Clamping device and arrangement for a medical instrument

Abstract

The invention relates to a clamping device (100) and a method for human or veterinary medical applications for the friction-based locking of at least two retaining segments (101, 102). The clamping device (100) comprises a first retaining segment (101), a second retaining segment (102); a actuated pin (110), through which a rotational displacement can be converted into an axial longitudinal displacement for pin-locking the second retaining segment (102); and a threaded plate (112). For this purpose, the threaded plate (112), during the movement of the pin, is axially movable in the opposite direction, at least one wedge body (131) being movable in a ramp system (120) by means of the opposing movement of the threaded plate (112), in order to clamp the first retaining segment (101). (Fig. 1)

Description

Title of the invention: Clamping device and arrangement for a medical instrument Technological background

[0001] The invention relates to a pinching device and a method for locking by friction of at least two retaining segments, in particular for medical applications.

[0002] One- or multi-arm holding and guidance systems for medical instruments using passive or active guidance and clamping devices are known. In this regard, particularly in minimally invasive surgery, holding systems are advantageous for guiding instruments, relieving the operator, assistant, or other users of the tiring effort of holding them. A clamping device can be used to lock at least two holding segments or a holding system in place to hold a surgical instrument or a terminal effector such as a manipulator, endoscope, forceps, or similar devices. Furthermore, mechatronic assistance systems can also be combined with a holding system.

[0003] One objective of the invention is to make available an improved pinching device for medical instruments, in particular for minimally invasive surgery.

[0004] The objective is, in particular, that devices or systems connected to a clamping device can be manipulated more easily and thus increase user comfort. In this regard, instruments connected to the clamping device in a position freed from the clamping device must offer the user or surgeon the highest possible number of degrees of freedom and, preferably, free mobility of the instrument connected to the clamping device in conjunction with additional support segments. In other words, simple and precise positioning of the connected instrument must be possible.

[0005] As soon as the clamping device is actively brought into a locked position, reliable and maximum holding forces must be generated. Thanks to the locking mechanism, a plurality of degrees of freedom must be able to be clamped. In this way, an instrument such as an endoscope can be held motionless in a desired position for a longer period, thus improving the safety of medical procedures. Description of the invention

[0006] Based on the invention, the drawbacks encountered in the prior art, such as restricted freedom of movement of restraint systems Traditional mechanics must be reduced. In this regard, one objective is to provide multiple degrees of freedom and to require minimal user interaction when locking or releasing a clamping device. Preferably, the clamping device should be easy to operate with one hand during release, positioning, and locking.

[0007] These objectives are achieved with a clamping device according to the invention and a method for locking with a clamping device according to the features of the independent claims. Preferred embodiments of the invention result from the subclaims related to the main claim.

[0008] According to a first aspect of the invention, a pinching device is provided for human or veterinary medical applications for the friction locking of at least two retaining segments, comprising a first retaining segment, a second retaining segment and a driveable pin, through which a rotational displacement can be converted into axial longitudinal displacement for the pin locking of the second retaining segment, in which, during the displacement of the pin, a threaded plate is movable in the opposite direction, and in which at least one wedge body is movable in a ramp system by means of the opposite displacement of the threaded plate, in order to pinch the first retaining segment.

[0009] In this way, a plurality of holding segments or degrees of freedom can be clamped using only one actuated component of the clamping device, i.e., the spindle, and clamping or locking can be ensured with a single drive unit. The first holding segment can be designed as a vertical base column that can be fixed, for example, to a standard rail of an operating table. The second holding segment can comprise one or more arm segments and be locked by means of axial movement of the spindle in the distal direction.

[0010] According to a further aspect of the invention, a housing is mounted pivotally about a transverse axis and about the axis of the first retaining segment.

[0011] In this way, a basic joint or so-called shoulder joint is provided, which is rotatably mounted on the first retaining segment and is rotatably connected to the housing of the clamping device. The two degrees of freedom can be clamped using the ramp system of the clamping device.

[0012] According to a further aspect of the invention, the threaded plate is arranged axially concentrically with the spindle and includes an internal thread, which mutually engages with an external thread of the spindle for sliding in the axial direction.

[0013] In this way, the counter-bearing force of the pin can be used effectively to move the threaded plate in the proximal direction and then to clamp the first retaining segment or the base joint. Thanks to the axially concentric arrangement of the threaded plate and the pin, the clamping device can be designed in a compact manner.

[0014] According to a further aspect of the invention, the threads engaged with each other of the spindle and the threaded plate are designed in the form of trapezoidal threads.

[0015] Trapezoidal threads can be advantageously used for transmitting spindle movement. Unlike threads with, for example, a triangular profile, trapezoidal threads have greater degrees of inclination, which advantageously reduces self-binding.

[0016] According to a further aspect of the invention, the ramp system includes at least one ramp eyelet through its center by the spindle, which includes at least one ramp, in order to move at least one wedge body laterally relative to the axis of the spindle.

[0017] The ramp in connection with the keel body can laterally divert, that is to say deflect by about 90°, the counter-forces of the spindle.

[0018] According to a further aspect of the invention, the pinching device comprises a locking unit cooperating with the ramp system for pinching the first retaining segment, the locking unit comprising a clamping screw movable transversely with respect to the spindle axis by means of the ramp system and a bolt with a transverse hole guiding the first retaining segment.

[0019] Using the clamping screw, the lateral force can be transmitted to the bolt with a transverse hole in which the retaining segment or the base column, preferably arranged vertically, is mounted.

[0020] According to a further aspect of the invention, the ramped eyelet can bear unilaterally on a support element fixedly arranged in a housing, in order to attract the bolt with a transverse hole for pinching the first retaining segment to the housing or to push it away from the housing by means of the clamping screw.

[0021] If the first retaining segment or the base column is attracted to the housing via the bolt with a transverse hole, the first retaining segment can be pinched with only a few intermediate elements. Alternatively, if more intermediate elements are provided, the mode of action can also be reversed, and the first retaining segment for pinching can be pushed away from the housing.

[0022] According to a further aspect of the invention, the ramp eyelet comprises, at two opposite faces, respectively at least one ramp for cooperation with associatable wedge bodies, in order to form two ramp-counter-ramp systems opposites.

[0023] In this way, a shim body is arranged on each of the two faces of the spindle, so that the ramp eyelet does not experience any unilateral stress during force deflection. In other words, based on the two shim bodies arranged symmetrically with respect to each other, the associatable ramp surfaces can be subjected on both faces of the ramp eyelet each time to the same force component, and a low-friction lateral displacement of the ramp eyelet is assisted.

[0024] According to a further aspect of the invention, at least one ramp and at least one counter-ramp come into mutual contact with each other with the associatable wedge surfaces of a wedge body by means of a plurality of sliding parts.

[0025] Sliding parts can advantageously reduce friction and lead to a higher degree of efficiency. The degree of efficiency can reach over 90%.

[0026] According to a further aspect of the invention, the sliding parts are rolling parts in the form of ball joints, cylindrical rollers or barrel-shaped rollers.

[0027] As a result, the wedge body can be moved with less friction. The number of rolling elements can be varied so that the stress during force transmission to a plurality of rolling elements can be distributed. The convex running surfaces of barrel-shaped rollers can advantageously be used for automatic centering.

[0028] According to a further aspect of the invention, at least one ramp and / or counter-ramp includes curved tracks for the sliding parts.

[0029] Curved raceways can be used to assist automatic centering of sliding parts. By using sliding or rolling parts in curved raceways, not only can friction be reduced, but costs and size can also be reduced.

[0030] According to a further aspect of the invention, at least one ramp and counter-ramp come into direct sliding contact with the associatable wedge surfaces of the wedge body.

[0031] In this way, sliding parts can be eliminated and manufacturing costs can be reduced through simpler assembly and the reduction of individual parts. However, when using simple sliding surfaces, i.e., without sliding parts, friction is increased and thus the degree of force deflection efficiency is lowered below 60%.

[0032] According to a further aspect of the present invention, the spindle and / or the locking unit comprise a housing for spring-loaded means.

[0033] Spring-loaded means can be used to adjust for residual obstruction. In this way, for example, the housing or base joint is prevented from loosening uncontrollably relative to the first retaining segment or the base column. This reduces unforeseen displacements during the release of the clamping device.

[0034] According to a further aspect of the invention, the spindle can be driven by means of a drive unit, the drive unit being selected from the group comprising an electric motor, a pneumatic drive and a hydraulic drive.

[0035] In this way, the spindle can be operated automatically with a single drive unit. If an electric motor is used, the housing includes the corresponding switching logic, the control unit, and the power supply (preferably a battery). If the power supply fails in the clamped state, the clamping device is designed to also function mechanically for safety reasons. In other words, since the clamping is based on friction, the holding segments can still be moved in an emergency by applying high external forces. Thus, the clamping device does not suffer any damage. If the power supply were to fail in the unlocked state, this state is also maintained. The system requires electrical power exclusively for the changeover between the clamped and unlocked states.The active state is self-sufficient due to the self-restraint of the spindle.

[0036] According to a further aspect of the invention, the drive unit comprises an electric motor and the spindle is mounted floating, a compensation means being provided between the spindle and the electric motor.

[0037] By means of a compensating means such as a sliding square, an axial offset can be compensated. For example, an electric motor can, via a compensating means, drive the spindle, which is thereby screwed in the distal direction.

[0038] According to a further aspect of the invention, the housing includes a mounting rail, in order to insert additional masses.

[0039] Thus, the housing contributes to the reach of the retaining segments that can be connected distally to the clamping device. The net masses of the drive unit, a motor group, and a battery can be adapted according to the respective requirements by means of additional plug-in masses.

[0040] A method is further provided for human or veterinary medical applications for the friction-based locking of at least two retaining segments, comprising the following process steps: driving a spindle, in order to convert a rotational displacement of the spindle into axial longitudinal displacement, in which the second retaining segment is blocked by means of a longitudinal displacement of the pin in the distal direction; and, by means of the displacement of the pin, simultaneous displacement of a threaded plate in the opposite direction, in which, by means of the contrary displacement of the threaded plate in the proximal direction, at least one wedge body is moved in a ramp system for pinching the first retaining segment. Brief description of the figures

[0041] Additional advantages and features of the invention will result from the following description of exemplary embodiments with reference to the figures. It is shown:

[0042] [Fig-1] a perspective view of a pinching device according to the invention;

[0043] [Fig.2A] a schematic top view of the pinching device according to [Fig.1] in the released position;

[0044] [Fig.2B] a schematic top view of the pinching device shown in [Fig.2A] in the locked position;

[0045] [Fig.3] an exploded perspective view of a pinching device according to the invention as shown in Figures 1 to 2;

[0046] [Fig.4] a perspective view of a further embodiment of the pinching device according to the invention with components shown in partial transparency;

[0047] [Fig. 5] a schematic view of a retaining system with an additional embodiment of the pinching device; and

[0048] [Fig.6] a schematic process diagram for blocking at least two retaining segments by means of a pinching device according to the invention.

[0049] The representations are schematic and are not necessarily to scale. Furthermore, they do not show all the details, but are limited to a partial representation of the essential features of the invention as well as additional features that facilitate the explanation and description of the invention. Identical elements in the different figures are designated by the same reference numerals. Detailed description of the figures

[0050] The perspective view of [Fig. 1] shows a pinching device 100 according to the invention for medical instruments. This pinching device 100 essentially consists of a first retaining segment 101, a pin 110, and a ramp system 120 for pinching the first retaining segment 101. The first retaining segment 101 is designed in the form of a vertically arranged base column. A base joint, or so-called shoulder joint, connects the rotating retaining segment or base column 101 to the housing. Furthermore, the The housing 150 is mounted to pivot around the vertical axis of the first retaining segment by means of the base joint. The two degrees of freedom can be pinched using the ramp system 120 of the pinching device 100.

[0051] In addition, a second retaining segment 102 not shown can be pinched with the pin 110. The pin 110 can be driven by means of a single drive unit 160, which is designed in the form of an electric motor 161. Via the driveable pin 110, a rotational displacement can be converted into axial longitudinal displacement in the distal direction for pin locking of the second retaining segment not shown.

[0052] The pin 110 is guided axially concentrically through a threaded plate 112. If the pin 110 is moved in the distal direction, the threaded plate 112 is also moved simultaneously in the opposite direction, i.e. in the proximal direction. By means of the opposing movement of the threaded plate 112, the wedge body 131 can be moved within a ramp system 120. The ramp system 120 comprises, in addition to the wedge body 131, a ramp eyelet 125 through which the pin 110 passes. The ramp eyelet 125 includes a ramp or ramp surface 126. The wedge body 131 is positioned between the ramp 126 and a counter-ramp 137. In this respect, the counter-ramp 137 is designed as part of a housing component 157 and forms a fixed bearing surface for the movable wedge body 131.The ramp 126 of the eyelet to ramp 125 and the counter-ramp 137 come into contact with each other with the body of the wedge 131 by means of a plurality of sliding parts 135.

[0053] The end located in the column head 151 of the first retaining segment 101 can be pinched or blocked by means of a displacement of the pin in the distal direction and the opposite displacement thus generated of the threaded plate 112 in cooperation with the ramp system 120. The following Figures 2a and 2b schematically show the blocked or released position of the pinching device 100.

[0054] Figure 2a shows the released position of the clamping device 100. Adjustment of the clamping device 100 from the released position shown in Figure 2a to the locked position according to Figure 2b is achieved by means of axial longitudinal displacement in the distal direction, which is indicated by arrow 116. In the released position, the external thread 111 of the spindle protrudes only slightly beyond the threaded plate 112. The free end of the threaded spindle 110 also protrudes minimally beyond the front plate of the housing component 155 in this position. In the released position of the spindle 110 (Figure 2a), a retaining segment connected to it (not shown in this drawing) can be released.

[0055] Drawings Figure 2a and Figure 2b show the first retaining segment 101 from above. For this purpose, the column head 151 is partially cut away for better illustration. The retaining segment 101 is guided in the transverse hole bolt 142. The first retaining segment 101 is connected to the ramp system 120 via the clamping screw 141.

[0056] The electric motor 161 can be used as a drive force for the spindle 110. In order to move from the free position (Figure 2a) to the locked position (Figure 2b), the electric motor 161 drives the threaded spindle 110 in the direction of arrow 116, i.e., in the distal direction. Figure 2b shows the position after the spindle 110 has been screwed forward by the electric motor and has thus reached the locked position. By means of the axial displacement in the distal direction, distal pressure can be applied to the free end of the spindle 110 to lock the retaining segments applied to it (not shown here), so that the end of the spindle acts as a pressure bolt.

[0057] Figure 2b shows, in comparison with Figure 2a, that the pin 112 has moved distally within an internal thread of the threaded plate, such that the end of the pin protrudes further beyond the end of the housing component 155. Due to the distal displacement of the pin 110, the internal thread is pressed backward. As a result, a bearing force appears in the opposite direction. The bearing force acts in the direction of arrow 115 (see Figure 2b), that is, in the proximal direction. By means of this bearing force, the threaded plate 112 exerts pressure against the sliding parts 135, which are designed as bearings. Through the two bearing pieces at the face of the threaded plate 112, the force is transmitted to the shim body 131. The shim body 131 comprises shim surfaces 136 oriented obliquely to each other.Each of the wedge surfaces 136 includes a curved track for the sliding parts 135.

[0058] The wedge body 131 is moved from the threaded plate 112 between a ramp 126 of the ramp eyelet 125 and a fixedly positioned support element of the housing component 157 by means of the bearing force. In this respect, the wedge body 131 bears laterally against the housing 150 via sliding members 135. Thus, it is advantageous that the respective opposing forces can be applied directly to the housing 150. In this respect, the wedge body 131 exerts pressure, also via two sliding members 135, on the ramp 126 of the ramp eyelet 125. The movable ramp eyelet 125 is thereby subjected to a lateral tensile force. This force is transmitted via the clamping screw 141 to the bolt with a transverse hole 142. Thanks to this force, the first retaining segment 101, which is located in the cross-hole bolt 142, can be pinched. In the locked position, the first retaining segment is pulled towards the housing 150 by means of the cross-hole bolt 142, and thus the column head 151 is pushed and thus pinched at the wall of the housing, so that the housing 150 can no longer be rotated relative to the retaining segment 101 or the retaining segment 101 can no longer be rotated relative to the housing 150.

[0059] By means of the ramp system 120, it is possible to deflect the support force of the spindle 110 laterally, i.e., by 90°. The sliding elements 135 advantageously reduce friction in this respect and lead to a higher degree of efficiency. The sliding elements 135 can be bearings in the form of ball joints, cylindrical rollers, or barrel-shaped rollers. With the use of these bearings, the degree of efficiency can be increased above 90%.

[0060] Figure 3 shows an exploded view of the clamping device 100. The ramp system 120 with the threaded pin 110 is surrounded by a housing 150. Figure 3 illustrates the fact that the wedge body 131 with the sliding parts (here, collectively 6, i.e. 2 per wedge surface) is also located in mirror image below the pin 110.

[0061] The housing 150 consists of a plurality of components. Here, the distal end of the housing component 155, which includes a front plate, and the housing component 157, which includes the counter ramp 137, are shown. A connecting member can be guided through an outer wall of the housing component 157 to the drive unit 160, which includes an electric motor 161. The spindle 110 and the threaded plate 112 can both be mounted in a floating position, allowing them to move relative to the housing 150 and the housing components 157 and 155. By means of suitable compensating means (not shown here) between the spindle 110 and the electric motor 161, axial offset can be compensated during the transmission of rotational torque by the electric motor 161. By means of an associated actuating element or actuator (not shown here), the electric motor 161 can be activated to rotate the spindle 110.

[0062] The housing or housing assembly 150 with the drive unit 160 is connected to the first retaining segment 101 via the clamping screw 141 and the cross-hole bolt 142. The housing 150 with the drive unit 160 can thus be pivoted relative to the first retaining segment 101. For low-friction pivoting or rotation capability, a sliding disc (not shown here) can be provided on the face of the cross-hole bolt 142 that is oriented towards the housing 150 or the housing component 157. A diamond-carbon disc is preferably used for the sliding disc.

[0063] For use and applications in veterinary or human medicine, the first retaining segment 101 is positioned vertically and fixed, for example, to an operating table. The end of the first retaining segment 101 and the bolt with a transverse hole 142 are covered by the column head 151. During use, both the housing 150 with the drive unit 160 and the first retaining segment 101 are covered with a sterile cover or sheet.

[0064] In order for a certain residual constraint to remain in the released position of the clamping device 100, spring-loaded means 114 are provided. In this way, it can be prevented that retaining segments that can be connected to the distal end of the clamping device may loosen uncontrollably in the released position, or that the housing may rotate during an excessively abrupt and therefore uncontrolled release of the locking mechanism relative to the first retaining segment 101. In this representation of [Fig. 3], no retaining segments are shown connected distally. For example, at least two retaining segments can be connected, which together form a retaining device similar to an arm with a central joint (see reference 20 in [Fig. 5]).In order to avoid a retaining device 20 or a completely loose arm in the released position, the spring means 114 cooperating with the spindle 110 can be advantageously used.

[0065] Figure 4 shows a further embodiment of the invention, in which of the identical elements are designated with the same reference numerals. In addition to the previous figures, this drawing includes a partial sketch of a second retaining segment 102. Furthermore, a sliding four-sided joint 117, which connects the drive unit 160 to the spindle 110 (shown only partially), is also shown in the embodiment depicted. The drive unit 160 is positioned in a housing channel 159.

[0066] The embodiment shown in [Fig.4] is essentially designed like the embodiment of [Fig.1], in which, in addition to the first retaining segment 101, parts of a second retaining segment 102 are also shown. In the retaining segment 102, a push rod is disposed which can be made to slide in the direction of the longitudinal axis for pinching with the pressure bolt, which is located at the free end of the spindle 110.

[0067] Figure 4 further suggests a coupling element or coupling device for connecting the second retaining segment 102. Instead of a coupling, the second retaining segment can also be connected in one piece to the housing 150 of the clamping device. In this embodiment as well, a push rod arranged axially in the second retaining segment 102 with the pin 110 for clamping the additional retaining segments mental and / or articulation parts may be caused to slide in the direction of the longitudinal axis.

[0068] Figure 4 shows a ramp system according to the main design as already described in Figures 1 to 3. The wedge body 131 differs from the wedge body in previous embodiments essentially in that three bearing pieces are arranged at each of the three wedge surfaces. In addition, the wedge surfaces each include corresponding curved tracks for optimal centering of the bearing pieces.

[0069] The housing 150 of the clamping device in [Fig. 4] shows a housing component with a front plate 155 and an additional housing component, which is designed in the form of a housing channel 159. The drive unit 160 and the other components of the clamping device, such as the ramp eyelet 125 and the threaded plate 112, are arranged in the housing channel 159. This housing channel 159 can also be used as a mounting rail or be connected to a mounting rail. If the housing channel 159 is used as a mounting rail, additional weights can be inserted here. The weights to be specified depend on the total weight of the retaining segment to be connected 102 or of additional retaining segments connected to it.Furthermore, not only must the distal arm segments and any intermediate joints be considered as mass, but also any instruments that may be distally connected. If the arm segments arranged and fixed or coupled at the distal end of the clamping device are horizontally stretched, the greatest stress remains relative to the clamping device, which must be taken into account in the mass design. For this horizontal position, a holding force of at least 5 kg must be provided.

[0070] The maximum force to be generated by the spindle 110 and the required rotational torque can be selected according to the holding device or the coupled instrument by means of a control unit or controller. Furthermore, the drive unit 160, i.e., the transmission, can also be selected according to the application. Compared to the embodiments presented previously, [Fig. 4] also shows a sliding helix 117 that connects the drive unit 160 to the spindle 110, shown only partially. Since, in the example embodiment shown, the spindle 110 and the threaded plate are mounted in a floating fashion and can move relative to the housing 150, the transmission of the rotational torque by the drive unit 160 is achieved by means of the sliding helix 117. In this way, axial offset can be compensated.Other equivalent auxiliary means can also be used for compensating axial displacement.

[0071] The threaded spindle 110 moves within the threaded plate 112, in which the internal thread is supported rearward by the forward movement of the spindle. This support force exerts pressure, via three sliding pieces designed in the form of barrel-shaped cylinders, on the shim body 131. The spacer shim or shim body 131, along with all nine sliding pieces, is located in mirror image below the spindle 110 (not shown in [Fig. 4]). Each wedge body 131 rests laterally against the housing 150 via three sliding pieces. In this respect, the wedge body 131 exerts pressure, again via three sliding pieces, on an inclined surface of the ramp eyelet 125. This surface of the ramp eyelet 125 is thus subjected to a lateral tensile force.The clamping path and clamping force can be influenced by the corresponding choice of the inclination of the wedge surfaces and the corresponding ramp surfaces. This force is transmitted via a clamping screw (not shown here) to the transverse hole bolt 142.

[0072] The vertical base column or retaining segment 101 is positioned in the transverse hole bolt 142. The base column or retaining segment 101 can be clamped by the laterally acting clamping force. If the first retaining segment is pulled towards the housing 150 by the transverse hole bolt 142, it pushes the column head 151 against the housing wall or the housing channel wall, thus clamping the retaining segment 101 or the housing 150 against rotation.

[0073] Figure 5 shows a holding system with a clamping device 100 according to the invention. The first holding segment 101 is designed in the form of a base column. This base column or the first holding segment 101 must be compatible with all existing and common clamping units 105, so that it can be securely clamped to an operating table. For example, the base column or the first holding segment 101 may have a diameter of approximately 16 mm. Depending on a particularly high payload, larger diameters of up to a maximum of 2 cm can also be provided. The clamping device 100 includes a housing 150.For the pivoting capability of the first support segment or base column 101 there is, between the housing and the support segment 101, a joint 152 which can also be called shoulder joint because of the support system or support arm connected distally to the pinching device 100.

[0074] The attachment point of the clamping unit 105 for the first support segment 101 is located in the proximal area of ​​the clamping device 100. The proximal area may be near the floor or an operating table. The support system may alternatively be ceiling-mounted, unlike a The system is mounted on an operating table. The distal zone of the support system is the zone furthest from the proximal zone. A support device 20, in the form of a support arm with an upper arm or forearm, is connected to the distal face of the clamping device via a coupling device 300. The connected support device 20 comprises two support segments 102 and 107 that are pivotally connected to each other by a central joint 21.

[0075] A handle 019 is connected to the distal retaining segment 017. A medical instrument, for example, can be attached to the free end of the handle 019 or the retaining system. For this purpose, the distal end of the handle 019 includes a coupling unit 170. This coupling unit 170 can preferably be designed as a quick-connect coupling unit, such as the known KSLOCK interfaces. Various medical instruments, such as micro-scissors, forceps, tweezers, punches, or the like, can be connected to such an autoclavable quick-connect coupling unit 170. Auxiliary means for the operation can also be provided and attached to the quick-connect coupling unit. Thus, for example, a hand rest can be coupled via the quick-connect coupling unit 170.With such hand support, operators can maintain a steady hand during surgical procedures lasting several hours.

[0076] The handle includes, in addition to the wrist linkage 018 and the quick-coupling unit 170, an actuating element 169. The distal actuating element 169 activates the drive unit 160 of the clamping device 100. The control signal for activating or actuation the spindle 110 can be transmitted via the cable 168 to the drive unit 160. The cable 168 is partially guided along the retaining segments 017 and 102. The cable is guided with some play between the proximal retaining segment 102 and the distal retaining segment 117, so that the central joint 21 can move freely. Finally, the cable is guided partly inside the retaining segment 102 and, in the representation shown in [Fig.4], the cable enters the bolt element 301.The coupling device 300 includes internally suitable contact elements to transfer the signal to the drive unit 160. As an alternative to cable-guided activation, radio-controlled control of the pinching device is also possible.

[0077] In the example shown, the drive unit 160 for the spindle 110 comprises an electric motor 161 with a transmission 162. The drive unit 160 is powered by a battery 163. The battery 163 is located in the battery compartment 164 and is controlled via the battery control unit 165. In addition, there is a drive control unit 166 and a switching logic 167 in the housing. By means of the transmission 162 of the electric motor 161, the spindle 110 can be driven.

[0078] Figure 6 shows a method 200 according to the present invention. As the first step of the method, the drive 210 of a spindle 110 is shown. Due to the drive of the spindle 110, two displacements are initiated. On the one hand, in step 211, the rotational displacement of the spindle 110 is converted into an axial longitudinal displacement in the distal direction of the clamping device 100. With the aid of this conversion 211, a second retaining segment 102 can be locked in a further step 212.

[0079] In step 220, a threaded plate is moved in the proximal direction by means of the spindle drive 210. As a result of process step 220, at least one wedge body 131 (221) is moved within a ramp system 120. This step 221 follows process step 222. This latter step 222 again causes a clamping action 222 on a first retaining segment 101. The first retaining segment 101 can be a base column. Reference list

[0080] 017 Distal support segment

[0081] 018 Wrist

[0082] 019 Handle

[0083] 020 Retaining device with central articulation

[0084] 021 Central joint

[0085] 100 Pinch device

[0086] 101 First maintenance segment

[0087] 102 Second retaining segment

[0088] 105 Pinch Unit

[0089] 110 Pin

[0090] 111 External thread of the spindle

[0091] 112 Threaded plate

[0092] 114 Spring-loaded means

[0093] 115 Displacement in the proximal direction

[0094] 116 Axial longitudinal displacement in the distal direction

[0095] 117 Sliding four-sided

[0096] 120 Ramp system

[0097] 125 Ramp eyelet

[0098] 126 Ramp

[0099] 131 Bilge barrel

[0100] 135 Sliding part

[0101] 136 Hold area

[0102] 137 Counter ramp

[0103] 140 Blocking Unit

[0104] 141 Clamping screw

[0105] 142 Bolt with transverse hole

[0106] 150 Case

[0107] 151 Column Head

[0108] 152 Joint, basic joint

[0109] 155 Housing component with front plate

[0110] 157 Housing component with counter ramp [YES] 159 Enclosure cable tray

[0112] 160 Training Unit

[0113] 161 Electric motor

[0114] 162 Transmission

[0115] 163 Battery

[0116] 164 Battery compartment

[0117] 165 Battery control unit

[0118] 166 Drive control unit

[0119] 167 Switching Logic

[0120] 168 Cable

[0121] 169 Actuating element

[0122] 170 Coupling unit

[0123] 200 Process Diagram

[0124] 210 Process step: training

[0125] 211 Process step: axial distal longitudinal displacement

[0126] 212 Process step: blocking a distal retaining segment

[0127] 220 Process step: proximal displacement of the threaded plate

[0128] 221 Movement of the bilge body in the ramp system

[0129] 222 Pinching blockage of a proximal support segment

[0130] 300 Coupling device

[0131] 301 Bolt element

[0132] 303 Coupling groove flank

[0133] 325 Coupling Actuator

Claims

Demands

1. A pinching device (100) for human or veterinary medical applications for the frictional locking of at least two retaining segments (101, 102), comprising: - a first retaining segment (101), - a second retaining segment (102); - a pin (110) that can be electrically driven in a first direction, the rotational displacement of said pin being able to be converted into axial longitudinal displacement for the pin to lock the second retaining segment (102), wherein, during the movement of the pin, a threaded plate (112) is movable in a second direction opposite to the first direction, wherein at least one wedge body (131) is movable in a ramp system (120) by means of the opposite displacement of the threaded plate (112), in order to pinch the first retaining segment (101).

2. Pinch device according to claim 1, in which a housing (150) is mounted pivotally about a transverse axis and about the axis of the first retaining segment (101).

3. A pinching device according to claim 1 or claim 2, wherein the threaded plate (112) is arranged axially concentrically with the spindle (110) and comprises an internal thread, which mutually engages with an external thread (111) of the spindle (110) for sliding in the axial direction.

4. Clamping device according to claim 3, wherein the threads engaged with each other (111) of the spindle (110) and the threaded plate (112) are designed in the form of trapezoidal threads.

5. A pinching device according to any one of the preceding claims, wherein the ramp system (120) comprises at least one ramp eyelet (125) through which the spindle (110) passes in its center, which comprises at least one ramp (126), in order to move at least one wedge body (131) laterally relative to the axis of the spindle.

6. A pinching device according to any one of the preceding claims, the pinching device comprising a locking unit (140) cooperating with the ramp system for pinching the first retaining segment (101), in which the locking unit (140) comprises a clamping screw (141) mobile transversely relative to the axis of the spindle by means of the ramp system (120) and a bolt with a transverse hole (142) guiding the first retaining segment (101).

7. A pinching device according to claim 2 or 5, wherein the ramped eyelet (125) can bear unilaterally on a support element (157) fixedly disposed in the housing (150), in order to attract the bolt with transverse hole (142) for pinching to the housing (150) or to push it away from it by means of the clamping screw (141).

8. Pinch device according to claim 5, wherein the ramp eyelet (125) comprises, at two opposite faces (121, 122), respectively at least one ramp (126) for cooperation with associatable wedge bodies (131), in order to form two opposing ramp-counter-ramp systems (120).

9. A pinching device according to claim 8, in which at least one ramp (126) and at least one counter-ramp (157) come into contact with each other with the associatable wedge surfaces (136, 137) of a wedge body (131) via a plurality of sliding pieces (135).

10. A pinching device according to claim 9, wherein the sliding parts (135) are rolling parts in the form of ball joints, cylindrical rollers or barrel-shaped rollers.

11. Pinch device according to claim 8, wherein at least one ramp (126) and / or counter-ramp (137) comprise curved tracks for sliding parts (135).

12. A pinching device according to claim 8, wherein at least one ramp (126) and counter-ramp (137) come into direct sliding contact with the associatable wedge surfaces (136) of the wedge body.

13. Pinch device according to claim 6, wherein the pin (110) and / or the locking unit (140) include a housing for spring means (114).

14. A pinching device according to any one of the preceding claims, wherein the spindle (110) can be driven by means of a drive unit (160), wherein the drive unit (160) is selected from the group comprising an electric motor (161), a pneumatic drive and a hydraulic drive.

15. A pinching device according to claim 14, wherein the drive unit comprises an electric motor (161) and the spindle (110) is mounted floating; and in which a compensation means is provided between the spindle (110) and the electric motor (161).

16. A pinching device according to any one of claims 2 to 15, wherein the housing (150) includes a mounting rail, for inserting additional weights.

17. A method (200) for human or veterinary medical applications for friction locking of at least two retaining segments by means of a pinching device, comprising the process steps: electrically driving (210) a spindle (110) in displacement along a first direction, in order to convert (211) a rotational displacement of the spindle (110) into axial longitudinal displacement, in which the second retaining segment (102) is locked (212) by means of a longitudinal displacement of the spindle (110) in the distal direction; and by means of the movement of the spindle, simultaneous movement (220) of a threaded plate (112) in a second direction opposite to the first direction, in which, by means of the contrary movement of the threaded plate (112) in the proximal direction, at least one wedge body (131) is moved (221) in a ramp system (120) for the pinching locking (222) of the first retaining segment (101).

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