MOVEMENT MECHANISM FOR MOVING AN OLDER OBJECT

Description

[0001] The invention relates to a clamping actuator comprising a hollow body with a fluid volume, wherein the hollow body has a U-shaped, channel-shaped, or concave receiving area wall that surrounds a receiving area and separates the receiving area from the fluid volume. An elongated object can be inserted into the receiving area. The invention further relates to a movement mechanism for moving at least one elongated object with such a clamping actuator.

[0002] In medicine, endovascular procedures (e.g., for treating heart attacks and strokes) require the insertion of tube-like and wire-like devices (e.g., catheters and guidewires) through the blood vessels and across the body. Telemanipulation or automated manipulation of these catheters and guidewires offers advantages but requires a manipulator. This manipulator should be as small as possible and ideally capable of concentrically moving multiple devices (e.g., catheters / guidewires).

[0003] WO 2018 / 211184 A1 uses a unit of two rigid jaw pairs that grip and move the device, similar to a winch / multi-purpose winch. This solution has the disadvantage that large actuators (primarily electric motors) are required in the end effector, and a unit for translating and rotating a device is very large. Therefore, to date, only the guide wire is moved with translation and rotation, and the catheter, as a rapid exchange catheter, is moved only translationally.

[0004] EP 3380180 uses a pneumatic / hydraulic actuator to enable the translation of a needle via a gripping mechanism. The unit consists of two ring-shaped clamping actuators and a bellows actuator between them. The clamping actuators alternately grip the needle, while the bellows actuator provides the translation. In this case, the system is a 3D-printed unit. Rotation is achieved by turning the entire unit, and the application is limited to needles.

[0005] US 6,726,675 B1 primarily uses two rollers as actuators, between which the device is clamped. Translation is achieved by rotating the rollers, and rotation by tilting them. This solution has the disadvantage that large actuators (primarily electric motors) are required in the end effector, and a unit for translation and rotation of a device is very large. Therefore, to date, only the guidewire is moved with translation and rotation, and the catheter, as a rapid exchange catheter, is moved only translationally.

[0006] NL 1043050 uses a set of rollers as actuators for translation, which are rotated via gears. The operating principle is similar to US 6,726,675 B1, but the roller design is different. This patent is presumably intended to enable interventions in MRI and to be used together with Soteria's MRI-compatible pneumatic stepper motor as a manipulator.

[0007] WO 2005 / 117596 uses a similar principle to NL 1043050, in that translation of the catheter / guidewire is enabled by a pair of rollers, and rotation is achieved by turning the entire pair of rollers. Gears are also used to transmit the movement, but the design is different.

[0008] DE 102004007935 uses two sets of two roller actuators each, which clamp a guidewire / catheter. One set performs the translation, and a second set, attached behind it to the instrument, independently performs the rotation. The difference from US 6,726,675 B1 and NL 1043050 is the use of two sets of actuators instead of rotating the roller actuators for translation. The disadvantage is the friction that inevitably occurs at the actuators.

[0009] US 2007 / 0156123 A1 clamps an articulated catheter into a cassette in which cables on pulleys can actuate a tip. Translation is enabled by movement along a linear rail. Rotation at the base of the catheter is not necessary because the tip can be manipulated. Apart from the manipulation of catheters, there is no similarity to this invention disclosure.

[0010] WO 2017 / 220010 A1 clamps an articulated catheter into an apparatus for manipulation. Translation is achieved by moving the entire apparatus along a linear rail. Rotation of the catheter is enabled by pneumatic / hydraulic piston actuators. Articulation of the manipulator is also achieved by piston actuators that actuate the catheter's angling mechanism. In both cases, a thin layer of elastic material is pressurized to expand while remaining sealed. However, the resulting effect of the pressurization is fundamentally different.

[0011] EP 2 517 666 A1 discloses a device for holding a medical instrument. The device has two clamping elements. At least one clamping element is movable onto another clamping element, so that the medical instrument can be guided and / or fixed between the clamping elements.

[0012] DE 18 68 409 U discloses a clamp equipped with a grid fixing at its end and two cup-shaped clamps. A U-shaped balloon is inserted into each cup-shaped clamp, the balloon having several mushroom-like protrusions for fixing it in the cups and being provided with a connecting hose for inflation.

[0013] WO 98 / 48712 A1 discloses a spherical holder with a passage. A medical instrument can be attached in the passage.

[0014] US 6,382,576 B1 discloses a clamping device. The clamping device comprises an inflatable bladder that, when inflated, expands against or contracts around a support element to clamp an instrument to the support element.

[0015] EP 2 626 033 B1 discloses a device comprising a control for controlling a deflection at a distal end of a catheter.

[0016] US 2015 / 090057 A1 discloses a detachable catheter actuation cuff that can connect a catheter actuation device on the handle of a catheter to a catheter positioning device.

[0017] WO 2012 / 071408 A1 discloses a system for operating a catheter with a distal end suitable for navigation in the body and a proximal end having a handle with a sliding control and a rotatable control for acting on the distal end.

[0018] US 2014 / 276389 A1 discloses a system for operating an elongated medical instrument.

[0019] The object of the present invention is to provide a movement mechanism with which the problems of the prior art can be solved.

[0020] The problem is solved by the movement mechanism according to claim 1.

[0021] The respective dependent claims specify advantageous further developments of the movement mechanism according to the invention.

[0022] According to the invention, a clamping actuator for holding an elongated object is provided, which has a hollow body with a fluid volume. A fluid volume can be understood as a volume in which a fluid, i.e., a liquid and / or a gas, can be contained. The fluid volume is formed by the hollow body; that is, it is a volume within the hollow body, which becomes a hollow body due to the fluid volume. The hollow body has a wall, referred to as the receiving area wall, which has a shape that can be described as U-shaped, channel-shaped, or concave. In the latter case, it would be concave when viewed from the receiving area. The descriptions of the shape of the receiving area wall as U-shaped, channel-shaped, and concave can be considered synonymous.

[0023] The receiving area wall surrounds a receiving area into which the elongated object can be inserted. The receiving area wall can be considered to have two legs that are joined together at a connecting area. Since the receiving area wall extends along the receiving area, the legs are surfaces that extend along the receiving area. These surfaces can also be curved. A cross-section through the receiving area wall in a plane perpendicular to one direction of the receiving area's extension can reveal the shape of a two-dimensional U, whose legs are the cross-sections of the legs of the receiving area wall.

[0024] The two legs are joined at one end in a connecting area and can then extend from there in the direction away from the connecting area, also referred to here as the leg direction. The connecting area itself can extend in the plane perpendicular to the direction of extension of the receiving area. However, it is also possible that the connecting area is simply a line or straight line where the legs meet. Such a shape can also be described as a V-shape, which is considered here as a special case of the U-shape, trough shape, or concave shape. If the connecting area extends in the aforementioned plane, it can be straight or curved; in the latter case, it is particularly advantageous to be curved along a circle, to which the directions of the legs can preferably lie tangentially.

[0025] According to the invention, an elongated receiving area is located between the legs of the receiving area wall, into which an elongated object can be inserted. Preferably, the receiving area extends along a straight line (i.e., it is straight), which particularly preferably does not intersect the receiving area wall.

[0026] The recording area wall surrounds the recording area at least partially. The recording area is partially surrounded by the recording area wall, so that the recording area wall limits the recording area on part of its circumference. The two legs of the recording area wall are not connected to each other on the side of the recording area facing away from the connection area. In this way, an elongated object can be inserted into the recording area from this direction. However, it is possible that the legs on the side facing away from the connection area

[0027] The sides touch without being connected. To insert an object, they can then be pushed apart. This shape should also be considered here as a U-shape, trough shape, or concave shape.

[0028] It is preferred if the recording area wall surrounds the recording area at least to the extent that it has areas opposite the recording area whose surfaces are parallel to each other. In this way, it can be prevented that the object is pushed out onto the recording area.

[0029] Advantageously, the wall of the receiving area can have a circular, oval, or rectangular cross-section, at least along a portion of its length around the receiving area. The cross-section can advantageously correspond to the cross-section of the elongated object, thus ensuring particularly secure holding. An oval cross-section is especially advantageous because it allows for easy insertion of the elongated object into the receiving area and simultaneously holds the object securely in a direction perpendicular to the insertion direction.

[0030] According to the invention, the receiving area wall is formed, at least partially, by a flexible membrane. Advantageously, the membrane can also be elastic. If a fluid is introduced into the fluid volume at an overpressure relative to the ambient pressure, the flexible membrane expands towards the receiving area, thereby reducing its size or exerting a pressure force on an object located within the receiving area. In this way, the object can be held within the receiving area.

[0031] The legs of the recording area wall do not need to be straight. For example, a curved shape in the direction of the legs is advantageous. The curvature can be advantageously concave from the perspective of the recording area. However, a particularly advantageous arrangement of the legs is one in which the recording area wall wraps around the recording area by more than 180°.

[0032] Optionally, the surface of the recording area facing the recording area can have bumps, ridges, and / or grooves to improve the grip of the elongated object within the recording area. Ridges and / or grooves can extend along the entire length of the recording area and / or along a perimeter around the recording area.

[0033] The hollow body can have external surface areas that diverge at an angle in those regions adjoining the receiving area wall. These diverging surface areas can advantageously be straight. This results in a surface shape of the hollow body facing the receiving area that initially opens outwards, so that an elongated object inserted from the outside is first guided through a narrowing funnel shape until, upon further displacement towards the connecting area, it enters the area enclosed, for example, by a circular band around the receiving area wall and can be held there.

[0034] According to the invention, the clamping actuator also has a fluid connection through which fluid can be introduced into and drained from the fluid volume.

[0035] In an advantageous embodiment of the invention, the flexible membrane can define all sides of the fluid volume. In this case, the hollow body can be made from the flexible membrane. This hollow body can then also include other elements besides the flexible membrane, such as the fluid connection, which in this case can also be made of materials other than the membrane.

[0036] In an advantageous embodiment of the invention, the hollow body containing the fluid volume can also have the shape of a body having an outer surface whose shape is independent of the shape of the fluid volume. For example, the hollow body can have an outer surface in the shape of a cylindrical surface. It should be noted that the term cylindrical here is to be understood in the sense of a general cylinder, i.e., as a

[0037] A shape resulting from the displacement of a planar curve along a path. The planar curve can then, for example, be a circular arc with a straight section connecting the ends of the arc. Preferably, the circular arc extends over an angle greater than 180° around the receiving area. Alternatively, the planar curve can also be a rectangle. The outer surface can advantageously have a notch parallel to the longitudinal axis of the receiving area, preferably in a planar region. The walls of the notch can merge into the wall of the receiving area, which defines the fluid volume. Advantageously, the funnel shape described above can result in the area of ​​the notch. The elongated object can then be inserted into the receiving area through this notch.The surface area of ​​the hollow body that does not have the cutout, i.e., which has, for example, a circular arc-shaped cross-section, can also have other shapes. This shape could, for example, correspond to the shape of an inner wall of a connecting element into which the clamping actuator can be inserted.

[0038] The shape of the fluid volume can be freely designed in those areas not bounded by the receiving area wall, for example with the aforementioned cylindrical shape or with a rectangular cross-section. The fluid volume can therefore have a U-shape, whose outer walls facing away from the receiving area can have any shape, and whose inner walls facing the receiving area encircle it, for example along a circular arc.

[0039] Preferably, the receiving area extends along a straight line. The direction of this straight line is the longitudinal direction of the receiving area. This straight line will then normally be perpendicular to the plane in which the directions of the legs of the U-shape, trough shape, or concave shape extend. An elongated object placed in the receiving area can then be coaxial with its longitudinal direction to the straight line along which the receiving area extends. The fact that the receiving area extends along a straight line can, in particular, mean that the receiving area is continuous along the straight line, which specifically means that this straight line does not intersect the receiving area wall or the fluid volume.

[0040] In an optional embodiment, the fluid volume can be bounded by a wall which, in a state where no external forces act upon it—in particular, no force exerted by a fluid within the fluid volume—has a shape formed by the displacement of a closed planar curve along a path curved about a central axis. The central axis can be coaxial with the straight line along which the receiving area extends. At every position of the displacement, the central axis lies outside the area enclosed by the curve and also in the plane of the curve. In this representation, the displacement path traces an angle of less than 360° around the central axis and / or the ends of the displacement path form an angle greater than zero around the central axis.The angle enclosed by the ends of the displacement path is the angle formed when the ends of the displacement path are connected to the midpoint of the displacement path. This design is particularly advantageous when the flexible membrane bounds all sides of the fluid volume.

[0041] Preferably, the displacement path travels more than 180° around the central axis, and particularly preferably more than 270°. If the displacement path is chosen to be one formed by the innermost points of the closed curve, this path can also encircle the receiving area by 360°, provided, however, that no material bond is established between the legs where the resulting shape of the two legs touches. In this way, an object to be placed in the receiving area can be moved between the legs of the resulting shape by pushing them apart.

[0042] Advantageously, the wall of the receiving area can encircle it at an angle greater than 180°. Because the fluid volume encircles the receiving area at an angle greater than 180°, an elongated object held within the receiving area can be secured against falling out.

[0043] Advantageously, the surface of the hollow body can have sections that form an acute angle around the recording area. In this way, these surface areas can initially extend towards the recording area, then curve around the recording area along the recording area wall in the region of the recording area, e.g., a circular arc, and then move away from the recording area again on the opposite side. The surface areas that extend towards and away from the recording area can form the aforementioned acute angle.

[0044] In an optional embodiment of the invention, the walls of the fluid volume or of the hollow body containing the fluid volume facing the receiving area, i.e., the walls of the receiving area, can run parallel to the walls of the fluid volume or the hollow body facing away from the receiving area. The fluid volume can thus be bounded by parallel walls, or it can be the interior of a hollow body with parallel walls. The parallel walls can define a U-shaped volume as the fluid volume.

[0045] In an advantageous embodiment, the clamping actuator can have at least one centering element arranged on at least one side of the receiving area in its longitudinal direction. This centering element allows the elongated object to be centered on a central axis of the receiving area. Preferably, the centering element has a groove or a through-hole that runs coaxially with the central axis of the receiving area. It is particularly advantageous for such a centering element to be arranged on both sides of the receiving area in its longitudinal direction. Optionally, the centering element can be implemented as part of the movement mechanism described below. The centering element ensures that the elongated object is positioned as precisely as possible on the central axis of the receiving area.This is particularly advantageous when the elongated object is rotated by the actuator, as this ensures that the elongated object is located on the axis of rotation, which advantageously coincides with the central axis.

[0046] Both the centering element arranged on the clamping actuator and the one arranged on the movement mechanism can advantageously have two parts that enclose the aforementioned through-hole between them. Each of the two parts can then have a groove and, after the elongated object is inserted, be assembled so that the two grooves of the parts form the through-hole. Another possible embodiment is one of the parts having a convex element and the other a concave element. This can be advantageous, for example, for elongated objects with different diameters, particularly in conjunction with a slightly elastic snap closure or ratchet closure.

[0047] Advantageously, the two parts can be designed to be held together by magnetic force, a snap closure, or a ratchet closure. Preferably, the two parts are connected by a hinge on one side and have a connecting mechanism on the other.

[0048] According to the invention, a movement mechanism for moving at least one elongated object is also provided, comprising at least one clamping actuator as described above. The movement mechanism further comprises at least one motion actuator with which the clamping actuator can be displaced in a longitudinal direction of the receiving area and / or rotated about the receiving area. With such a movement mechanism, the elongated object can therefore be moved in its longitudinal direction and / or rotated about its longitudinal direction.

[0049] In an advantageous embodiment, the clamping actuator can be plugged into the motion actuator. For this purpose, the clamping actuator can have connecting elements on its side facing the motion actuator in its intended configuration, which can be brought into engagement with connecting elements on the motion actuator.

[0050] In an advantageous embodiment, the movement mechanism can have at least two clamping actuators, whose receiving areas are advantageously coaxial with each other. In this way, the elongated object, preferably with a straight extension, can be inserted into both clamping actuators. In this embodiment, the movement mechanism can have at least one movement actuator for each of the clamping actuators, with which the corresponding clamping actuator can be displaced in the longitudinal direction of the receiving area and / or rotated about the receiving area.

[0051] In an advantageous embodiment, the movement mechanism can have at least one centering element on one, more, or all of the clamping actuators, which is arranged on at least one side of the receiving area of ​​the respective clamping actuator in the longitudinal direction of the actuator. The at least one centering element allows the elongated object to be centered on a central axis of the receiving area. Preferably, the at least one centering element has a groove or a through-hole that runs coaxially to the central axis of the receiving area. Particularly advantageously, such a centering element can also be arranged on both sides of the receiving area in the longitudinal direction of the receiving area.

[0052] A method for moving an elongated object is described, wherein the elongated object is placed in at least one clamping actuator of a motion mechanism as described above. Fluid is then introduced into the fluid volume of the at least one clamping actuator, and then the motion actuator that moves this clamping actuator is activated. By introducing the fluid, the elongated object is held in the clamping actuator, so that the motion of the clamping actuator is transmitted to the elongated object.

[0053] A particularly advantageous design of the method allows for the continuous movement of an elongated object. For this purpose, the movement mechanism comprises a first and a second clamping actuator, each arranged on a movement actuator. Thus, the first clamping actuator is arranged on a first movement actuator, and the second clamping actuator is arranged on a second movement actuator. The clamping actuators, along with the movement actuators, are each displaceable along the longitudinal direction of their respective holding areas. First, the elongated object is placed into the holding areas of both clamping actuators, and then the clamping actuators and the movement actuators are actuated in an actuation pattern. The following steps are executed at least once in numerical order, with successive steps potentially overlapping slightly: 1) The first clamping actuator is activated in an initial starting position, gripping the elongated object. This starting position can be an extreme position within its range of motion. For example, the first clamping actuator can be located at its far left position, although in the following description, left and right can, of course, be interchanged and depend on the perspective. 2) The first movement actuator moves the first clamping actuator in a transport direction directed towards the second clamping actuator. For example, the first movement actuator can move the first clamping actuator to the right. The first movement actuator preferably moves the first clamping actuator to the maximum distance from its initial starting position, which can simultaneously be the position in the first clamping actuator's displacement path closest to the second clamping actuator. 3) The first clamping actuator then terminates its activation, releasing the elongated object.The second clamping actuator is actuated in a second initial position, which is advantageously the position closest to the first clamping actuator in its possible displacement path. For example, the clamping actuator can be located at its far left position. The second clamping actuator is actuated in a second initial position, i.e., the initial position of the second clamping actuator, so that it grips the object. 4) The second motion actuator now moves the second clamping actuator in the direction of transport, for example, to the right, i.e., away from the first clamping actuator. The first motion actuator also moves the first clamping actuator back to its initial initial position in the opposite direction of transport, e.g., to the left. Advantageously, the first motion actuator can move the first clamping actuator simultaneously with the movement of the second clamping actuator by the second motion actuator.The movement of the second motion actuator can also overlap with the movement of the first motion actuator in step 2), so that the termination of the actuation of the first clamping actuator in step 3) occurs after the commencement of the actuation of the second clamping actuator in step 3). 5) The second clamping actuator then terminates its actuation, releasing the elongated object, and is moved back to its second starting position, i.e., to its position closest to the first clamping actuator, by the second motion actuator, at least if a further cycle takes place. A further cycle of steps 1) to 5) can now follow, whereby the return movement of the second clamping actuator in step 5) can advantageously occur simultaneously with the movement of the first clamping actuator in step 1).

[0054] Similarly, continuous rotation of the elongated object can optionally be achieved. This can then be done, for example, as follows: 1) The first clamping actuator is actuated in a first initial angular position, gripping the elongated object. This initial angular position can be an extreme position within its range of motion. 2) A first rotary actuator then rotates the first clamping actuator around the longitudinal axis of the gripping area or the elongated object in a desired direction of rotation. The desired direction of rotation is the direction in which the elongated object as a whole is to be rotated. The first rotary actuator preferably rotates the first clamping actuator away from the first initial angular position by a maximum angle, i.e., as far as its design allows. 3) The first clamping actuator then terminates its actuation, releasing the elongated object. The second clamping actuator is actuated in a second initial angular position, which is preferably in the same direction as the first initial angular position.4) A second rotary actuator, which rotates the second clamping actuator, then rotates the second clamping actuator in the desired direction of rotation, again preferably by a maximum angle through which the rotary actuator can rotate. The first rotary actuator also rotates the first clamping actuator back to its first initial angular position in the opposite direction to the desired direction of rotation. This can advantageously occur simultaneously with the rotation of the second rotary actuator. The rotation of the second rotary actuator can also overlap with the rotation of the first rotary actuator in step 2) over part of its angle of rotation, so that the second rotary actuator is activated before the first rotary actuator completes its actuation. 5) The second clamping actuator then completes its actuation, releasing the elongated object, and is moved back to its second initial angular position by the second rotary actuator, at least if a further cycle takes place.Another cycle of steps 1) to 5) can now follow, whereby the reversing of the second clamping actuator in step 5) can occur simultaneously with the movement of the first clamping actuator in step 1).

[0055] The invention will now be explained by way of example with reference to several figures. Identical reference numerals denote identical or corresponding features. The features described in the examples can also be implemented independently of the example and combined among the examples.

[0056] It shows: Fig. 1 a schematic representation of a general example of a clamping actuator according to the invention, Fig. 2 a schematic representation of a clamping actuator according to the invention with motion actuators, Fig. 3 a particularly advantageous embodiment of a clamping actuator according to the invention, Fig. 4 the side view of a motion mechanism according to the invention, Fig. 5 a perspective view of the inFig. 4 The movement mechanism shown, Fig. 6 positions of two clamping actuators during the execution of a method according to the invention with schematically depicted movement actuators, Fig. 7 an exemplary realization of movement actuators with stepper motors and cable pulls, Fig. 8 an actuation pattern for the translation of an elongated object, Figs. 9, 10 two views of a section of a movement mechanism according to the invention with two centering elements.

[0057] Fig. 1 schematically shows a clamping actuator 1 according to the invention. Fig. 1A a state before an elongated object 3 is inserted into a receiving area 2 of the clamping actuator 1, Fig. 1B a state in which the elongated object 3 is inserted into the receiving area 2 and Fig. 1C a state in which a fluid volume 7 of the clamping actuator has been filled with a fluid under pressure, so that the elongated object 3 is held by the clamping actuator 1.

[0058] The clamping actuator 1 has a U-shaped fluid volume 7 or a hollow body 5 containing a fluid volume. The hollow body has a U-shaped, channel-shaped, or concave receiving area wall 11 that surrounds an elongated receiving area 2 and separates it from the fluid volume 7. The receiving area wall 11 surrounds the receiving area 2 at an angle of less than 360°. Thus, the receiving area wall 11 partially surrounds the receiving area 2. The receiving area wall has a shape that, in the plane of the figure, describes, for example, a U, and can therefore be described as U-shaped. The legs of this U define the receiving area 2 between them. The two legs of the U-shape of the receiving area wall 11 are connected to each other via a connecting area, which here is the lowermost part of the U-shape. The precise location where the connecting area transitions into the legs is not crucial.The two legs are not connected at their ends facing away from the connection area, so that an opening is created at the top through which the elongated object 3 can be inserted into the receiving area 2.

[0059] The wall of the recording area is formed, at least in some areas, by a flexible membrane, which, as in Fig. 1C As shown, when a fluid is introduced into the fluid volume 7, it can inflate and then close off the receiving area 2 upwards, i.e., in the direction away from the connection area. In this way, the elongated object 3 can be held firmly in the receiving area 2.

[0060] The fluid volume 7 is the interior of a hollow body 5. The aforementioned flexible membrane is then part of the inner surface of the hollow body 5, i.e., the surface facing the receiving area 2. In the Fig. 1 shown

[0061] For example, the flexible membrane can limit the fluid volume 7 in all directions. Thus, the hollow body 5 can be formed by the membrane. The hollow body 5 can, for example, be considered a balloon.

[0062] The clamping actuator 1 also has a fluid connection 6 through which fluid can be introduced into and also drawn from the fluid volume 7. By introducing fluid, the clamping actuator 1 is connected to the fluid volume 7. Fig. 1C The shown state can be converted. By draining the fluid, it is returned to the state shown. Figuren 1A und 1B The state shown can be converted. In the example shown, the fluid connection 6 is located below the receiving area.

[0063] Fig. 2 Figure 1 schematically shows an example of a movement mechanism according to the invention for moving at least one elongated object 3. The movement mechanism includes, on the one hand, a clamping actuator 1, for example as shown in Figure 1. Fig. 1 The clamping actuator 1 is shown, as well as at least one motion actuator 9ra, 9rb, 9t, with which the clamping actuator can be moved in a longitudinal direction of the receiving area 2 and rotated about the receiving area 2. The clamping actuator 1 can be connected to the actuators 9ra, 9rb, 9t via a connecting element 8 into which the clamping actuator 1 can be inserted. Fig. 2A shows the clamping actuator 1 separated from the connecting element 8 and Fig. 2B Figure 1 shows the clamping actuator 1 inserted in the connecting element 8. The clamping actuator 1 has connecting parts 10a, 10b on its underside facing away from the receiving area 2, which can engage in corresponding recesses in the receiving 8, so that the clamping actuator 1 can be held by the receiving 8 and that a linear force and a torque exerted by the receiving 8 can be transmitted to the clamping actuator 1.

[0064] Actuators 9ra, 9rb, and 9t are shown here only schematically. Actuators 9ra and 9rb can be used to exert a rotary movement on the clamping actuator 1, and actuator 9t can be used to exert a translational movement in the direction of the longitudinal axis of the receiving area 2.

[0065] In Fig. 2 The benefit of film 4 is also clearly evident. Film 4 completely surrounds the hollow body 5 and extends in a plane parallel to the longitudinal direction of the receiving area 2. Film 4 covers all elements below, thus isolating them from the upper surface and, in particular, from the receiving area 2. In this way, contact between elements above the film and the actuators 9ra, 9rb, 9t, and other elements of the movement mechanism is prevented, ensuring sterility. In particular, the use of film 4 allows the movement mechanism to be divided into sterile and non-sterile parts. The clamping actuator 1 can be manufactured sterile in conjunction with the cover film 4, while the connecting mechanism 8 and the remaining mechanics can be used non-sterile.

[0066] The objects 3 that can be grasped with the clamping actuator 1 according to the invention can be, for example, tube-like devices, in particular medical endovascular catheters and / or guide wires. The clamping actuator 1 can be operated hydraulically and / or pneumatically. Fig. 2 Only one actuator 9t is shown for translation; however, multiple actuators can also be used, which is particularly advantageous when several clamping actuators 1 are used in the movement mechanism. The actuators 9ra, 9rb, 9t can be single-acting or double-acting. In particular, two single-acting actuators can be used instead of one double-acting actuator.

[0067] A single clamping actuator 1 enables relatively small rotations and / or translations. If two clamping actuators 1 are connected to two motion actuators 9ra, 9rb, 9t and alternately actuated and reset, continuous translation and / or rotation can be achieved. A movement mechanism for moving an elongated object, such as a tube-like device (e.g., catheter / guidewire), therefore preferably comprises at least two clamping actuators 1 and two motion actuators 9ra, 9rb, 9t. Translation or rotation can be effected with three single-acting, four single-acting, two double-acting, or two single-acting and one double-acting actuator. Translation with four single-acting actuators is described in Fig. 6 shown as an example.

[0068] Fig. 3 shows an example of a clamping actuator 1 according to the invention, wherein Fig. 3A The clamping actuator is fully displayed, and Fig. 3B a cut through the in Fig. 3A The clamping actuator shown is depicted. The clamping actuator 1 has an outer shape comprising a cylindrical region 13 with a cross-section in a plane perpendicular to a longitudinal direction of the receiving region 2. This region has the shape of a circular arc with a straight section connecting the ends of the arc. Within this region of straight cross-section, the outer surface has a notch 15 parallel to the longitudinal direction of the receiving region 2, through which the outer surface 13 transitions into the receiving region wall 11. The circular arc cross-section has the longitudinal axis of the receiving region 2 as its central axis. The ends of the circular arc section of the surface 13 in the direction of the arc are connected by a flat surface section 14.The flat surface section 14 is interrupted by a cut 15 parallel to the longitudinal axis of the receiving area 2, which extends inwards, i.e., in the direction of the receiving area 2, into the receiving area wall 11. The fluid volume 7 is formed inside the hollow body 5. It has a rectangular or square cross-section in a plane perpendicular to the longitudinal direction of the receiving area 2, into which the receiving area 2 and the receiving area wall 11 project from the direction of the flat surface section 14 of the surface of the hollow body.

[0069] The recording area wall 11 has knobs 16 on its side facing the recording area 2, which improve the grip of an elongated object in the recording area. Fig. 3A A catheter 17 is shown as an example of an elongated object in the recording area 2.

[0070] The fluid connection 6 is a pipe running parallel to the longitudinal axis of the receiving area, which opens into the fluid volume 7.

[0071] Fig. 4 and Fig. 5 Figure 1 shows an embodiment of a movement mechanism according to the invention with two clamping actuators 1 arranged in movable elements 41a and 41b. The movable elements 41a and 41b are slidably mounted on rods 42a and 42b and are actuated for movement along the longitudinal directions of the rods 42a and 42b. Actuation is effected by stepper motors 43a and 43b, which actuate the movable elements 41a and 41b via cables 44a, 44b, 44c, 44d. The cables are guided from the respective motors 43a and 43b to the movable elements 41a and 41b via pulleys 45a, 45b, 45c, 45d. The cable 44a runs from the stepper motor 43a via the roller 45a to a left point of application on the movable element 41a, and the cable 44b runs from the stepper motor 43a via the roller 45b to a right point of application on the movable element 41a.The cable 44c runs from the stepper motor 43b via the pulley 45c to a left attachment point on the movable element 41b, and the cable 44d runs from the stepper motor 43b via the pulley 45d to a right attachment point on the movable element 41b. The cables 44a to 44d are guided parallel to the direction of displacement of the movable elements 41a and 41b, that is, parallel to the rods 42a, 42b.

[0072] The movable elements 41a and 41b each have an actuator 46a, 46b, in this case stepper motors, for rotating the corresponding clamping actuator 1a, 1b around its holding area. The actuator 46a, 46b engages a rotating element in which the corresponding clamping actuator 1a, 1b is located via a cable 47a, 47b. The cables 47a, 47b are guided over a pulley of the respective actuator 46a, 46b and also over a pulley 48a, 48b, so that the cables 47a, 47a engage the rotating elements from opposite sides. A rotation of the actuator 46a, 46b thus results in a rotation of the corresponding rotating element and therefore of the clamping actuator 1a, 1b.

[0073] In the example shown, the longitudinal directions of the recording areas 2a, 2b are coaxial to each other. The clamping actuators 1a, 1b are as shown in Fig. 3 shown in its design.

[0074] Fig. 6 schematically shows the arrangement of motion actuators for moving the clamping actuators 1a, 1b in the Figuren 4 and 5 . This includes the Figuren 6A, 6B und 6C Four motion actuators 9a, 9b, 9d, 9e are provided, which together effect the movement of the clamping actuators 1a and 1b. Since they effect a translation, they correspond to actuator 9t in Figur 2 . In the Figuren 6A bis 6C Two modules can be identified, separated by a dashed line. Alternatively, the translation can also be achieved with three single-acting actuators instead of four. In this case, each of the two modules is connected to its environment (left and right) by an actuator, and a third actuator would be provided between the two modules, connecting them together. In the Figuren 6A bis 6C Actuators 9b and 9d would thus be replaced by a single actuator. Translation can also be achieved with two double-acting actuators. In this case, actuators 9a / 9b and 9d / 9e would each be replaced by a double-acting actuator, which would then each be connected to its surroundings.

[0075] Fig. 6D Figure 1 also shows an embodiment in which the translation of the clamping actuators 1a and 1b is effected by two actuators 9a, 9b and 9d, 9e, respectively. Actuators 9b and 9d are therefore not connected to each other. In this way, the clamping actuators 1a and 1b can be arranged at a large distance from each other, and more complex motion profiles can be realized, since the clamping actuators can be moved independently of each other.

[0076] With the in Fig. 6 The actuators 9a, 9b, 9d, and 9e shown can effect a translation of the elongated object 3. First, the first clamping actuator 1a grips the elongated object 3 in an initial starting position. Then, the movement actuators 9a and 9b move the first clamping actuator 1a in the transport direction. Fig. 6 to the right. The first starting position can, for example, be the position in which the clamping actuator 1a is in Fig. 6B shown.

[0077] Is the first clamping actuator 1a in the end position, for example in the Fig. 6C Once the indicated position has been reached, it ends its actuation, thus releasing the elongated object 3. The second clamping actuator 1b is then actuated in a second starting position, for example, the one shown in Fig. 6C The position shown is where it is located furthest to the left, i.e., in its position closest to the first clamping actuator 1a. The second clamping actuator 1b then grips the elongated object 3. Subsequently, the movement actuators 9d and 9e move the second clamping actuator 1b in the transport direction, i.e., in Fig. 6 to the right, while the first clamping actuator 1a is moved back to its initial starting position against the direction of transport. This step leads to the in Fig. 6B The situation shown. The second clamping actuator 1b can then complete its actuation, thus releasing the elongated object 3. It can then be moved back to its second starting position.

[0078] The motion actuators can be implemented, for example, using a cable mechanism driven by stepper motors. An example of this is shown in the following. Figuren 7A , 7B and 7C . This shows Fig. 7A the example of a top view, which Fig. 7B the example with a viewing direction in the direction of the longitudinal axis of the recording area 2 and Fig. 7C the mechanism in its side view perpendicular to the longitudinal direction of the recording area 2. As in Fig. 7A As can be seen, the device for driving one of the clamping actuators 1 has four motors 71a, 71b, 71c, 71d, here stepper motors. The stepper motors 71a and 71b actuate the moving element 41 via cables 72a and 72b and can move it in the direction of the longitudinal axis of the receiving area 2. In doing so, one of the cables 72b is guided via pulleys 73a and 73b to the end of the carriage 41 that is opposite cable 72a. Cable 72a is pulled by motor 71a and cable 72b is pulled by motor 71b.

[0079] The clamping actuator 1 is arranged in a rotary element 74, which is rotatable about the longitudinal axis of the receiving area 2. The rotation of the rotary element 74, and thus of the clamping actuator 1, is achieved by means of the motors 71c and 71d. For this purpose, motor 71c is connected to the circumference of the rotary element 74 via a cable 72c, and motor 71d is connected to the circumference of the rotary element 74 via a cable 72d. By exerting a tensile force by the motors 71c and 71d, the rotary element 74 is therefore rotatable about the longitudinal axis of the receiving area 2.

[0080] Motors 71a to 71d each have rollers for winding up the corresponding cable pulls 72a to 72d, which are coaxial to the axis of rotation of the corresponding motor 71a to 71d.

[0081] Figur 8 This shows an example of an activation pattern, such as that found in the arrangement in the Figuren 4 and 5is executable. A black square indicates an activated clamping actuator 1a, 1b, and a white square indicates a non-activated clamping actuator 1a, 1b. Hatched squares show a state in which both actuators 1a and 1b are activated together. Arrows indicate the direction of movement of the actuators 1a, 1b and the elongated object 17. Figuren 8A bis 8E The diagram shows successive steps of a process in which the elongated object is moved to the right. Specifically, the following steps are performed, with the letters corresponding to the partial images of the diagram. Figur 8 are equivalent to: A) The first clamping actuator 1a is activated in a first starting position, so that it grips the elongated object 17. The starting position can be an extreme position of its range of motion. For example, the first clamping actuator 1a can be located at the far left. The first movement actuator moves the first clamping actuator 1a in a transport direction, here to the right, which is directed towards the second clamping actuator 1b. While the clamping actuator 1a is moving to the right, it moves to the left into a second starting position, provided it is located on the right. B) In this partial view, the second clamping actuator 1b is in the second starting position, while the first clamping actuator 1a continues to move to the right. C) While the first clamping actuator is still moving to the right, the second clamping actuator begins its movement to the right. During this movement, both clamping actuators 1a and 1b can be activated for a period of time, as indicated by the hatching.D) The first clamping actuator 1a then ends its actuation. The second clamping actuator 1b is actuated and moves to the right. This transports object 17 to the right. E) During the movement of the second clamping actuator 1b, the first clamping actuator 1a is moved back to its initial starting position to the left. It is not actuated during this movement.

[0082] Figur 9 and 10Figure 1 shows a portion of a movement mechanism according to the invention, comprising two centering elements 91 and 92 arranged on opposite sides of the receiving area of ​​the clamping actuator 1. The centering element 91 has two parts, 91a and 91b, which can be joined together to form a through-hole 93 between them. The elongated object can be centered in this through-hole. The centering element 92 has a groove 94 into which the elongated object can be inserted, thereby centering it. The through-hole 93 and the groove 94 are coaxial with the central axis of the receiving area of ​​the clamping actuator 1. When the clamping actuator 1 is actuated to rotate about the central axis, the centering elements ensure that the elongated object remains on the axis of rotation and is not displaced during the rotation.

Claims

1. A movement mechanism for moving at least one elongated object (3, 17), the movement mechanism comprising at least one clamping actuator (1) to hold an elongated object (3, 17), the clamping actuator (1) having a hollow body (5) with a fluid volume (7), the hollow body (5) having a U-shaped, channel-shaped, or concave receiving area wall (11) that at least partially surrounds an elongated receiving area (2) into which the elongated object (3, 17) can be inserted, the receiving area wall (11) separating the receiving area (2) from the fluid volume (7), the receiving area wall (11) being formed by a flexible membrane, the clamping actuator (1) also having a fluid connection (6) through which fluid can be introduced into the fluid volume (7) and discharged from the fluid volume (7), and the movement mechanism also comprising at least one movement actuator (9ra, 9rb, 9t) to move the clamping actuator (1) in the longitudinal direction of the receiving area (2) and / or rotate the clamping actuator (1) around the receiving area (2), the movement mechanism according to variant A having at least a first and a second of the clamping actuators (1a, 1b), the first clamping actuator (1a) being arranged on a first movement actuator (9a, 9b) and the second clamping actuator (1b) being arranged on a second movement actuator (9d, 9e), the clamping actuators (1a, 1b) being displaceable with the movement actuators (9a, 9b, 9d, 9e) towards the longitudinal direction of their receiving areas (2a, 2b), the movement mechanism being designed to perform the following process: the clamping actuators (1a, 1b) and movement actuators (9a, 9d, 9b, 9e) being actuated in an actuation pattern after the elongated object (3, 17) has been inserted into the receiving areas (2a, 2b) of both clamping actuators (1a, 1b), the actuation pattern repeatedly comprising the following steps, which may also overlap: 1) the first clamping actuator (1a) is actuated in a first initial position so that it grips the elongated object (3, 17), 2) the first movement actuator (9a, 9b) moves the first clamping actuator (1a) in a transport direction, 3) the first clamping actuator (1a) terminates its actuation, thereby releasing the elongated object (3, 17), and the second clamping actuator (1b) is actuated in a second initial position, thereby gripping the object (3, 17), 4) the second movement actuator (9d, 9e) moves the second clamping actuator (1b) in the transport direction and the first movement actuator (9a, 9b) moves the first clamping actuator (1a) back to the first initial position against the transport direction, 5) the second clamping actuator (1b) terminates its actuation, thereby releasing the elongated object (3, 17), and is moved into the second initial position by the second movement actuator (9d, 9e), and / or the first clamping actuator (1a) in the movement mechanism according to variant B being arranged on a first rotating actuator and the second clamping actuator (1b) being arranged on a second rotating actuator, the clamping actuators (1a, 1b) being rotatable with the respective rotating actuators around the longitudinal axis of their receiving areas (2a, 2b), the movement mechanism being designed to perform the following method: the clamping actuators (1a, 1b) being actuated in a actuation pattern after the elongated object (3, 17) has been inserted into the receiving areas (2a, 2b) of both clamping actuators (1a, 1b) and rotating actuators, the wake pattern repeatedly comprising the following steps, which may also overlap: 1) the first clamping actuator (1a) is actuated in a first initial angular position so that it grips the elongated object (3, 17), 2) the first rotating actuator then rotates the first clamping actuator (1a) around the longitudinal axis of the receiving area (2a) or the elongated object (3, 17) in a desired direction of rotation, 3) the first clamping actuator (1a) terminates its actuation, thereby releasing the elongated object (3, 17), and the second clamping actuator (1b) is actuated in a second initial angular position, 4) the second rotating actuator then rotates the second clamping actuator (1b) in the desired direction of rotation, and the first rotating actuator also rotates the first clamping actuator (1a) back to the first initial angular position in the opposite direction to the desired direction of rotation, 5) the second clamping actuator (1b) terminates its actuation, thereby releasing the elongated object (3, 17), and, at least if another pass is made, is moved back to the second initial angular position by the second rotating actuator.

2. The movement mechanism according to the preceding claim, the flexible membrane delimiting all sides of the fluid volume (7), and / or the receiving area (2) extending along a straight line.

3. The movement mechanism according to any one of the preceding claims, the flexible membrane, in a state in which no external forces act on it, having a shape that is created by moving a closed plane curve along a shifting path curved around a central axis, the centre axis lying outside the area enclosed by the curve and in the plane curve at every position of displacement, ends of the shifting path enclose an angle greater than zero around the center axis, the receiving area extending preferably longitudinally along the central axis, the shifting path rotating preferably around the central axis by more than 180 degrees, preferably by more than 270 degrees.

4. The movement mechanism according to any one of the preceding claims, the receiving area (11) surrounding the receiving area (2) over an angle of more than 180°.

5. The movement mechanism according to any one of the preceding claims, the hollow body (5) having surface sections connected via the receiving area wall (11) which enclose an acute angle around the receiving area (2).

6. The movement mechanism according to any one of the preceding claims, sides of the fluid volume (7) facing the receiving area (2) and sides of the fluid volume (7) facing away from the receiving area (2) running parallel to each other.

7. The movement mechanism according to any one of the preceding claims, the hollow body (5) having an outer surface that includes a cylindrical region (13) with a cross-section in a plane perpendicular to a longitudinal direction of the receiving area (2) in the shape of an arc with a straight section connecting ends of the arc or that has a rectangular shape, the outer surface in a region with a straight cross-section having a cutout (15) parallel to the longitudinal direction of the receiving area (2), in which the outer surface (13) merges into the receiving area wall (11).

8. The movement mechanism according to any one of the preceding claims, comprising a foil (4) which completely surrounds the hollow body (5), preferably below the receiving area (2), and which extends in a plane parallel to the longitudinal direction of the receiving area (2).

9. The movement mechanism according to any one of the preceding claims, the receiving area wall (11) having the shape of a two-dimensional U in a section in a plane perpendicular to an extension direction of the receiving area (2).

10. The movement mechanism according to any one of the preceding claims, further comprising at least one centering element (91, 92) arranged on at least one side of the receiving area (2) towards its longitudinal direction, the elongated object (3, 17) can be centred on a central axis of the receiving area (2), the at least one centering element (91, 92) preferably having a channel (94) or a through-hole (93) that runs coaxially to the central axis of the receiving area (2).

11. The movement mechanism according to any one of the preceding claims, comprising at least two of the clamping actuators (1a, 1b), whose receiving areas (2a, 2b) are coaxial with each other, further comprising at least one of the movement actuators (9a, 9b, 9d, 9e) for each of the clamping actuators (1a, 1b).

12. The movement mechanism according to any one of the preceding claims, the movement mechanism having a U-shaped, channel-shaped, or concave receptacle, the clamping actuator being arranged between legs of the receptacle, an axis around which the receptacle extends being parallel to an axis around which the receiving area wall (11) extends.