one of claims 6 to 9, wherein the steering gear (10) comprises a first gear (48), a second gear (50), a first drive spindle (52) and a second drive spindle (54), wherein the first gear (48) is associated with the first drive spindle (52) and the second gear (50) is associated with the second drive spindle (54), wherein the first gear (48) and the second gear (50) are rotatably mounted on the bearing shafts (36, 38) of the drive wheels (32, 34). [11] Steering gear according to one of claims 4 and 10, wherein the drawbar (26) can be driven via a third drive spindle (56). [12] Steering gear according to claim 10 or 11, wherein the drive spindles (52, 54, 56) extend parallel to the longitudinal axis (L) of the steering gear (10) through the gear housing (12) and each have a drive disc (58, 60, 62) at their ends which can be coupled to motor drive discs. [13] Steering gear (10) according to one of claims 1 to 12, wherein the interface (14) has at least one spur gear (64) for driving a shaft (60) of the surgical instrument (70), wherein the spur gear (64) can be driven by a further drive disc (66). [14] Steering gear (10) according to claim 12 or 13, wherein the steering gear (10) has a further interface (68) for connection with a drive unit (102), wherein this interface (68) comprises the drive discs (58, 60, 62, 66). [15] Surgical instrument (70) for coupling with an interface (14) of a steering gear (10) according to one of claims 1 to 14, wherein the surgical instrument (70) has a housing (72) and a steering device (74) arranged in the housing (72), wherein the steering device (74) has at least a shaft (76), a swashplate (78) and steering wires (80) connected to the swashplate (78), wherein the housing (72) has an opening (82) through which the steering device (74) can be coupled to the steering gear (10). [16] Surgical instrument (70) according to claim 15, wherein the swashplate (78) has a circumferential projection (84) which has axial contact surfaces (86, 88) for the steering fork (18). [17] Surgical instrument (70) according to claim 16, wherein the circumferential projection (84) has fastening elements (90) for attaching the steering wires (80) to the swashplate (78). [18] Surgical instrument (70) according to one of claims 15 to 17 for coupling with an interface (14) of a steering gear (10) according to claim 4, wherein the steering device (74) comprises a draw sleeve (92) and a rolling bearing (94) arranged thereon, wherein the draw sleeve (92) and the rolling bearing (94) arranged thereon are designed for insertion into the receptacle (28) of the draw claw (26) of the steering gear (10). [19] Surgical instrument (70) according to one of claims 15 to 18 for coupling with an interface (14) of a steering gear (10) according to claim 13, wherein the steering device (74) has a gear (98) which is arranged on the shaft (76) and can be engaged with the spur gear (64) of the steering gear (10). [20] Sterile drive system (100) for a surgical instrument (70) according to one of claims 15 to 19, wherein the drive system (100) comprises a steering gear (10) according to one of claims 1 to 14 and a drive unit (102) attachable to a robot arm, wherein the drive system (102) comprises: at least a sterile covering (104) that surrounds at least the drive unit (102), wherein the sterile covering (104) exposes an interface (106) of the drive unit (102), wherein the sterile steering gear (10) can be directly coupled to the interface (106) on the drive unit (102), wherein the interface (106) is covered by the steering gear (10), and wherein the sterile surgical instrument (70) is interchangeably coupled to the interface (14) on the steering gear (10). [21] System (100) according to claim 20, wherein the coating (104) is a film. [22] Method for assembling a sterile drive system (100) for a surgical instrument (70) according to any one of claims 15 to 19, wherein the drive system (100) comprises a sterile steering gear (10) according to any one of claims 1 to 14 and a drive unit (102) attachable to a robot arm, wherein the method comprises the following steps: Applying a sterile cover (104) at least to the drive unit (102), wherein the sterile cover (104) exposes an interface (106) of the drive unit (102), Attaching the sterile steering gear (10) to the interface (106) on the drive unit (102), wherein the sterile steering gear (10) is directly coupled to the interface (106), and wherein the sterile steering gear (10) covers the interface (106) of the drive unit (102), and Coupling a sterile surgical instrument (70) to the interface (14) on the steering gear (10), wherein the surgical instrument (70) is interchangeable.

Images