Tool for use as a micromanipulator and method of manufacturing same - Patent Application 20070122967

Abstract

The present invention relates to a tool for use as a micromanipulator and a method for manufacturing the same. The tool comprises a plurality of parts in the form of: a frame (1) oriented along a longitudinal axis (L) and arranged as a hollow body around the interior; at least one manipulator element (2) arranged on a first end face (1.1) of the frame (1); and at least one actuating element (3) arranged on a second end face (1.2) opposite the first end face (1.1) and mounted slidably and axially movable within the frame (1). These parts are movably connected to one another by the necessary connecting and bearing elements, and the tool is produced entirely by additive manufacturing, including all the necessary gaps between the movably connected parts. According to this method, the tool with all parts and gaps between the movable parts is produced entirely by additive manufacturing in a single processing operation.

Description

[Technical Field]

[0001] The present invention relates to a tool to be used as a micromanipulator and to a method for manufacturing the same according to the preambles of claims 1 and 15. [Background technology]

[0002] In principle, a micromanipulator or gripper used as a micromanipulator is an assembly of several individual parts that, from a manufacturing point of view, are treated as several nested components in 3D printing. The mobility and functionality of such grippers are usually created by welding, gluing, soldering, pressing, and other joining processes. Manufacturing and assembly require several individual steps, making them complex and error-prone. The connection points of the individual components are also susceptible to contamination and wear.

[0003] For example, Patent Document 1 discloses a method for measuring and / or controlling the gripping force of a micromanipulator capable of gripping objects with minute dimensions, particularly objects in the range of 1 micrometer to 1 millimeter. This micromanipulator has two clamping jaws that are displaceable relative to each other and can clamp an object between them by applying a clamping force. One of the clamping jaws 2 is designed as part of a spring tongue 3 that is set to oscillate naturally. Changes in the vibration during contact of the object 1 with the spring tongue 3 are observed, and a variable characterizing the clamping force is calculated from the change and controlled based on the variable characterizing the gripping force.

[0004] Patent Document 2 describes a method for manufacturing a surgical micromanipulator tip, which includes a proximal mounting base, at least a first elbow, and a distal manipulator finger connected to the mounting base via the first elbow and terminating at the free end of the tip. The mounting base further includes at least one distal segment. The present invention is characterized in that the first elbow and the manipulator finger form a tip, which is uniformly tapered.

[0005] A functional module for a surgical element is known from US Pat. No. 5,629,999, which comprises a forceps element. The hinged claw is hingedly connected to a rigid claw that is rigidly connected to a sleeve that supports an external thread that can be screwed into a corresponding internal thread of a shaft. The blade actuation rod opens distally into the guide piston and has a radial guide protrusion that is guided in an axial slot in the guide sleeve. The guide piston has a recess into which the blade shaft of a cutting blade can be inserted.

[0006] Patent Document 4 describes a gripper for tubular workpieces, which has a drive unit and two gripper arms that can pivot relative to one another. This is intended to ensure a secure grip of highly curved, particularly tubular, workpieces, where the gripper arms are equipped with a pressure piece for fixing the workpiece. The pressure piece is made of a heat-resistant, particularly ceramic, material. This solution is not intended for endoscopic applications.

[0007] A tool head for endoscopic applications is known from US Pat. No. 5,623,999. In this case, the tool holder is formed by a formed sheet metal part.

[0008] According to Patent Document 6, a medical instrument having a distal end region has jaw portions that are movable relative to each other and pivotable around a pivot pin, the head of which is designed as a polygon. The pivot pin has a bushing and a pin that can be inserted into it. The pin and the bushing are fixed by a screw or pressed together. Furthermore, a clamping nut can be arranged between them.

[0009] A fabric tong is disclosed in US Pat. No. 5,649,999 and, like the previous solutions, requires the assembly of a large number of individual parts.

[0010] Therefore, in every typical micromanipulator, several individual components have to be manufactured and assembled together, which is labor intensive and prone to errors, for example with regard to the tolerances that must be observed. There is also a risk of corrosion when using different materials. [Prior art documents] [Patent documents]

[0011] [Patent Document 1] DE 10136581 A1 [Patent Document 2] European Patent Application Publication No. 2120818 [Patent Document 3] German Patent No. 102008051866 [Patent Document 4] German Patent Application Publication No. 102006050469 [Patent Document 5] German Utility Model No. 202004019910 [Patent Document 6] German Utility Model No. 202005005406 [Patent Document 7] US Patent Application Publication No. 2020 / 0107873 Summary of the Invention [Problem to be solved by the invention]

[0012] The present invention is based on the objective of creating an alternative to conventionally manufactured micromanipulators, which has a simpler and functionally reliable design that can be manufactured in a single work step, thus eliminating the need for assembly work, and has a similar opening angle and installation space. [Means for solving the problem]

[0013] The object is solved by the features of claims 1 and 15. Further useful designs of the invention are the subject matter of the dependent claims.

[0014] This object is solved by a tool for use as a micromanipulator, which has a frame oriented along a longitudinal axis and designed as a hollow body around an interior. The tool according to the invention is arranged on a first end face and has at least one manipulator element. The tool according to the invention has at least one actuating element arranged on a second end face opposite the first end face and slidably and axially movably mounted inside the frame. According to the invention, the frame, the at least one actuating element, and the at least one manipulator element are securely and movably connected to one another, and the tool is produced entirely by additive manufacturing.

[0015] Micromanipulators are particularly intended for medical applications and are preferably used in minimally invasive surgery (MIS).

[0016] The frame may be cylindrical or rectangular in cross section. The manipulator element is operatively connected to and moved by the actuation element.

[0017] The frame, the at least one manipulator element, and the at least one actuation element are additively manufactured from the same material, including any required air gaps between them.

[0018] The tool can be made of metallic materials or ceramics or a combination thereof and can be manufactured by micro-laser sintering. Preferred metals are stainless steel, surgical steel, titanium or other metals commonly used in medical technology. It is also conceivable that the tool is made of plastic.

[0019] Preferably, the manipulator element has at least two gripper jaws arranged to be capable of being in a closed state and an open state, in which the at least two gripper jaws abut each other at their respective contact surfaces, and an object can be gripped between the contact surfaces.

[0020] In a preferred embodiment, the first gripper jaw is movably connected to the frame and the actuation element, and the second gripper jaw is fixedly connected to the frame. Such an embodiment represents a variant that is open on one side.

[0021] In the open-sided variant, the second gripper jaw may be provided to be integrated into the solid body of the frame, i.e. formed integrally with the frame.

[0022] In another preferred embodiment, both gripper jaws are movably connected to the frame and the actuating element. Such an embodiment represents a variant that is open on both sides.

[0023] The gripper jaws may have a first recess in the connection region, into which the first protrusion and / or first pin of the frame engages. The first recess is located in the center of the connection region of each gripper jaw. Each gripper jaw, particularly a gripper jaw movably connected to the frame and / or the actuating element, may have a second recess into which the second protrusion and / or second pin of the frame engages, and each gripper jaw may have a third recess (actuating pin) into which the protrusion and / or pin of the actuating element engages. The second and third recesses are located in edge regions of the connection region. When the actuating element is moved axially, a force is applied to each gripper jaw operably connected to the actuating element, causing the respective gripper jaw to move.

[0024] Advantageously, the gripper jaws, which are movably connected to the frame and the actuation element, are configured to rotate about an axis.

[0025] It is also possible to omit the first recess and the first pin.

[0026] The two gripper jaws may be arranged in one plane or slightly offset from one another, the offset arrangement at least ensuring that the contact surfaces of the gripper jaws abut against one another when closed.

[0027] The tool may also comprise at least one position locking device for axially fixing at least one manipulator element, which may be designed, for example, in the form of a movable and / or elastic and / or rigid latch or protrusion.

[0028] Advantageously, the position locking device ensures that the at least one manipulator element does not come off the pin via which it is connected to the frame and / or the actuation element.

[0029] The manipulator element may also preferably be designed as a scissor mechanism or a spreader, in which case the scissor mechanism or spreader is also movably connected to the actuation element.

[0030] Preferably, the actuating element has at least one opening on its exposed end face facing away from the frame for actuation, e.g., for tensioning a cable. The actuating element can be configured to move axially via an attached cable tensioning actuation.

[0031] The tool according to the invention can also be designed as a robot end effector.

[0032] Alternatively, the tool according to the present invention may be hydraulically or pneumatically actuated.

[0033] Preferably, the tool according to the invention is suitable for use in microinvasive examination and surgery, although other possible fields of application include laboratory technology and space research.

[0034] Preferably, the tools of the present invention are additively manufactured by micro-laser sintering.

[0035] The frame, manipulator elements and actuation elements can be made of the same material.

[0036] In accordance with this method, a tool according to the present invention is manufactured for use as a micromanipulator, in that the tool, including all of its parts and the gaps between parts that are movable relative to one another, is manufactured entirely by additive manufacturing in a single machining operation.

[0037] This is preferably done by micro-laser sintering.

[0038] Starting from the longitudinal side of the tool, it is built layer by layer, each layer being made of metal or ceramic powder with a particle size of less than 20 μm, which is then melted by a laser and then solidified, the powder not being melted in the areas of the gaps between the parts to be produced, which should be able to move relative to each other.

[0039] During micro laser sintering, the frame, manipulator elements and actuation elements are built layer by layer with air gaps of up to 25 μm between them.

[0040] Advantageously, a first layer of powder is first applied to a building platform, the tool is manufactured / built by micro-laser sintering, and then the finished tool manufactured by micro-laser sintering is separated from the building platform by wire erosion or another separation process.

[0041] For the first time, a tool in the form of a micromanipulator with all parts and the gaps between them that move relative to each other is completely manufactured according to this method in one machining process using additive manufacturing.

[0042] Advantageously, the tool according to the invention is designed as a functional assembly consisting of several functional groups that can be additively manufactured as a single component and therefore can be moved relative to one another, thereby eliminating several processing steps previously required to manufacture the assembly, such as production of several individual parts, guaranteeing and observing production tolerances for the individual parts including quality assurance, logistical integration of the individual parts for assembly, assembly operations and quality assurance after assembly.

[0043] From a manufacturing perspective, the gripper is essentially an assembly of several individual parts, which are treated as several nested components in 3D printing. The gripper is manufactured from metal using micro laser sintering (MLS). In the completed gripper, the individual pieces are connected to each other solely by form-fitting to form the moving mechanism, without any assembly or joining processes. This fundamentally distinguishes the gripper design from conventionally manufactured metal gripper mechanisms with similar opening angles and installation spaces, where mobility and functionality are achieved by welding, gluing, soldering, pressing, and other joining processes. All individual bodies, especially the rotary and sliding connections, are modeled according to the MLS process-specific design rules, creating very little play in the moving elements. This, combined with the low surface roughness of the parts, allows for a tight fit.

[0044] All internal functional surfaces of the pivot and shear joints, and therefore their functions, can be used directly after printing and after separating the assembly from the build platform without further surface finishing.

[0045] The functional assembly in the form of a gripper is manufactured as a single component containing several parts that can be moved relative to each other thanks to the possibilities of 3D printing, preferably micro-laser sintering. This eliminates several processing steps previously required to manufacture the assembly, such as: 1. Production of multiple individual parts according to the required tolerances, including quality assurance; 2. Logistical integration of individual parts for assembly; 3. Assembly work; 4. Quality assurance work after assembly. [Brief explanation of the drawings]

[0046] [Figure 1] FIG. [Figure 2]1 is a side view of a tool according to the invention in a closed state; FIG. [Figure 3] 2 is a longitudinal section AA according to FIG. 1 in the closed state. [Figure 4] 2 is a longitudinal section BB according to FIG. 1 in the closed state. [Figure 5] 1 is a side view of a tool according to the invention in an open state; FIG. [Figure 6] 2 shows the longitudinal section AA of FIG. 1 in the open state. [Figure 7] 1 in an open state. [Figure 8] 1 shows a perspective view of a tool according to the invention in a partially open state; DETAILED DESCRIPTION OF THE INVENTION

[0047] The invention is explained in more detail below with reference to exemplary embodiments and associated figures, without being limited thereto.

[0048] 1 and 2 show a tool according to the invention in plan and side views in a closed state.

[0049] The tool has a frame 1 oriented along a longitudinal axis L. The frame 1 is designed as a hollow body with two opposing openings and an interior. The frame 1 has a first end face 1.1 and a second end face 1.2 opposite the first end face 1.1. Adjacent to the first end face 1.1 is a manipulator element 2, which in the illustrated embodiment has two gripper jaws 2.1a and 2.1b. An actuating element 3 is arranged on the side of the second end face 1.2, which is axially displaceably attached to the frame 1. The axial mobility of the actuating element 3 is indicated by a double arrow. The actuating element 3 is operably connected to the gripper jaws 2.1a and 2.1b.

[0050] 1 and 2 show that the sides 1a and 1b of the frame 1 are smooth and that the bearing elements enabling the pivoting of the gripper jaws 2.1a and 2.1b are hidden and therefore located inside the tool.

[0051] 3 shows a longitudinal section AA from the direction of the longitudinal side 1a according to FIG. 1 in the closed state, but with the lower gripper jaw 2.1b not hatched. In this case, it can be seen that the lower gripper jaw 2.1b is pivotally mounted by means of a joint G1 that is integrally connected to the gripper jaw 2.1b. The joint G1 is also not hatched. The outer periphery of the joint G1 is at least partially circular.

[0052] The pivotally arranged lower first gripper jaw 2.1b has a curved first slot 2.2b at the first joint G1, in which an outwardly directed first guide pin 1.3b is engaged, which is arranged transversely to the longitudinal axis L of the frame 1.

[0053] The movably arranged first gripper jaw 2.1b, here the lower one, also has a first bearing recess 2.3b, into which engages a first bearing pin 1.4b, arranged on the frame 1. The movably arranged lower gripper jaw 2.1b also has a first recess 2.4b in the region of its first joint G1, into which engages an actuating pin 3.1b, arranged on the actuating element 3.

[0054] The first bearing recess 2.3b and the first mount 2.4b are arranged in the edge region of the joint G1.

[0055] The lower first gripper jaw 2.1b is rotatably / pivotally mounted about a first bearing pin 1.4b.

[0056] The first guide pin 1.3b and the first bearing pin 1.4b are formed integrally with the frame 1.

[0057] The first actuating pin 3.1b is formed integrally with the actuating element 3.

[0058] When the actuating element 3 is pushed towards the frame 1, the first actuating pin 3.1b, located at the front end of the actuating element 3, which engages in the first receptacle 2.4b of the joint G1, also now moves axially to the left, thereby retracting the joint G1 and the associated gripper jaw 2.1b. The fulcrum of the first joint G1 is located on the unspecified axis of the first bearing pin 1.4b. As a result, the lower gripper jaw 2.1b with the joint G1 pivots downwards about the first bearing pin 1.4b into the open position (see Figures 5 and 6).

[0059] A second joint G2 (not visible here) and a second joint G3 (not visible here) are provided for pivoting the upper second gripper jaw 2.1a upwards. - a second bearing pin 1.4a is located in a second bearing recess 2.3a of the second joint G2, - a second guide pin 1.3a is placed in the second oblong hole 2.2b of the second joint G2, - A second actuation pin 3.1a is arranged in a second receptacle 2.4a in the form of a recess of the second joint G2 in the region of the second joint G2 associated with the upper gripper jaw 2.1a (see Figures 4 and 7).

[0060] The second bearing pin 1.4a and the second guide pin 1.3a are formed integrally with the frame 1.

[0061] The second actuating pin 3.1a is formed integrally with the actuating element 3.

[0062] The design of this second joint G2 is rotated by 180° relative to the longitudinal axis L. The fulcrum of the joint of the upper second gripper jaw 2.1a is therefore at the top and the point of application of the second actuating pin 3.1a is at the bottom, so that when the actuating element 3 is moved towards the frame 1, the upper second gripper jaw 2.1a is pivoted upwards.

[0063] 4 shows in partial cross section the closed position of the tool rotated transversely and from the opposite side to the longitudinal axis L. Note that the second joint G2 and the second upper gripper jaw 2.1a are not hatched.

[0064] In the side of the tool shown here, the upper second gripper jaw 2.1a and the second joint G2 are formed integrally, and the frame 1 is provided at its end facing the gripper jaws 2.1a and 2.1b with a second actuation pin 3.1a, which is aligned transversely to the longitudinal axis L and is able to actuate the joint G1 and the upper gripper jaw 2.1a. For this purpose, the second actuation pin 3.1a engages in a recess or second receptacle 2.4a of the second joint G2.

[0065] The frame 1 is provided with a second guide pin 1.3a which is guided in the second oblong hole 2.2aa, and the frame 1 is also provided with a second bearing pin 1.4a which is guided in the bearing recess 2.3a and about which the second joint G2 can pivot when the actuating member 3 is actuated.

[0066] When the actuating element 3 is moved along the longitudinal axis L towards the frame 1, the pivoting of the first joint G1 and the second joint G2 causes the first and second actuating pins 3.1a and 3.1b arranged on the actuating element 3 to pivot the gripper jaws 2.1a and 2.1b around the first and second bearing pins 1.4a and 1.4b, opening the gripper jaws 2.1a and 2.1b.

[0067] FIG. 5 shows a side view of the tool in the open position, and FIG. 6 shows the longitudinal section AA of FIG. 1, also in the open position.

[0068] FIG. 5, like FIG. 2, shows that the actuation pins, bearing pins, and guide pins, as well as the receptacles, slots, and bearing recesses, and joints, are hidden by the outer material of the frame and cannot be seen from the outside.

[0069] As can be seen from FIG. 6, the actuating element 3 is displaced axially towards the frame 1 and the gripper jaws 2.1a and 2.1b are in the open position.

[0070] Figure 6 shows that the first actuation pin 3.1b, engaged in the third first receptacle 2.4b, has pivoted the first joint region / first joint G1 around the first bearing pin 1.4b. The first joint G1, together with its first slot 2.2b, is moving relative to the first guide pin 1.3b. The first guide pin 1.3b is attached to the first slot 2.2b and is used for stabilization.

[0071] Figure 7 shows a three-dimensional representation of the tool in a partially open state. From this it can be seen that the upper second gripper jaw 2.1a has a second joint area / second joint G2 in the direction of the frame 1, the fulcrum of which is located around an unspecified axis of the upper second bearing pin 1.4a. The second bearing pin 1.4a is formed integrally with the frame 1 and is mounted in the second bearing recess 2.3a of the joint G2.

[0072] The guide pins 1.3a, 1.3b and the bearing pins 1.4a, 1.4b are formed integrally with the frame 1, and the actuating pins 3.1a, 3.1b are formed integrally with the actuating element 3.

[0073] The two gripper jaws 2.1a and 2.1b are aligned with each other and have unspecified gripping surfaces that rest against each other when closed. The gripping surfaces can be textured.

[0074] Preferably, the actuating element 3 has an opening for at least one unspecified push-pull element 3.2 on its exposed end face facing away from the frame 1, through which tensile and compressive forces can be introduced to open and close the gripper jaws 2.1a, 2.1b. The actuating element 3 can thus be set to move axially via a corresponding actuation, through which the required push-pull movement can be achieved.

[0075] The gripper jaws 2.1a, 2.1b are in a closed state, so that their resting contact surfaces are not visible.

[0076] To move the gripper jaws from the closed position to the open position, the actuating element is pushed towards the frame 1. This causes both actuating pins 3.1a, 3.1b to move towards the gripper jaws 2.1a, 2.1b and causes the joints G1, G2 to rotate about their bearing pins 1.4a, 1.4b.

[0077] As a result, the first gripper jaw 2.1b at the bottom of the figure pivots downwards at a first joint G1 around a first bearing pin 1.4b located at the bottom, and the second gripper jaw 2.1a at the top pivots upwards at a second joint G2 around a second bearing pin 1.4a located at the top.

[0078] Preferably, such grippers for medical applications are made of metal (e.g., steel, titanium), however, other materials suitable for laser sintering can also optionally, and preferably, be used for medical applications such as minimally invasive surgery.

[0079] All other features can be properly discerned from Figures 1 and 2. Please see the corresponding parts of this specification.

[0080] As already mentioned, all parts of the tool are manufactured using additive manufacturing processes, preferably by micro-laser sintering in a single process sequence.

[0081] In micro laser sintering, a powder of the desired material (metal, ceramic, or plastic) is applied to a substrate plate using a machine. A laser beam melts the areas of the powder that should be solidified. The substrate plate is then lowered and another layer of powder is applied and melted by the laser. This iterative process produces the complete tool layer by layer.

[0082] After the manufacturing process, after being separated from the substrate plate by wire electrical discharge machining, the tool is ready for use with its moving parts without any assembly operations.

[0083] Gripper-shaped tools used as micromanipulators are small and, in a closed state, have a diameter of, for example, 0.5 mm to 1.0 mm, preferably 0.7 mm to 0.9 mm, and a total length of 1.2 mm to 1.7 mm, preferably 1.4 mm to 1.6 mm.

[0084] In larger designs, tools intended for use as micromanipulators can have, for example, a diameter of 5.0 mm to 7.0 mm, preferably 5.5 mm to 6.5 mm, and an overall length of 12 mm to 20 mm, preferably 13 mm to 15 mm, when closed.

[0085] However, larger dimensions are also possible, for example lengths of 30 mm to 50 mm, preferably 35 mm to 45 mm, and correspondingly larger diameters.

[0086] The dimensions of the tool in the form of a gripper / micromanipulator can of course be adapted to the necessary application conditions and requirements for minimally invasive surgery.

[0087] Such tools are also known in the medical arts as forceps. [Explanation of symbols]

[0088] 1 frame 1.1 First end face of the frame 1a First side of the frame 1b Second side of the frame 1.2 Second end face of the frame 1.3a First guide pin 1.4b Secondary guide pin 1.5a First bearing pin 1.6b Second bearing pin 2 Manipulator Elements 2.1a First gripper jaw / upper gripper jaw 2.1b Second gripper jaw / lower gripper jaw 2.2 First recess 2.2a Second slot 2.2b First slot 2.3a Second bearing recess 2.3b First bearing recess 2.4a Secondary Receptacle / Recess 2.4b Primary Receptacle / Recess 2.5 Connection Area 3. Actuation elements 3.1a Second Actuating Pin 3.1b First Actuating Pin 3.2 Openings for push-pull elements G1 First joint G2 Second joint L longitudinal axis

Claims

1. 1. A tool for use as a micromanipulator having multiple parts, comprising: a frame (1) oriented along a longitudinal axis (L) and designed as a hollow body open at both ends; at least one manipulator element (2) arranged on a first end face (1.1) of the frame (1); at least one actuation element (3) arranged on a second end face (1.2) opposite to the first end face (1.1), mounted slidably and axially movable within the frame (1) along the longitudinal axis (L), and operatively connected to a manipulator element; A tool in which parts in the form of a frame (1), at least one actuation element (3) and at least one manipulator element (2) are securely and movably connected to one another, the tool being produced entirely by additive manufacturing, including all necessary air gaps between the movably connected parts.

2. 2. The tool according to claim 1, characterized in that the frame (1), the at least one manipulator element (2) and the at least one actuation element (3) are made of the same material.

3. 3. Tool according to claim 1 or 2, characterized in that the at least one manipulator element (2) has at least two gripper jaws (2.1a, 2.1b).

4. 4. The tool according to claim 3, characterized in that the first gripper jaw (2.1a) is movably connected to the frame (1) and to the at least one actuating element (3), and the second gripper jaw (2.1b) is fixedly connected to the frame (1).

5. 4. Tool according to claim 3, characterized in that both gripper jaws (2.1a, 2.1b) are movably connected to the frame (1) and to at least one actuating element (3).

6. 6. The tool according to claim 4 or 5, characterized in that the gripper jaws (2.1a, 2.1b) movably connected to the frame (1) and the at least one actuating element (3) are arranged rotatably about the axis of a second bearing pin (1.4a, 1.4b) arranged transversely to the longitudinal axis (L) of the frame (1), the second bearing pin (1.4a, 1.4b) being formed integrally with the frame (1).

7. Tool according to any one of the preceding claims, characterized in that the tool comprises at least one position locking device for axially fixing the at least one manipulator element (2).

8. 3. Tool according to claim 1 or 2, characterized in that the at least one manipulator element (2) is designed as a scissor mechanism or as a spreader.

9. Tool according to any one of the preceding claims, characterized in that the at least one actuating element (3) has at least one opening (3.2) for actuation in its exposed end face.

10. Tool according to any one of the preceding claims, characterized in that the tool is designed as a robot end effector.

11. 11. Tool according to any one of claims 1 to 10, characterized in that the frame (1), the manipulator elements (2), the actuating elements (3), the actuating pins (3.1 a, 3.1 b), the bearing pins (1.4 a, 1.4 b) and the guide pins (1.3 a, 1.3 b) are made of the same material, the bearing pins (1.4 a, 1.4 b) and the guide pins (1.3 a, 1.3 b) are formed integrally with the frame (1) and the actuating pins (3.1 a, 3.1 b) are formed integrally with the actuating elements (3).

12. Tool according to any one of the preceding claims, characterized in that the tool is made from a metal or ceramic material.

13. A tool according to any one of claims 1 to 12 for use in minimally invasive examination and surgery.

14. Tool according to any one of the preceding claims, characterized in that it is manufactured in a single process sequence by micro-laser sintering.

15. 10. A method for manufacturing a tool according to claim 1 for use as a micromanipulator, characterized in that the tool having gaps between the moving parts is manufactured entirely by additive manufacturing in a single machining process.

16. 16. The method of claim 15, wherein the tool is manufactured by a micro-laser sintering fabrication process.

17. 17. Method according to claim 15 or 16, characterized in that the tool is built up layer by layer, starting from a longitudinal side of the tool, each layer being applied with a metal or ceramic powder having a particle size of less than 20 μm, then melted by a laser and then solidified, the powders being intended to be movable relative to one another and not melted in the areas of gaps between the manufactured parts.

18. 18. The method according to any one of claims 15 to 17, characterized in that during micro laser sintering the frame (1), the manipulator elements (2) and the actuation elements (3) are built up layer by layer with an air gap between them of at most 25 μm.

19. 19. The method according to any one of claims 15 to 18, characterized in that a first layer of powder is applied to a build platform and then the tool produced by micro-laser sintering is separated from the build platform by wire electrical discharge machining or another separation process.

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