Interface for connecting a drive unit to a medical instrument

Abstract

The invention relates to an interface (10) for connecting a drive unit (12) to a medical instrument (14). The interface (10) comprises at least one drive-side coupling device (16) with at least one drive-side coupling surface (18), and at least one instrument-side coupling device (20) complementary to the drive-side coupling device (16) and having at least one instrument-side coupling surface (22). The drive-side and instrument-side coupling devices (16, 20) can be mechanically coupled to one another with the interposition of a continuous medical barrier (24). At least the drive-side coupling device (16) comprises at least one drive-side piston arrangement (40) with at least one piston (26) which is configured to be moved alternately in opposite directions.

Description

The present invention relates to an interface for connecting a drive unit to a medical instrument, in particular as part of a medical robot system.Medical robot systems, in particular in the form of conventional medical master-slave robot systems, which are used, for example, for the mechanical guidance of medical and / or surgical instruments and the control of their end effectors, generally have a detachable connection at an interface between motorized drives on the robot side and the surgical instruments. In this case, the drive unit and the surgical instrument are usually coupled to one another in a force-fitting manner via a transmission arrangement.In order to be able to achieve requirements for a sterile treatment environment, a medical barrier is usually provided in the form of a plastic film in the region of the interface, said medical barrier separating or covering a drive-side, generally non-sterile, part of the interface from a sterile part of the interface on the instrument side. For sterile coupling of an interface or for transmitting at least one driving force and / or at least one driving torque between the components of the interface, known medical barriers have films of complex shape or specially embedded adapters in the film, via which the driving force and / or the driving torque can be transmitted. Such interfaces or medical barriers developed for this purpose are described, for example, in the documents WO 2007 / 126443 A 2 and US 2023 / 0390016 A1. The complex-shaped films and / or adapters integrated into the film make the medical barrier more expensive. Furthermore, the barriers must also be placed exactly at a point, whereby a work effort is increased in the area of a medical and / or surgical procedure in advance.Further interfaces for medical instruments are known from the documents WO 2017 / 064 301 A1, US 2021 / 0 247 396 A9 and US 2023 / 0 082 871 A1.Proceeding from the prior art, the invention is based on the object, in particular but not limited thereto, of advantageously developing an interface for connecting a drive unit to a medical instrument, in particular with regard to costs and / or installation or uninstallation. Furthermore, it is in particular an object of the present invention to provide a reliable and functional interface with optimized properties, so that in particular before a medical intervention and / or during a medical intervention on a patient a sterile field of work can always be ensured or ensured.This object is achieved according to the invention by the features of the independent claims. Further developments of the invention can be found in the dependent claims.The invention relates to an interface for connecting a drive unit to a medical instrument comprising:at least one drive-side coupling arrangement having at least one drive-side coupling surface, andat least one instrument-side coupling device complementary to the drive-side coupling device, having at least one instrument-side coupling surface,wherein the drive-side and the instrument-side coupling devices can be mechanically coupled to one another with the interposition of a continuous medical barrier, and wherein at least the drive-side coupling device comprises at least one piston arrangement having at least one piston which is configured to be moved alternately in opposite directions.By means of such a configuration, an advantageously further developed interface can be provided. In particular, installation or uninstallation of medical instruments can be simplified and costs and downtime can be reduced since a continuous medical barrier can be used, which is in particular "simply shaped" and / or can dispense with specially embedded adapters for transmitting a driving force and / or a driving torque. This makes it possible to dispense with a time-consuming precise placement of the medical barrier. In addition, cost for each medical use can be reduced, since a medical barrier that can be used only once can be kept as cost-effective as possible. In particular, a standard medical barrier can be used. Furthermore, the features according to the invention make it possible to provide a particularly reliable and functional interface with optimized properties, so that a sterile working field is always ensured and a reliable mechanical coupling is ensured, in particular before a medical intervention and / or during a medical intervention on a patient.The interface can be part of a medical robot system. The robot system can have at least one robot arm, an operating console, an electronics cabinet, in particular an electronics rack, for example for accommodating additional devices such as an RF generator, a display unit, a patient couch, a storage unit for various medical instruments for use with the interface and / or further units that appear expedient to the person skilled in the art. The continuous medical barrier can also be part of the medical robot system. In an operating state, the interface can be supported by the robot arm and movable by the latter.The medical instrument can be any effector that appears expedient to the person skilled in the art, in particular in the form of a medical and / or surgical instrument, which can preferably be carried by the robot arm and be movable by the latter. The medical instrument can be connected fixedly or detachably to the instrument-side coupling device or can be part of the instrument-side coupling device. The medical instrument can have, for example, a laparoscopic unit, an endoscope, a microscope, an exoscope, a scalpel, a drill, a scraper, a clamp, forceps, scissors, a syringe, a catheter and / or further units which appear expedient to the person skilled in the art and which can be drivable and / or actuatable via the interface by means of the drive unit.In the coupled state of the interface, the drive-side coupling surface contacts a first side of the medical barrier and the instrument-side coupling surface contacts a second side of the medical barrier opposite the first side. The coupling surfaces can preferably be designed to be complementary to one another, in particular in order to enable a form-fitting reception and / or a form-fitting clamping of the medical barrier between the connecting elements. The coupling surfaces can each have a total surface area of at least 50 mm 2, in particular of at least 100 mm 2 and for example of at least 250 mm 2.A "coupling device" can be, in particular, a mechanical device which is configured to connect two or more component parts to one another and / or to be coupled to one or more component parts. The coupling device may be configured to establish a fixed connection between the component parts so that they can interact with one another, whether mechanically, electrically, hydraulically and / or in some other way. The coupling devices can form, assembled with their coupling surfaces, a body which is at least partially rotationally symmetrical about a rotational symmetry axis, in particular at least partially circular cylindrical and / or at least partially frustoconical. The coupling devices can be assembled at least partially transversely to the axis of rotational symmetry. In some configurations, the drive-side coupling device can be designed to be larger than the instrument-side coupling device. The drive-side coupling device can have a receiving space for receiving the instrument-side coupling device."Established" is to be understood in particular as being specially programmed, provided, designed, designed and / or equipped. The fact that an object is set up for a specific function is to be understood furthermore to mean that the object fulfills or carries out this specific function in at least one application state or operating state.The continuous medical barrier is free of openings, inserts and / or special embedded adapters for transmitting a driving force and / or a driving torque. The continuous medical barrier can have a thickness over its entire surface extension of at most 1 mm, in particular of at most 0.5 mm and for example of at most 0.1 mm. The continuous medical barrier is preferably flexible. Particularly preferably, the continuous medical barrier is formed as a correspondingly processed and / or coated fabric and / or preferably as a film, in particular as a plastic film.The fact that the drive-side coupling device and the instrument-side coupling device can be mechanically coupled to one another is to be understood in particular within the scope of the present invention such that the drive-side coupling device and the instrument-side coupling device are configured to be connected to one another in a captive and / or functional manner in order to enable a specific function. By means of the mechanical coupling or by means of the connection, forces and / or movements between the two coupling devices can be transmitted in a directional or bidirectional manner, which enables the two coupling devices to cooperate or influence one another.The drive-side coupling device and / or the instrument-side coupling device can comprise a housing. The housing can be configured in particular to protect components which are surrounded at least in sections by the housing from external influences such as dust, moisture and / or mechanical damage. The housing may be made of various materials such as plastic, metal or rubber. The housing may be configured to be easily captive to at least one other housing or system.According to the invention, the drive-side coupling device comprises at least one piston arrangement. The at least one piston arrangement can be arranged in particular in a drive-side housing. A "piston arrangement" is to be understood in particular as the positioning and / or arrangement of pistons in the at least one drive-side coupling device. A piston can be in particular a component, preferably a cylindrical component, which can be moved at least partially or completely along a reference axis. In some embodiments, the at least one piston may also be configured as a fluid and / or gas column configured to be hydraulically and / or pneumatically deformed. Preferably, the reference axis on which the piston is movable coincides with its longitudinal axis. The piston may be part of a hydraulic, pneumatic or other advantageous mechanical system. In particular, the at least one piston is configured to be moved alternately in opposite directions. Preferably, the at least one piston is configured to be moved back and forth, in particular up and down, along the reference axis in a piston movement. The piston movement can be aperiodic in particular.The movement of the at least one piston can take place in particular along a reference axis which runs obliquely or perpendicularly to the coupling surface on the drive side. In other words, the reference axis along which the at least one piston can be movable cannot run parallel to the drive-side coupling surface.The piston arrangement comprises at least one further piston which is interdependently coupled to the at least one piston. "Interdependent coupled" is intended in particular to mean that the at least one piston can be coupled to the at least one further piston in such a way that the pistons influence one another in particular with respect to their position. The position and / or the behavior or the mode of operation of each piston is dependent on the coupled piston or pistons other within a coupling arrangement. With regard to the movement behavior of two pistons which are coupled to one another in an interdependent manner, this means that their movements are opposite to one another. In other words, the at least one piston moves in a first direction when the further piston interdependently coupled to the at least one piston moves in a second direction that is opposite the first direction and vice versa. The movement of the at least one piston can thereby regulate a movement of the instrument and the movement of the at least one further piston can correspondingly regulate the opposite movement of the instrument.In some embodiments, the interface of the type referred to in the introduction may comprise at least one lever device. In this case, the at least one piston can be actuated together with the at least one further piston via the at least one lever device. The lever device can be, in particular, a rocker lever which is configured to bring about a linear movement of the piston or the pistons. The lever device may comprise at least one first lever end and at least one second lever end. The lever ends can be rotatable about a lever point. A piston can be arranged on each of these lever ends. By displacing the lever device or lever ends about the lever point, pistons arranged on the lever ends can be displaced. In particular, the lever device can be configured such that the lever ends extend in opposite spatial directions. The at least one piston and / or the at least one further piston can comprise an underside, at which it is coupled to the lever device in such a way that its orientation with respect to the lever device can be varied in particular during a movement or tilting of the lever device. The at least one piston and / or the at least one further piston can, in some embodiments, be coupled in an articulated manner to the at least one lever device or the ends thereof. The at least one piston and / or the at least one further piston can contact the respective ends of the lever device.According to a further embodiment, the at least one piston arrangement can comprise at least one cylinder guide which is configured to guide the at least one piston and / or the at least one further piston during a movement of the piston along a guide axis. A cylinder guide can be, in particular, a mechanical component which is configured to guide and / or stabilize the movement of a piston along an advantageous or defined guide path. In particular, the cylinder guide can be configured to allow an axial movement of a piston guided therein and at the same time to prevent and / or limit a lateral movement. The cylinder guide can be designed as a hollow cylinder. The shape of the cylinder guide can vary depending on the shape or contour of the piston to be guided. In some embodiments, the at least one cylinder guide may be formed in the form of at least one material cutout or through bore in a monolithic structural element.In a further embodiment, the at least one cylinder guide can have at least one edge which is at least partially and preferably completely rounded. Furthermore, the at least one piston and / or the at least one further piston can have at least one end face, the edge of which is at least partially, preferably completely, rounded. End faces are to be understood herein as the faces which, in the coupled state, are directed towards the interposed medical barrier.Rounded edges have the advantage, in particular, of preventing or at least minimizing damage and / or wear within the interface. In particular, damage to the medical barrier and contamination potentially associated therewith can be advantageously avoided.According to a further development, the piston arrangement comprises at least one spring device which is configured to axially bias the at least one piston and / or the at least one further piston in a spring-loaded position in order to transmit a reliable transmission of movement to a medical instrument. The spring device may be arranged between a piston and the lever device. In some embodiments, the spring device can also be arranged within the at least one piston and / or the at least one further piston. The spring device can be configured in particular to generate a prestressing force which presses the plunger to be prestressed into a specific position and / or against another component, in particular a complementary plunger. As a result, constant contact between two interacting components, in particular two interacting pistons, can be achieved and reliable functioning can be ensured. The spring device can comprise in particular a metallic and / or elastomeric helical spring, a hydraulic spring and / or a pneumatic spring.In some embodiments, the interface of the type referred to in the introduction can comprise a lifting device which is configured to operatively couple at least the drive-side piston device and / or the drive-side coupling device to the instrument-side coupling device. A functional coupling can be effected by displacing the drive-side coupling device and / or the instrument-side coupling device by means of one or more lifting devices, preferably automatically, in the direction of the respective other coupling device and / or engaging it. A lifting device is to be understood here in particular as a mechanical, hydraulic and / or pneumatic device which enables a preferably automated coupling or decoupling of the drive-side coupling device with the instrument-side coupling device. By means of such a lifting device, precise movements can be carried out. According to some embodiments, the lifting device can be configured to displace at least one piston arrangement relative to the drive-side housing and / or to reversibly lock it in a predetermined position. In this way, not only can the coupling or decoupling of the interface be simplified, but also errors or damage due to incorrect assembly can be prevented or at least such a risk can be reduced.The drive-side coupling device comprises a plurality of piston arrangements. Each piston arrangement can be assigned a degree of freedom of the medical instrument. In other words, each piston assembly is movable independently of the remaining piston assemblies. The degree of freedom thereby refers to the number of independent movements that the medical instrument enables. Preferably, the piston assemblies are arranged side by side. The piston arrangements can be positioned in particular in a space-saving manner, so that they take up only little installation space.In some embodiments, the drive-side coupling device may comprise at least one drive unit which is configured to drive and / or move the at least one piston arrangement or lever device. The drive unit can be configured to transmit at least one driving force and / or at least one driving torque to the piston arrangement and / or the lever device. Preferably, each lever device can be coupled to a respective drive unit. The drive unit can comprise at least one drive shaft, at least one gear drive, at least one belt drive, at least one cable drive, at least one chain drive and / or at least one rack and pinion gear. Furthermore, the drive unit can comprise at least one electromagnet, at least one piezoelectric actuator, at least one hydraulic actuator and / or at least one pneumatic actuator. In an alternative embodiment, each piston or each piston arrangement can be coupled to a respective drive unit. The drive unit can be controllable from a robot side in the coupled state.According to a further development, the at least one instrument-side coupling device can comprise at least one piston arrangement complementary to the at least one drive-side piston arrangement, which is configured to absorb movements of the at least one drive-side piston arrangement and / or to transmit movements to the at least one drive-side piston arrangement. The at least one complementary piston arrangement can be arranged in a housing on the instrument side. The complementary piston assembly may comprise at least one complementary piston and at least one further complementary piston.Apart from the interposed medical barrier, the movements can be transmitted directly from a drive-side piston to an instrument-side piston or vice versa and / or indirectly, for example by the pistons actuating in particular hydraulic and / or pneumatic systems which interact with one another.In order to prevent or at least minimize damage and / or wear within the interface, the at least one complementary piston arrangement can have at least one edge which is rounded at least in sections, preferably completely. In particular, damage to the medical barrier and contamination potentially connected therewith can be advantageously avoided by means of such a configuration.According to a further development, the piston device can comprise at least one elastic membrane which is configured to cover the end face of a piston at least in sections. Such a configuration reduces the risk of damage to the medical barrier since it prevents the medical barrier from being clamped between the piston and its cylinder guide, for example. Due to the elasticity of the membrane, it can be mechanically, hydraulically and / or pneumatically deformed or curved out and / or pressed in and thus transmit and / or absorb movements or mechanical energy.Furthermore, the complementary piston arrangement can comprise at least one instrument-side spring device which is configured to axially bias the at least one complementary piston and / or the at least one further complementary piston in a spring-loaded position in order to ensure a reliable coupling with the drive-side piston arrangement. In some embodiments, both the piston assembly and the complementary piston assembly may comprise at least one spring device.A further aspect of the invention relates to a medical robot system comprising an interface of the type mentioned in the introduction.By means of such an interface, an advantageously further developed medical system can be provided. In particular, installation or uninstallation of medical instruments can be simplified and costs and downtime can be reduced since a continuous medical barrier is used, which is in particular not complex in shape and / or has adapters which are not specifically embedded for transmitting a driving force and / or a driving torque. This makes it possible to dispense with a time-consuming precise placement of the medical barrier. In addition, cost for each medical use can be reduced, since a medical barrier that can be used only once can be kept as cost-effective as possible. In particular, a standard medical barrier can be used. Furthermore, the features according to the invention make it possible to provide a particularly reliable and functional interface with optimized properties, so that a sterile field of operation is always ensured or ensured, in particular before and / or during a medical intervention on a patient.The devices and systems according to the invention are not intended to be limited to the application and embodiment described above. In particular, in order to fulfil a mode of operation described herein, these can have a number which differs from a number of individual elements, components and units mentioned herein. In addition, in the value ranges specified in this disclosure, values lying within the stated limits should also be considered as disclosed and usable as desired.The present invention is described below by way of example with reference to the attached figures. The drawings, specification and claims contain numerous features in combination. The person skilled in the art will also expediently consider the features individually and use them in combination within the scope of the claims.If more than one instance is present from a particular object, only one of them may be provided with a reference sign in the figures and in the description. The description of this instance can be transferred to the other instances from the object accordingly. If objects are designated in particular by means of numerical words, such as first, second, third objects, etc., these are used for designating and / or assigning objects. Accordingly, for example, a first object and a third object, but no second object, can be included. However, a number and / or an order of objects could also be derived additionally on the basis of numerical words.The following are shown: FIG. 1 shows a medical robot system having an interface for connecting a drive unit to a medical instrument, FIG. 2 shows a perspective illustration of the interface with a coupling device on the drive side and a coupling device on the instrument side in a state in which they are placed against one another, FIG. 3 shows a lateral illustration of the drive-side coupling device and the instrument-side coupling device in a state spatially separated from one another, FIG. 4 shows a perspective illustration of the interface with the medical barrier inserted, FIG. 5 shows a perspective illustration of a part of the drive-side coupling device with the housing removed, FIG. 6 shows a detailed view of an embodiment of a piston arrangement of the drive-side coupling device, FIG. 7 shows a schematic longitudinal sectional illustration of a part of the drive-side coupling device, FIG. 8 shows a perspective illustration of the instrument-side coupling device with focus on an instrument-side coupling surface, FIG. 9 shows a perspective illustration of the drive-side coupling device with focus on a drive-side coupling surface, FIG. 10 shows a perspective illustration of the instrument-side coupling device with a drive-side piston arrangement coupled thereto, FIG. 11 shows a perspective illustration of the interface in the coupled state, FIG. 12 shows a detailed view of the interface in the coupled state, FIG. 13 shows a schematic illustration of a further embodiment of an interface in the coupled state, FIG. 14 shows a detailed view of a further embodiment of a piston arrangement, FIG. 15 shows a schematic longitudinal sectional illustration of an interface according to a further embodiment, FIG. 16 shows a schematic longitudinal sectional illustration of the interface according to FIG. 15 in the coupled state, FIG. 17 shows a flow diagram of a method for connecting the coupling devices with the medical barrier in between.FIG. 1 shows a medical robot system 68. The robot system has a robot arm 46 and a drive unit 12, wherein the robot arm 46 is controllable via the drive unit 12. The drive unit 12 can be controlled in an automated, partially automated and / or by medical personnel by means of an operating console 52.The robot system has a medical instrument 14 which is arranged on the robot arm 46 and is movable by the latter. The medical instrument 14 itself has at least one movable part which is movable with respect to a further part of the medical instrument 14. The movable part is movable relative to the further part by the drive unit 12. In the present case, the medical instrument 14 is forceps, wherein any other instruments that appear expedient to the person skilled in the art would also be conceivable. For the sake of clarity, not all components of the robot system are provided with reference numerals.To create sterile operating conditions, a continuous medical barrier 24 is provided which separates a sterile area around the patient couch 50 from the potentially non-sterile drive unit 12 and the robotic arm 46. A driving force and / or a driving torque for the movable part of the medical instrument 14 is transmitted by means of an interface 10 of the robot system. The interface 10 is arranged in an operational state in the region of the medical barrier 24. The interface 10 is held and guided by the robot arm 46 in the use state.The interface 10 has a drive-side coupling device 16 and an instrument-side coupling device 20, which are shown in FIG. 2 in a perspective illustration in a state in which they are placed against one another. FIG. 3 shows the coupling devices 16, 20 in a state spatially separated from one another. Furthermore, the coupling devices 16, 20 each have a housing 82, 84 which can be connected to one another in a captive manner. The connection of the two housings 82, 84 is releasable.The drive-side coupling device 16 has a drive-side coupling surface 18. The instrument-side coupling device 20 comprises an instrument-side coupling surface 22. The coupling surfaces 18, 22 are designed to be complementary to one another and allow a form-fit joining of the connecting elements 16, 20, as shown in FIG. 2.The coupling devices 16, 20 or their housings 82, 80 together form an at least partially circular cylindrical and at least partially frustoconical body (cf. FIGS. 2 and 3 ).The coupling surfaces 18, 22 are configured to clamp the medical barrier 24 (see FIG. 4 ). The coupling devices 16, 20 can be coupled to one another via their respective coupling surfaces 18, 22 with the medical barrier 24 being interposed. The medical barrier 24 is a continuous plastic film which is free of openings in particular. In the deployed state, the two coupling devices 16, 20 are separated from one another by means of the medical barrier 24. In this case, the instrument-side coupling device 20 together with the medical instrument 14 is located on a sterile side of the medical barrier 24 in the state of use. The drive-side coupling device 16 is largely covered by the medical barrier 24 in the state of use shown in FIG. 4, which is indicated by the dashed lines.The coupling device on the instrument side and / or its housing can be held together with the coupling device on the drive side and / or its housing in a captive manner, for example, by means of a clamping clamp not shown here and / or by means of another advantageous, preferably reversible, fastening device.A drive force and / or a drive torque is transmitted through the continuous medical barrier 24 mechanically via a piston arrangement 40 according to the invention. FIG. 5 shows a perspective illustration of a part of the drive-side coupling device 16 with a total of four drive-side piston arrangements 40 in a section 86 of the coupling device. For purposes of illustration, the housing 82 of the drive-side coupling device 16 has been omitted. FIG. 5 accordingly shows the interior of the drive-side coupling device 16. each of the four drive-side piston arrangements 40 comprises in each case two pistons 26, 28, which are interdependently coupled to one another via a lever device 30 (cf. FIG. 6 ). The piston assemblies 40 are positioned such that all pistons 26, 28 have the same spatial orientation but are offset parallel to each other. Furthermore, a cylinder guide 32 can be seen. In order to be able to better identify the individual components, a front part of the cylinder guide 32 has been hidden. The cylinder guide 32 has hole bores 88 in the present case. Each of the perforated holes 88 is configured to guide a piston 26, 28 along a substantially vertically extending guide axis FA and to prevent movement in the horizontal direction. The degrees of freedom are indicated by arrows.In a section 90, the drive-side coupling device 16 shown in FIG. 5 has a total of four drive sources 56, the fourth being arranged not visibly behind the three drive sources 56 to be seen. The drive sources 56 are designed here as direct current motors 92. It goes without saying that in other embodiments, depending on the field of application, other drive sources can alternatively or additionally also be used. In particular, the at least one drive source 56 can additionally or alternatively comprise at least one electromagnet, at least one piezoactuator, at least one hydraulic actuator and / or at least one pneumatic actuator. The drive sources 56 are arranged parallel to each other and extend substantially in the horizontal spatial direction toward the drive-side piston assemblies 40.In the embodiment shown here by way of example, the drive-side coupling device 16 furthermore has belt gearing which are configured to drive in each case a drive-side piston arrangement 40 and / or a lever device 30. Each drive source 56 is torque-transmittingly coupled to a respective drive-side piston assembly 40 via a respective belt transmission. Each belt transmission comprises a drive source 56 with a drive shaft 58; furthermore, each belt transmission comprises a drive device in the form of an output disk 70 which is arranged on an output axle 80. The output shaft 80 is coupled to the lever device 30 in a torque-transmitting manner. In order to transmit a torque or a force from the drive source 56 to the drive-side piston arrangement 40, the drive-side coupling device 16 comprises at least one belt, not shown here, which connects one of the drive shafts 58 to a corresponding output disk 70. In order to keep the belt in the correct position and to guide its movement in order to ensure efficient force transmission and to utilize the installation space in an efficient or space-saving manner, the coupling device 16 on the drive side furthermore has deflection rollers 72. Alternatively or additionally, other types of transmissions can also be provided. In particular, worm gears, Maltese gear, hydraulic gears, pneumatic gears and / or gear drives can also be used. For the sake of clarity, not all components of the drive-side coupling device 16 are provided with reference numerals.FIG. 6 shows a detailed view of an embodiment of a piston arrangement 40 on the drive side according to FIG. 5, the piston arrangement 40 comprises the output axis 80 along which the lever device 30 and the output disk 70 are arranged. The lever device 30 has two lever ends 94 or projections which extend radially away from the output shaft 80 in opposite spatial directions. On each of the two lever ends 94, one of the pistons 26, 28 is arranged, the end faces 42 of which are remote from the lever device 30. On their undersides 96, the pistons 26, 28 have cams 78, via which they contact the lever ends 94. The cams 78 are rotatably connected to the lever device 30, so that the pistons 26, 28 always maintain the same orientation or alignment in the event of a rotational movement of the lever device 30 about an axis of rotation R which extends into the plane of the drawing. The two pistons 26 are dependent via the lever device 30. In other words, the two pistons 26, 28 cannot be moved independently of each other. However, the directions of movement of the pistons 26, 28 are always contrary, due to the configuration of the lever device 30.FIG. 7 shows a schematic longitudinal sectional illustration of the drive-side coupling device 16. It can be seen that the compact and space-saving arrangement of the drive-side piston arrangements 40, drive sources 56 and gears in a housing 82. In the embodiment shown, the pistons 26, 28 are configured to move at least in sections out of the drive-side coupling surface 18.FIGS. 8 and 9 show a perspective illustration of the instrument-side coupling device 20 or of the drive-side coupling device 16 with focus on the respective coupling surfaces 18, 22, It can be seen that the instrument-side coupling device 20 comprises at least one instrument-side piston arrangement 60 complementary to the at least one drive-side piston arrangement 40, which is configured to absorb movements of the at least one drive-side piston arrangement 40 and / or to transmit movements to the at least one drive-side piston arrangement 40. The complementary instrument-side piston arrangement 60 comprises at least one complementary instrument-side piston 62 and at least one further complementary instrument-side piston 64.As will be explained further below, the complementary pistons 62, 64 do not necessarily have to be coupled to one another via a lever device 30.The instrument-side coupling device 20 also has cylinder guides 32 which are formed in a complementary manner to the drive-side cylinder guides 32. The cylinder guides 32 of the instrument-side coupling device 20 and of the drive-side coupling device 16 are in particular configured or arranged such that, in a state of the interface 10 in which the drive-side coupling device 16 is coupled to the instrument-side coupling device 20, they are congruent, so that a piston 26, 28 of the drive-side coupling device can penetrate at least in sections into the instrument-side complementary cylinder guide 32 in the coupled state of the interface 10. Advantageously, all edges 38 of the coupling device 16, 20 and in particular all edges 38 of the coupling surfaces 18, 22 and / or of the piston arrangements are rounded. The risk of damage and associated contamination of the work area can thus be reduced.A functional coupling of the drive-side piston arrangements 40 with the complementary instrument-side piston arrangement 60 is shown by way of example in FIG. 10. For the sake of clarity, in this illustration, the drive source 56, the transmission arrangement and the housing 82 of the drive-side coupling device 16 have been omitted. The medical barrier 24 is likewise not shown.FIG. 11 shows a perspective illustration of an interface 10 in the coupled state. The drive side pistons 26, 28 are in physical contact with the complementary instrument side pistons 62, 64. in the embodiment shown, the complementary instrument side pistons 62, 64 are further coupled to pull cables 98 to move movements on a medical instrument 14 connected to the pull cables 98. By pulling or pushing the pull cables 98, the position of a medical instrument 14 and / or its actuator system can be controlled precisely and / or remotely. In further embodiments not shown herein, the interface 10 can be provided with additional or alternative coupling mechanisms advantageous for a specific application between the complementary instrument-side pistons 62, 64 and the medical instrument 14 or the effectors thereof. The medical barrier 24 is likewise not shown in this illustration.FIG. 12 shows a detailed view of the interface 10 in the coupled state. The drive-side piston arrangement 40 can be seen, which is mechanically coupled to a complementary instrument-side piston arrangement 60 with the interposition of a medical barrier 24. By actuating the lever device 30, the left drive-side piston 26 is pushed upward by the left lever end 94. In this case, the piston 26 is moved along a guide axis FA by a cylinder guide 32. Furthermore, the piston 26 presses into the instrument-side coupling device 20 or its complementary cylinder guide 32 in a section of the medical barrier 24 which covers the cylinder guide 32 in the coupled state of the interface 10. Since the resultant force from the driving side lever device 30 acts on both the driving side piston 26 and the complementary instrument side piston 60, both pistons 26, 60 are moved in the same direction. The right instrument-side piston 62 is interdependently coupled to the left instrument-side piston 64 via a lever device 30, so that the latter is pressed downward. The right piston 62 presses the medical barrier 24 into a drive-side cylinder guide 32, which is covered by the medical barrier 24 in the illustration. In this case, the right instrument-side piston 62 presses on the right drive-side piston 28, so that the latter is likewise pressed downward. It is understood that the direction in which the lever device 30 is actuatable may vary. In the embodiment shown here, the mechanical force and / or movement transmitted to the instrument-side pistons 62, 64 can subsequently be transmitted via a gear, not shown in this illustration, to the end effector of the medical instrument 14, so that the latter performs a corresponding movement. In alternative embodiments, the instrument-side pistons 62, 64 can be coupled directly via, for example, pull cables 98 to the end effector of the medical instrument 14 and in this way transmit mechanical energy.FIG. 13 shows a schematic illustration of a further embodiment of an interface 10 in the coupled state. According to the embodiment shown therein, the interface 10 comprises a coupling device 16 on the drive side and a complementary coupling device 20 on the instrument side with elastic membranes 76. the elastic membranes 76 are configured to cover at least in sections end faces 42 of a piston 26, 28, 62, 64. Such a configuration reduces the risk of damage to a medical barrier 20 since it prevents the medical barrier 20 from being pinched, for example, between the piston 26, 28, 62, 64 and its cylinder guide 32 and possibly damaged. Due to the elasticity of the membranes 76, the latter can be mechanically curved out and / or pressed in and thus transmit and / or absorb movements or mechanical energy. In alternative or additional embodiments not shown here, the membranes can be deformed and / or curved, for example hydraulically and / or pneumatically.FIG. 14 shows a detailed view of a further embodiment of a piston arrangement 40, 60. The embodiment of the piston arrangement 40, 60 shown here comprises a spring device 44 which is configured to axially bias an at least one complementary instrument-side piston 62 and / or an at least one further complementary instrument-side piston 64 or an at least one drive-side piston 26 and / or an at least one further drive-side piston 28 in a spring-loaded position in order to always ensure reliable coupling with the drive-side piston arrangement 40. In the embodiment shown herein, the spring device 44 is disposed between a cam 78 contacting a lever device and an end surface 42 of the piston 28, 64. The end face 42 of the piston 26, 62 is connected to the spring device 44. Furthermore, the end face 42 is movable relative to a piston wall 36 along a guide axis FA. It should be noted at this point that the embodiment shown is merely exemplary. The spring device 44 does not necessarily have to be integrated into the piston 26, 28, 62, 64, as shown in FIG. 13, but it can alternatively or additionally also advantageously be arranged outside the piston 26, 28, 62, 64, for example between a cam 78 and an underside 96 of the piston 26, 28, 62, 64. In some embodiments, the piston 26, 28, 62, 64 itself may be formed at least for a major part as a spring device 44.A development of the interfaces 10 described above is illustrated in FIGS. 15 and 16. FIGS. 15 and 16 show a schematic longitudinal sectional representation of an interface 10, in which a drive-side coupling device 16 comprises at least one lifting device 54, which is configured to lift at least one drive-side piston arrangement 40 and / or at least one drive-side coupling device 16 in order to operatively couple the drive-side coupling device 16 to an instrument-side coupling device 20. Furthermore, such a lifting device 54 facilitates the proper coupling operation. In the embodiment shown, the lift device 54 is arranged below the drive-side piston arrangement 40. The lifting device 54 is thereby firmly connected to a housing 82 of the drive-side coupling device 16 and a linkage 74, on which the drive-side piston arrangement 40 or a transmission is positioned or attached. It is understood that the position of the lifting device 54 is in no way limited to the embodiment shown herein. Furthermore, the drive-side piston arrangement 40 is positioned in a non-coupled state in the housing 82 of the drive-side coupling device 16 in such a way that no piston 26, 28 of the coupling device 16 protrudes from a drive-side coupling surface 18. In this resting or transport state, the sensitive mechanism inside the housing 82 of the drive-side coupling device 16 is protected to the greatest possible extent from external influences.An interface 10 according to this embodiment may be configured to detect whether the drive-side coupling surface 18 has been properly connected to an instrument-side coupling surface 22. If this is the case, the lifting device 54 can be activated and lift the drive-side piston arrangement 40 into an operating position. By means of the lifting process, at least a portion of the at least one and / or of the at least one further drive-side piston 26, 28 can be pressed into the instrument-side coupling device 20, in particular into a complementary instrument-side cylinder guide 32. In addition or as an alternative to the embodiment described herein, the instrument-side coupling device 20 can also comprise a lifting device 54 which is correspondingly configured to press the complementary instrument-side piston arrangement 60 into the drive-side coupling device 16, in particular into the drive-side cylinder guide 32.FIG. 17 shows a flow diagram of a method for connecting the coupling devices 16, 20 with the medical barrier 24 in between. In a step 100, the first coupling surface 18 and the housing 82 of the drive-side connecting element 16 are covered at least in sections with the medical barrier 24. In a step 102, the instrument-side connecting element 20 is connected to the first coupling surface 18 via its instrument-side coupling surface 22, with the medical barrier 24 being interposed. Finally, in a step 104, the lifting device 54 is actuated and the interface 10 is transferred into a use state.

Claims

Interface (10) for connecting a drive unit (12) to a medical instrument (14), comprising: - at least one drive-side coupling device (16) having at least one drive-side coupling surface (18), and - at least one instrument-side coupling device (20), complementary to the drive-side coupling device (16), having at least one instrument-side coupling surface (22), wherein the drive-side and the instrument-side coupling device (16, 20) can be mechanically coupled to one another with the interposition of a continuous medical barrier (24), and wherein at least the drive-side coupling device (16) comprises at least one drive-side piston arrangement (40) having at least one piston (26) which is configured to be moved alternately in opposite directions, wherein the at least one drive-side piston arrangement (40) comprises at least one further piston (28) which is coupled in an interdependent manner to the at least one piston (26), wherein the drive-side coupling device (16) comprises a plurality of drive-side piston arrangements (40), and wherein each piston arrangement (40) of the plurality of drive-side piston arrangements (40) is movable independently of the remaining piston arrangements (40).Interface (10) according to claim 1, wherein the alternating movement takes place along a reference axis (BA) which runs obliquely or perpendicularly to the drive-side coupling surface (18).Interface (10) according to claim 1 or 2, further comprising: at least one lever device (30), wherein the at least one piston (26) can be actuated together with the at least one further piston (28) via the at least one lever device (30).Interface (10) according to one of the preceding claims, wherein the at least one drive-side piston arrangement (40) comprises at least one cylinder guide (32) which is configured to guide the at least one piston (26) and / or the at least one further piston (28) during a movement along a guide axis (FA).The interface (10) of claim 4, wherein each cylinder guide (32) comprises at least one guide sleeve (34).The interface (10) according to claim 4 or 5, wherein the at least one cylinder guide (32) has at least one edge (38) which is rounded at least in sections, preferably completely.Interface (10) according to one of the preceding claims, wherein the at least one piston (26) and / or the at least one further piston (28) has at least one end face (42), the edge (38) of which is at least partially, preferably completely rounded.Interface (10) according to one of the preceding claims, wherein the at least one drive-side piston arrangement (40) comprises at least one spring device (44) which is configured to axially bias the at least one piston (26) and / or the at least one further piston (28) in a spring-loaded position in order to ensure a reliable transmission of movement to the medical instrument (14).Interface (10) according to one of the preceding claims, comprising at least one lifting device (54) which is configured to lift at least the at least one drive-side piston arrangement (40) and / or the drive-side coupling device (16) in order to operatively couple the drive-side coupling device (16) to the instrument-side coupling device (20).Interface (10) according to one of the preceding claims, wherein each drive-side piston arrangement (40) is assigned a degree of freedom of the medical instrument (14).Interface (10) at least according to claim 3, wherein the drive-side coupling device (16) comprises at least one drive source (56) which is configured to drive the lever device (30).Interface (10) according to claim 11, wherein the drive source (56) comprises at least one drive shaft (58), at least one gear drive, at least one belt drive, at least one cable drive, at least one chain drive and / or at least one rack and pinion gear.Interface (10) according to Claim 11 or 12, wherein the drive source (56) comprises at least one electromagnet, at least one piezoactuator, at least one hydraulic actuator and / or at least one pneumatic actuator.Interface (10) according to one of the preceding claims, wherein the at least one instrument-side coupling device (20) comprises at least one instrument-side piston arrangement (60) which is complementary to the at least one drive-side piston arrangement (40) and is configured to absorb movements of the at least one drive-side piston arrangement (40) and / or to transmit movements to the at least one drive-side piston arrangement (40).The interface (10) of claim 14, wherein the complementary instrument-side piston assembly (60) comprises at least one complementary instrument-side and at least one further complementary instrument-side piston.Interface (10) according to claim 14 or 15, wherein the at least one complementary instrument-side piston arrangement has at least one edge (38) which is rounded at least in sections, preferably completely.Interface (10) according to claim 15 or 16, wherein the complementary instrument-side piston arrangement (60) comprises at least one instrument-side spring device (44) which is configured to axially bias the at least one complementary instrument-side piston (62) and / or the at least one further complementary instrument-side piston (64) in a spring-loaded position in order to ensure a reliable coupling with the drive-side piston arrangement (40).A medical robotic system (68) comprising an interface (10) according to any preceding claim.

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