Coupling station and remote manipulation system

Abstract

The invention relates to a coupling station (3) for a remote manipulation system which is operated using transmission means and which has at least one drive unit (1), a coupling station (3), and an actuating unit (5). At least one function of the actuating unit (5) can be adjusted in a remote-controlled manner by means of the drive unit (1) via the coupling station (3) using the transmission means. The invention additionally relates to a remote manipulation system which is operated using transmission means and which has at least one drive unit (1), a coupling station (3), and an actuating unit (5). At least one function of the actuating unit (5) can be adjusted in a remote-controlled manner by means of the drive unit (1) via the coupling station (3) using the transmission means.

Description

[0001] Coupling station and remote manipulation system

[0002] The invention relates to a coupling station for a remote manipulation system operated by transmission means, which has at least one drive unit, a coupling station and an actuating unit, wherein at least one function of the actuating unit can be adjusted remotely from the drive unit via the coupling station by means of the transmission means.

[0003] The invention also relates to a remote manipulation system operated by transmission means, which has at least one drive unit, a coupling station and an actuating unit, wherein at least one function of the actuating unit can be adjusted remotely from the drive unit via the coupling station by means of the transmission means.

[0004] Remote manipulation systems with transmission media, such as cable pulls, can be used in a variety of applications. One advantageous area of ​​application is medical technology, particularly in cases where certain materials, such as magnetic materials in MRI examinations, should be avoided due to the medical equipment used. The cable pulls can advantageously be made of MRI-compatible material, making their use during an MRI examination unproblematic.

[0005] At least with regard to a positioning device, the present invention relates to the field of medical devices, in particular for imaging examinations such as magnetic resonance imaging (MRI). Particularly in the field of interventional MRI applications, special requirements exist, e.g., with regard to the MRI compatibility of the materials used, the medical device, and the operability of medical devices in a relatively long and narrow MRI tunnel. In particular, unnecessary stress on the personnel working in this area caused by the magnetic field should be avoided. For such applications in the field of MRI, for example, simple mechanical positioning aids exist that allow the guidance of a biopsy needle or similar instruments and can be adjusted by the user essentially with regard to their angular orientation. However, such devices cannot be operated remotely.

[0006] A remote manipulation system operated with cable pulls is already known from the state of the art, for example from DE 102020 104 746 B3.

[0007] Furthermore, US 2017 / 0308667 A1 teaches a mechanical device for remote manipulation comprising a master unit, a slave unit, and a connecting link, which, in cooperation with transmission means, transmits the kinematic movement from the master unit to the slave unit. This mechanical device for remote manipulation is designed in the form of a movable and expansive surgical instrument with a carrier unit and a manipulation unit with a double barrel mounted thereon. Within the cannon-like, parallel double barrels, a master unit, a slave unit, the corresponding connecting link, and the transmission means are at least partially arranged, with these components being structurally fixed relative to one another.

[0008] The invention is based on the object of providing a further improved remote manipulation system and improved components of such a system.

[0009] This object is achieved by a coupling station having the features of claim 1. According to the concept of the invention, the coupling station for a remote manipulation system operated by transmission means comprises at least one drive unit, a coupling station, and an actuating unit. At least one function of the actuating unit is remotely controlled by the drive unit via the coupling station and can be adjusted by means of the transmission means.

[0010] A characteristic of this invention is that the drive unit, the coupling station, and the actuating unit can be coupled to one another in a modular manner, whereby—following the inventive concept—three different variants are formed, described below. Despite their differences, all three variants have in common that either the drive-side transmission unit or the output-side transmission unit of the coupling station is designed modularly, either as an arrangement of individual plug-in modules or individual plug-in slots, which are operatively connected to the associated complementary plug-in slots or plug-in modules of the transmission means to be coupled.

[0011] In the first variant, the coupling station has both a drive-side transmission unit, which is detachably connected to the drive unit via transmission means, and an output-side transmission unit, which is detachably connected to the actuating unit via transmission means.

[0012] The coupling station is thus a mechanical interface between a transmission system acting between the coupling station and the drive unit, and a transmission system acting between the coupling station and the actuating unit. Such an additional component in the remote manipulation system, namely the coupling station, can realize various advantages. For example, the coupling station can be fixed at a specific location relative to the actuating unit, independent of the drive unit—e.g., in a medical system, to a patient support surface while the actuating unit is fixed to the patient. The operator of the remote manipulation system can then manually manipulate the drive unit, independent of the fixed coupling station and the fixed actuating unit, and has more degrees of freedom of movement than if manual operation had to take place directly at the coupling station.The drive unit can therefore be used as a kind of “cable remote control”.

[0013] In the second variant, the coupling station, which is designed as a common structural unit with the drive unit, has an output-side transmission unit which is detachably connected to the actuating unit via transmission means.

[0014] The drive unit can, for example, be structurally integrated into the coupling station, e.g., into a housing or housing part of the coupling station. The drive unit can also be attached directly to the coupling station, e.g., flanged. For example, manually operable actuating elements of the drive unit can then be arranged on the coupling station. In this variant, the invention can also be implemented without the drive-side transmission unit and the transmission means interacting with it between the coupling station and the drive unit, since the drive unit is directly integrated into the coupling station. In the third variant, the coupling station, which is designed as a common structural unit with the actuating unit, has a drive-side transmission unit that is detachably connected to the drive unit via transmission means.

[0015] The actuating unit can be structurally integrated into the coupling station, e.g., into a housing or housing part of the coupling station. The actuating unit can also be mounted directly onto the coupling station, e.g., flange-mounted. For example, actuating elements or actuators of the actuating unit can be arranged on the coupling station. In this variant, the invention can also be implemented without the output-side transmission unit and the transmission means interacting with it between the coupling station and the actuating unit, since the actuating unit is integrated directly into the coupling station.

[0016] Mechanical transmission means, such as ropes, chains, belts, shafts, rods, or other components suitable for transmitting motion and force, are preferably provided as transmission means. The concept of the invention is also not precluded by the use of hydraulic or pneumatic transmission means instead of mechanical transmission means.

[0017] If the person skilled in the art were to choose cables as exemplary representatives for the multitude of different transmission means, he would arrive at a coupling station for a remote manipulation system operated with cable pulls, which has at least one drive unit, the coupling station and an actuating unit, wherein at least one function of the actuating unit can be adjusted remotely from the drive unit via the coupling station by means of the cable pulls, wherein the coupling station has a drive-side cable pull mechanism which can be connected to the drive unit via cable pulls, and / or the coupling station is designed as a common structural unit with the drive unit, wherein the coupling station has an output-side cable pull mechanism which can be connected to the actuating unit via cable pulls.

[0018] The invention can be used either with a manually operated drive unit or with a motor-driven drive unit. The previously explained advantages can also be realized with a motor-driven drive unit, e.g., with regard to variable positioning of the motor-driven drive unit. Where drive elements of the drive unit are mentioned below, these can be motors in a motor-driven drive unit, and in a manually operated drive unit, these can be designed, for example, directly as manually operated adjusting elements, e.g., adjusting wheels, possibly in combination with gears or other transmission elements.

[0019] A further advantage of the invention is that the power transmission between the drive-side transmission unit or the integrated drive unit and the output-side transmission unit can be designed differently as required. In particular, the coupling station allows the remote manipulation system to be designed in such a way that no transmission means running continuously from the drive unit to the actuating unit are required; instead, the transmission means from the drive unit and the actuating unit each end at the coupling station. This allows, for example, simple decoupling of the drive-side transmission unit from the output-side transmission unit. For example, the coupling station can have an overload protection mechanism, as explained in more detail below, by which the drive side is decoupled from the output side under predetermined conditions, e.g. when a permissible maximum force is exceeded.

[0020] Furthermore, an additional component such as the coupling station, in its design variant, generally allows for better separation between a sterile area and a non-sterile area in medical systems. In particular, the drive unit and, if applicable, the coupling station, in whole or in part, can be used as a reusable component of a medical system, while the actuating unit can only be designed for single use due to sterility requirements for the patient. Depending on the design of the invention according to the three described variants, it is also possible for the actuating unit and coupling station to be designed for single use only.

[0021] According to an advantageous embodiment of the invention, the drive-side transmission unit and / or drive elements of the drive unit are coupled to the output-side transmission unit via a transmission mechanism, wherein actuating movements transmitted from the drive unit via the transmission means or directly to the transmission mechanism can be transmitted to the output-side transmission unit by means of the transmission mechanism and from there to the actuating unit via the transmission means. This allows for a reliable, reproducible transmission of actuating movements from the drive unit to the actuating unit.

[0022] The transmission mechanism can be designed differently depending on the application, e.g., with a gear drive, a friction clutch and / or a positive clutch, or with another gear. The gear drive can be any roller gear, helical roller gear, or helical gear. Examples of this, but not limited to, include helical gears, worm gears, planetary gears, hypoid gears, spur gears, bevel gears, or worm gears.

[0023] If a gearbox is present, the transmission mechanism can also be designed to be switchable, allowing the user to switch between different gear ratios. For example, different gear ratios can be used on the actuator unit to generate large actuating movements and, alternatively, to generate small, sensitively metered actuating movements. However, switching is also conceivable with clutch-based transmission mechanisms in addition to gearbox-based transmission mechanisms, for example, in the case of double clutches on a common shaft, which can be switched alternately, e.g., for the purpose of switching from the transmission to the spring function.

[0024] The actuating unit can also be adjustable in several degrees of freedom in the case of transmission means designed as cable pulls.

[0025] According to a further advantageous embodiment of the invention, the output-side transmission unit is coupled to the drive-side transmission unit and / or drive elements of the drive unit via an overload protection mechanism, wherein the overload protection mechanism is configured to decouple the output-side transmission unit from the drive-side transmission unit and / or drive elements of the drive unit upon the occurrence of a predetermined decoupling condition, in particular upon exceeding a predetermined force. In this way, the area actuated by the actuating unit, e.g., a patient in the medical field, can be protected in emergency situations. The overload protection mechanism can thus fully or partially decouple the output-side transmission unit from the drive-side transmission unit.

[0026] Depending on the application, the overload protection mechanism can be designed as a reversible or irreversible overload protection mechanism. For example, the coupling station can contain at least one predetermined breaking point (irreversible overload protection mechanism) that breaks when excessive forces occur in the transmission media, thus releasing the output-side transmission unit. For example, the output-side transmission unit can then detach completely from a housing of the coupling station.

[0027] A reversible overload protection mechanism, which can be designed, for example, like a snap buckle on bags or backpacks, can be returned to the original, coupled state by the user after the decoupling condition occurs, in which the output-side transmission unit is coupled to the drive-side transmission unit. An irreversible overload protection mechanism is characterized by at least one component undergoing an irreversible change, such as the aforementioned predetermined breaking point. At least one replacement part must then be used to restart the coupling station.

[0028] The overload protection mechanism can be designed as a passive or active overload protection mechanism. A passive overload protection mechanism is characterized by the fact that the overload protection is provided by purely mechanical and thus passive components, such as the predetermined breaking point mentioned above. An active overload protection mechanism can, for example, include a sensor that monitors the decoupling condition to be monitored, e.g., the exceeding of a predetermined force, and emits a corresponding signal, e.g., a switching signal, when the decoupling condition occurs. The switching signal can, for example, trigger a switching contact to decouple the output-side transmission unit from the input-side transmission unit.

[0029] In such an actively controlled shifting system, an additional transmission element can be located in one or both transmission lines (drive and output sides), which triggers a switching contact (sensor with switching signal) when a corresponding load is applied. This switching signal electromechanically releases a clutch, for example, by moving a locking bolt. This allows the output-side transmission unit to be decoupled from the drive-side transmission unit.

[0030] According to an advantageous embodiment of the invention, the overload protection mechanism is integrated into the transmission mechanism and / or is configured to mechanically separate the transmission mechanism. This may, for example, involve the output-side transmission unit or the drive-side transmission unit being completely or partially detached from a housing of the coupling station.

[0031] According to an advantageous embodiment of the invention, it is provided that the coupling station is switchable at least between a first and a second switching position, wherein in the first switching position the output-side transmission unit is coupled to the drive-side transmission unit and / or drive elements of the drive unit, such that adjustments predetermined by the drive unit are transmitted to the actuating unit via the coupling station by means of the transmission means, and in the second switching position the output-side transmission unit is decoupled from the drive-side transmission unit and / or the drive elements of the drive unit. In the second switching position, adjustments predetermined by the drive unit are therefore no longer transmitted to the actuating unit via the coupling station. In this state, any adjustments to the drive unit have no influence on the set position of the actuating unit.

[0032] Additionally or alternatively, the second shift position (in addition to the rigid or flexible position / lock) can also be used to implement a second gear stage, for example, with a different gear ratio, e.g., as an extension of the previously mentioned function of the switchable dual clutch. This would allow, for example, high-speed and low-speed operation.

[0033] According to an advantageous embodiment of the invention, in the second switching position, an adjustment position previously set by the drive unit, e.g. directly or via the drive-side transmission unit, is held rigidly in the output-side transmission unit or elastically by means of a spring device. With a rigid coupling, the set adjustment position is held rigidly on the actuating unit. In the alternative case of the spring device, a certain elasticity is present in the output-side cable pull mechanism, so that a set position on the actuating unit is also held, but can also be changed with a certain springy elasticity or compliance when forces arise. Due to the spring device, however, the actuating unit always strives for the set position once it has been set. It is also possible for the output-side transmission unit to be not fixed in any way in the second switching position.The actuating unit can then be freely adjusted, for example, manually, at least in the corresponding affected degrees of freedom of movement by direct action. If the actuating unit is adjusted via the cable pull mechanisms in several degrees of freedom, the coupling station can also have different functionalities of the aforementioned type in the second switching position with respect to different cable pulls. For example, one cable pull or several cable pulls can be held rigidly in the output-side cable pull mechanism in the second switching position, while one or more cable pulls can be held elastically by means of a spring device.

[0034] The spring device can be designed as a torsion spring, tension spring or compression spring, for example.

[0035] According to an advantageous embodiment of the invention, the coupling station can be switched back and forth between the first switching position and the second switching position via cables connected to the drive-side cable pull mechanism and / or directly by drive elements of the drive unit. This also allows remote control of the switching mechanism for switching between the first and second switching positions from the drive unit. According to an advantageous embodiment of the invention, the coupling station has a head region, on which at least the output-side cable pull mechanism is arranged, and a foot region spatially spaced from the head region, which is designed for setting up and securing the coupling station on a surface.This allows a spatial separation between the attachment of the coupling station to the ground and the cables essential for operation, which simplifies the installation and handling of the coupling station.

[0036] For example, the head section can be connected to the foot section via a manually releasable coupling mechanism. The coupling mechanism allows the head section to be easily and quickly detached from the foot section, particularly without tools. The coupling mechanism can, for example, have a locking device that can be released via a manual actuation element.

[0037] The foot area can have an adjustment mechanism by which the head area can be adjusted relative to the ground or a component of the foot area attached to the ground in at least one degree of freedom. For example, the head area can be flexibly adjusted in at least one degree of freedom by the adjustment mechanism.

[0038] For example, the head section can be connected to the foot section via a flexible suspension. Such a flexible suspension can, for example, allow a spring-loaded tilt of the head section relative to the foot section, e.g., in the direction of the cables emanating from the output-side cable pull mechanism. Tilting in the transverse direction may also be possible, but in many cases is not required and may therefore be precluded by the mechanical design. Alternatively or additionally, the flexible suspension can allow the head section to rotate around the foot section around a vertical axis.

[0039] As already explained, the drive-side transmission unit or the output-side transmission unit of the coupling station is designed modularly, either as an arrangement of individual plug-in modules or individual plug-in slots, which are operatively connected to the associated complementary plug-in slots or plug-in modules of the transmission media to be coupled. Such a modular design offers many advantages. For example, if the overload protection mechanism has a predetermined breaking point, easily replaceable plug-in modules can be replaced after the predetermined breaking point has been broken. Furthermore, the plug-in modules can be designed differently with regard to their functionality. In particular, the plug-in modules can be designed differently with regard to their functionality in the second switching position.

[0040] In case of an active overload protection mechanism, e.g. activated via the additional "sensor cables" / "sensor wires", several of these sensor cables can be present, e.g. one for each plug-in module.

[0041] According to an advantageous embodiment of the invention, the transmission mechanism comprises a gear transmission. This allows for a reliable, slip-free transmission of actuating movements from the drive unit to the actuating unit.

[0042] According to an advantageous embodiment of the invention, when switching from the first shift position to the second shift position, a gear on the output side can be brought into engagement with different associated gears. In this way, the desired switching between the first and second shift positions can be achieved with a relatively simply constructed manual transmission. The coupling station can thus be constructed compactly and cost-effectively.

[0043] According to an advantageous embodiment of the invention, one or more gears have a base body which has a cylindrical section and a circumferentially tapered section adjoining the cylindrical section, wherein the teeth of the gear extend from the cylindrical section into the tapered section. Such beveled gears can achieve improved meshing behavior when shifting the transmission. During the shifting process, alignment of the teeth of the gear can be made possible. In addition to improved tooth meshing, this can also result in greater shifting smoothness. The circumferentially tapered section can, for example, be a conical section.In addition to the function of transmitting power from the drive unit to the actuating unit, the coupling station also ensures patient safety and can also support the function of a spring-loaded instrument mount on the actuating unit.

[0044] The object mentioned above is also achieved by a remote manipulation system operated with transmission means, which has at least one drive unit, a coupling station and actuating unit, wherein at least one function of the actuating unit can be adjusted remotely from the drive unit via the coupling station by means of the transmission means.

[0045] This also allows the previously explained advantages to be realized. Advantageously, the coupling station can be designed as a coupling station of the type described above.

[0046] According to an advantageous embodiment of the invention, the drive-side transmission unit is coupled directly to the drive unit via the transmission means and / or the coupling station is designed as a common structural unit with the drive unit.

[0047] The invention will be explained in more detail below using exemplary embodiments and drawings, of which

[0048] Figure 1 shows the use of a remote manipulation system in a medical examination,

[0049] Figure 2 shows a drive unit and a coupling station of the remote manipulation system according to Figure 1,

[0050] Figure 3 shows the head area of ​​the coupling station according to Figure 2 in perspective view,

[0051] Figure 4 is a side cross-sectional view of the head region according to Figure 3,

[0052] Figure 5 is a perspective sectional view of the head region according to Figure 3,

[0053] Figure 6 a switchable gear transmission,

[0054] Figure 7 shows the head area according to Figure 3 in an exploded view, Figure 8 shows a drive-side part of the head area in a perspective view, Figure 9 shows an output-side plug-in module in a perspective view,

[0055] Figure 10 shows a further output-side plug-in module in a perspective view, Figure 11 shows the head area in a perspective sectional view in a first

[0056] Switch position,

[0057] Figure 12 shows the head area in a perspective sectional view in a second switching position,

[0058] Figure 13 the foot area of ​​the coupling station,

[0059] Figure 14 shows part of the foot area,

[0060] Figure 15 shows a coupling unit.

[0061] Of the three possible variants of the invention explained above, the first variant will be explained in more detail with reference to the drawings. In this variant, the drive unit, the coupling station, and the actuating unit are each designed separately from one another and can be positioned relative to one another as desired using transmission means designed as cable pulls. Instead of the cables, however, other transmission means such as chains, belts, shafts, rods, or other components suitable for motion and power transmission that can functionally perform the same function can also be used.

[0062] Figure 1 shows the use of a cable-operated remote manipulation system in a medical application, specifically here during the examination of a patient 6 with a magnetic resonance imaging system. The patient 6 is located on a patient couch 7. An actuating unit 5 of the remote manipulation system is attached to the patient 6, e.g., a positioning device of the type described in DE 10 2020 104 746 B3. Furthermore, a coupling station 3 of the remote manipulation system is attached to the foot area of ​​the patient couch 7. The coupling station 3 is connected to the actuating unit 5 via a cable-operated transmission unit 4 on the output side. Furthermore, the coupling station 3 is connected to a drive unit 1, which forms a further element of the remote manipulation system, via a cable-operated transmission unit 2 on the drive side. The drive unit 1 can, for example, be operated manually by an operator 9.By actuating certain actuating elements of the drive unit 1, actuating movements are transmitted via the transmission means to the coupling station 3, in particular to its drive-side cable pull mechanism as transmission unit 2. The drive-side cable pull mechanism as transmission unit 2 of the coupling station 3 is connected to an output-side cable pull mechanism as transmission unit 4 of the coupling station 3. The actuating movements of the drive unit 1 are transmitted via the transmission means to the transmission unit 4 to the actuating unit 5.

[0063] Figure 2 illustrates the interaction between the drive unit 1 and the coupling station 3. Manually operated actuating elements 10 are provided on the drive unit 1, by means of which individual cables of the drive-side cable pulls of the drive-side transmission unit 2 can be moved by the operator 9. These cable movements are transmitted via the drive-side cable pulls to the drive-side transmission unit 2 of the coupling station 3, and from there via the output-side transmission unit 4 to the cables connected to the actuating unit 5.

[0064] It can also be seen that the coupling station 3 has a head region 30 and a foot region 31. The foot region 31 serves to secure the coupling station 3 to a surface, here to the patient bed 7. The head region 30 is coupled to the foot region 31 via a flexible suspension, so that the head region 30 can perform certain spring-loaded movements relative to the foot region 31 in at least one or more degrees of freedom. The aforementioned cable pull mechanisms are housed in the head region 30, which will be explained in more detail below with regard to its structure and functions with reference to Figures 3 to 5.

[0065] As can be seen in Figures 3 to 5, the head section 30 has a modular design. It comprises a base module 32 into which two individual, interchangeable plug-in modules 33, 34 are inserted. The drive-side cable pulleys 2 extend into the base module 32 with their individual cable pulleys 21 and the cables 23 guided therein. The individual cables 23 are each wound onto a cable pulley 60, e.g., by being wound there at least one and a half times (e.g., wrap angle >540°). Each cable pulley 60 is coupled to a drive gear 35, 37. If one of the cable pulleys is actuated, this causes a rotation of the respective cable pulley 60 and, accordingly, a synchronous rotation of the drive gear 35, 37 connected thereto. The drive-side cable pulley mechanism 2 is realized by the cable pulleys 60, which are connected to the drive-side cable pulleys 21.

[0066] On the output side, the individual cable pulleys 41 and their cables 43 extend into the respective plug-in modules 33, 34. The plug-in module 33 has output gears 38, each coupled to a cable pulley 60. The cables 43 are wound around the cable pulleys 60.

[0067] The drive gear 37 is firmly coupled to the driven gear 39. In this way, a rotary motion transmitted via the cable pulls 23 to the drive gear 37 is transmitted directly via the driven gear 39 to the driven-side cables 43. If, as shown in Figures 4 and 5, the drive gear 35 is engaged with the driven gear 38, then, analogously to the previously described process, a direct transmission of the actuating movement from the cable 23 via the drive gear 35 to the driven gear 38 and, via this, to the driven-side cable 43 takes place.

[0068] Figures 4 and 5 show that in the upper part of the head region 30, a further gear 36 is arranged below each drive gear 35. The respective gear 36 is not coupled to the associated drive gear 35 in the direction of rotation, but can rotate relative to it. The additional gears 36 are each elastically suspended in the direction of rotation by a spring device 61. If a rotational movement is transmitted to a further gear 36, the spring device 61 is tensioned, thus creating a tendency for the respective gear 36 to rotate back to its original starting position.

[0069] The output gears 38 can be operated in various switching positions. In the first switching position shown in Figures 4 and 5, each output gear 38 is engaged with an associated drive gear 35. In a second switching position, which will be explained below with reference to further drawings, an output gear 38 can also be engaged with another gear 36. In this state, the output gear 38 can therefore no longer be set in motion via the drive-side cables 23.

[0070] The cables or the individual cables can be tensioned using tensioning screws 42. Figure 6 shows a schematic detail of the gear mechanism comprising the gears 35, 36, 38. As already mentioned, the gear 38 can be moved into various axial positions, as indicated by the arrow. In a first switching position, the output gear 38 is in engagement with the drive gear 35; in a second switching position (shown in Figure 6), the output gear 38 is only in engagement with the further gear 36, which is elastically spring-loaded in the direction of rotation via the spring device 61. The spring device 61 can be designed, for example, as an elastomer band or elastomer hose.While the output gear 38 can be designed as a gear with a cylindrical base body and teeth arranged thereon, it is advantageous to design the gears 35, 36 with a partially conical base body 71 to support the switching process, to which a cylindrical base body 70 is connected. The individual teeth of the toothing of a gear then extend from the cylindrical base body 70 into the conical base body 71.

[0071] The gears 35, 36, 37, 38, and 39 can advantageously be designed with involute toothing, as this combines the advantages of smooth running through continuous tooth flank contact and friction minimization, and is insensitive to changes in center distance. Since the gears and, if necessary, other components of the remote manipulation system can be manufactured additively using 3D printing, the use of such involute toothing is also not associated with increased manufacturing effort.

[0072] As Figure 6 illustrates, for example, the tooth width of the movable gear 38 and the distances between the gears 35, 36 can be selected such that the gear 38 is always in engagement with at least one of the gears 35, 36. During switching between the first and the second switching position, the movable gear 38 can temporarily be in engagement with both gears 35, 36. This counteracts uncontrolled adjustment of the component of the actuating unit 5 connected to the cables 43. The cables 43 of the plug-in module 33 can be used, for example, to change the spatial position of a medical instrument fastened to the actuating unit 5. The cables 43 of the plug-in module 34 can be used, for example, to advance or retract the instrument on the actuating unit 5.

[0073] The elastic fixation of the output-side cables 43 by means of the spring device allows for the compensation of slight movements performed by the patient, e.g., due to breathing or organ movements. The spring action ensures that the previously set position is always continuously sought after such a movement has subsided.

[0074] Figure 7 illustrates advantageous design details of the coupling station 3 and its head section 30. It shows how the plug-in modules 33, 34 can be inserted into plug-in slots of the base part 32, which are shaped as matching counterparts. A locking pin 63, which can have a cylindrical outer contour over most of its longitudinal extent and can have a section with an external thread at a screw-head-like end area, serves to secure the plug-in modules 33, 34 in the base module 32. When the components are assembled, the locking pin 63 extends through corresponding openings in the plug-in modules 33, 34, thus securing them through a positive fit.

[0075] Figure 8 shows the base module 32 with the locking pin 63 inserted therein. Also visible is a switching element 72, which serves to switch the gear transmission between the first switching position and the second switching position. The switching element 72 is mounted on the locking pin 63 so that it slides longitudinally.

[0076] Figure 9 shows the plug-in module 33 in a side sectional view, so that only the right half of the plug-in module 33 is shown. In the central area, the plug-in module 33 has a receiving section 65 for receiving a portion of the locking pin 63. On the side facing the base module 32, the receiving section 65 is delimited by a transverse bar 64. The bar 64 prevents the plug-in module 33 from being pulled out of the base module 32. The transverse bar 64 is relatively weakly dimensioned to form an overload protection mechanism in the form of a predetermined breaking point.

[0077] The plug-in module 34 has a similar structure, with Figure 10 showing the complete plug-in module 34. This module again includes the receiving section 65 for receiving part of the locking pin 63. Furthermore, a crossbar 64 is also present, which is not visible due to the viewing direction.

[0078] Within the framework of the overload protection device, the locking pin 63 also fulfils the function of a breaking edge for the cross bars 64 which serve as a predetermined breaking point.

[0079] Figures 11 and 12 show the switching mechanism for switching the gear transmission from the first switching position to the second switching position and vice versa. Visible is the switching element 72, which can be pulled in opposite directions via two counter-rotating pull cables 73. The pull cables 73 can be part of the drive-side cable pull system 2. In order to redirect the guide direction of the pull cables 73 in a low-friction, cost-effective, and MRI-compatible manner, ceramic cord guide rings 74, for example, can be used. Figure 11 shows the switching element 72 in the first switching position, Figure 12 in the second switching position.

[0080] Figure 13 shows the foot section 31 of the coupling station 3 in a perspective sectional view. The foot section 31 has a lower component 81 and an upper component 82. The upper component 82 is fastened to the lower component 81 via fastening elements, for example, a bracing ring 83. The lower component 81 serves to arrange the foot section 31 on the surface to which the coupling station 3 is to be fastened. The foot section 31 or the lower component 81 can be fastened to the surface, for example, using tensioning straps that are guided through belt guides 80 formed on the lower component 81. It is also possible to fasten the foot section 31 using a base plate, for example, to an MRI table.

[0081] Between the lower component 81 and the upper component 82, there is a spherically curved gap-shaped space 87, in which a likewise spherically curved running element 85 is guided. The upper component 82 has a trough-like area 84 for this purpose. The running element 85 is pivotable within a certain angular range in the gap-shaped space 87 and is also arranged to rotate about a vertical axis. Figure 14 shows the arrangement of the

[0082] Running element 85 below the upper component 84. The lower component 81 is not shown in this case.

[0083] A coupling unit 89, 90 is connected to the running element 85 via a connecting section 86. The coupling unit 89, 90 serves to quickly and detachably attach the head region 30 to the foot region 31. Figure 15 shows the individual elements of the coupling unit 89, 90.

[0084] To enable quick attachment and equally quick release of the head portion 30, the coupling unit 89, 90 is constructed in multiple parts. The coupling unit 89, 90 comprises a receiving element 89 permanently coupled to the connecting section 86 and a head-side fastening element 90 that can be attached to the receiving element 89 by means of a quick-release fastener. The head portion 30 is then firmly coupled to the fastening element 90, for example, via screws.

[0085] For example, the receiving element 89 can have a rail-like guide into which the fastening element 90 can be inserted. Once the fastening element 90 has reached a final position in the rail-like guide, it can be secured to the receiving element 89 via a locking element 92. To release the rust, a manually operable actuating element 91 is provided, which is coupled to the receiving element 89 via an elastically deformable connection.

Claims

Patent claims 1. Coupling station (3) for a remote manipulation system operated with transmission means, which has at least one drive unit (1), a coupling station (3) and an actuating unit (5), wherein at least one function of the actuating unit (5) can be adjusted remotely from the drive unit (1) via the coupling station (3) by means of the transmission means, characterized in that the drive unit (1), the coupling station (3) and the actuating unit (5) can be coupled to one another in a modular manner, wherein a) the coupling station (3) has both a drive-side transmission unit (2) which is detachably connected to the drive unit (1) via transmission means, and an output-side transmission unit (4) which is detachably connected to the actuating unit (5) via transmission means;or b) the coupling station (3), which is designed as a common structural unit with the drive unit (1), has an output-side transmission unit (4) which is detachably connected to the actuating unit (5) via transmission means; or c) the coupling station (3), which is designed as a common structural unit with the actuating unit (5), has a drive-side transmission unit (2) which is detachably connected to the drive unit (1) via transmission means; and optionally the drive-side transmission unit (2) or the; The output-side transmission unit (4) of the coupling station (3) is designed modularly, either as an arrangement of individual plug-in modules (33, 34) or individual plug-in shafts, which are operatively connected to the complementary plug-in shafts or plug-in modules (33, 34) of the transmission means to be coupled. The coupling station (3) according to claim 1, characterized in that the drive-side transmission unit (2) and / or drive elements of the drive unit (1) are coupled to the output-side transmission unit (4) via a transmission mechanism, wherein actuating movements transmitted by drive elements of the drive unit (1) to the transmission mechanism can be transmitted to the output-side transmission unit (4) by means of the transmission mechanism and from there to the actuating unit (5) via the transmission means.Coupling station (3) according to claim 1 or 2, characterized in that the output-side transmission unit (4) is coupled to the drive-side transmission unit (2) and / or drive elements of the drive unit (1) via an overload protection mechanism, wherein the overload protection mechanism is configured to decouple the output-side transmission unit (4) from the drive-side transmission unit (2) and / or drive elements of the drive unit (1) upon the occurrence of a predetermined decoupling condition, in particular upon exceeding a predetermined force. Coupling station (3) according to claim 3, characterized in that the overload protection mechanism is integrated into the transmission mechanism and / or is configured to mechanically disconnect the transmission mechanism.Coupling station (3) according to one of claims 1 to 4, characterized in that the coupling station (3) is switchable at least between a first and a second switching position, wherein in the first switching position the output-side transmission unit (4) is connected to the. drive-side transmission unit (2) and / or drive elements of the drive unit (1), so that adjustments predetermined by the drive unit (1) are transmitted to the actuating unit (5) via the coupling station (3) by means of the transmission means, and in the second switching position, the output-side transmission unit (4) is decoupled from the drive-side transmission unit (2) and / or the drive elements of the drive unit (1). Coupling station (3) according to claim 5, characterized in that in the second switching position, an adjustment position previously set by the drive unit (1) is held rigidly or elastically by means of a spring device (61) in the output-side transmission unit (4).Coupling station (3) according to claim 5 or 6, characterized in that the coupling station (3) can be switched back and forth between the first switching position and the second switching position via the transmission means connected to the drive-side transmission unit (2) and / or directly by drive elements of the drive unit (1). Coupling station (3) according to one of claims 1 to 7, characterized in that the coupling station (3) has a head region (30), on which at least the drive-side transmission unit (2) or the output-side transmission unit (4) is arranged, and a foot region (31) spatially spaced from the head region, which is designed for setting up and fastening the coupling station (3) on a base.Coupling station (3) according to claim 8, characterized in that the foot region has an adjustment mechanism via which the head region can be adjusted relative to the ground or a component of the foot region attached to the ground in at least one spatial degree of freedom. Coupling station (3) according to one of claims 2 to 9, characterized in that the transmission mechanism has a gear transmission, which can be a rolling gear, helical rolling gear, or helical gear. is formed. Coupling station (3) according to claim 10, characterized in that when switching from the first switching position to the second switching position, a gear on the output side can be brought into engagement with different associated gears. Coupling station (3) according to claim 11, characterized in that one or more gears have a base body which has a cylindrical section and a circumferentially tapered section adjoining the cylindrical section, wherein the teeth of the gear extend from the cylindrical section into the tapered section. Coupling station (3) according to claim one of claims 1 to 12, characterized in that ropes, chains, belts, shafts, rods or other components suitable for transmitting movement and force are provided as transmission means.A remote manipulation system operated by transmission means, comprising at least one drive unit (1), a coupling station (3), and an actuating unit (5), wherein at least one function of the actuating unit (5) can be adjusted remotely from the drive unit (1) via the coupling station (3) using the transmission means. A remote manipulation system operated by transmission means according to claim 14, characterized in that the coupling station (3) is designed according to one of the preceding claims.

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