U.S. patent application number 17/033297 was filed with the patent office on 2021-04-01 for holder facility for holding a medical instrument.
The applicant listed for this patent is Siemens Healthcare GmbH. Invention is credited to Rodolfo Finocchi, Erin Girard, Ankur Kapoor, Young-Ho Kim, Tommaso Mansi.
Application Number | 20210093418 17/033297 |
Document ID | / |
Family ID | 1000005162698 |
Filed Date | 2021-04-01 |
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United States Patent
Application |
20210093418 |
Kind Code |
A1 |
Finocchi; Rodolfo ; et
al. |
April 1, 2021 |
HOLDER FACILITY FOR HOLDING A MEDICAL INSTRUMENT
Abstract
A holder facility for holding a medical instrument includes a
first receiving element, a second receiving element, and at least
three diaphragm elements. The at least three diaphragm elements
within a diaphragm layer are arranged between the first and second
receiving elements about a common rotation axis. The first and
second receiving elements each have an opening for receiving the
medical instrument. The first and second receiving elements are
movable around about the common rotation axis relative to one
another. Each of the at least three diaphragm elements is forcibly
moved by mechanical coupling. For a movement of the first receiving
element relative to the second receiving element about the common
rotation axis, there is a forcibly-guided movement of the at least
three diaphragm elements such that the at least three diaphragm
elements hold a medical instrument arranged in the opening of the
first and second receiving elements.
Inventors: |
Finocchi; Rodolfo;
(Cambridge, MA) ; Kapoor; Ankur; (Plainsboro,
NJ) ; Girard; Erin; (Madison, CT) ; Kim;
Young-Ho; (West Windsor, NJ) ; Mansi; Tommaso;
(Plainsboro, NJ) |
|
Applicant: |
Name |
City |
State |
Country |
Type |
Siemens Healthcare GmbH |
Erlangen |
|
DE |
|
|
Family ID: |
1000005162698 |
Appl. No.: |
17/033297 |
Filed: |
September 25, 2020 |
Current U.S.
Class: |
1/1 |
Current CPC
Class: |
A61B 34/30 20160201;
A61B 1/00149 20130101; A61B 90/57 20160201; A61B 2034/301
20160201 |
International
Class: |
A61B 90/57 20060101
A61B090/57; A61B 1/00 20060101 A61B001/00; A61B 34/30 20060101
A61B034/30 |
Foreign Application Data
Date |
Code |
Application Number |
Sep 27, 2019 |
DE |
102019214868.9 |
Claims
1-15. (canceled)
16. A holder facility for holding a medical instrument, the holder
comprising: a first receiving element; a second receiving element;
and at least three diaphragm elements, the at least three diaphragm
elements being arranged about a common axis of rotation of the
first receiving element and the second receiving element within a
diaphragm layer between the first receiving element and the second
receiving element, wherein the common axis of rotation runs
essentially at right angles to the diaphragm layer, wherein the
first receiving element and the second receiving element each have
an opening to receive the medical instrument, wherein the first
receiving element and the second receiving element are movable
around relative to one another about the common axis of rotation,
wherein each of the at least three diaphragm elements comprises at
least one first coupling element, wherein the first receiving
element, the second receiving element, or the first receiving
element and the second receiving element each comprise at least one
second coupling element to each diaphragm element of the at least
three diaphragm elements, wherein each diaphragm element of the at
least three diaphragm elements within the diaphragm layer in which
the at least three diaphragm elements are arranged is forcibly
actuated by mechanical coupling between the respective at least one
first coupling element of the respective diaphragm element and the
at least one second coupling element, wherein, for a movement of
the first receiving element relative to the second receiving
element about the common axis of rotation, there is movement of the
at least three diaphragm elements within the diaphragm layer
through to the opening to receive the medical instrument forcibly
actuated by the first receiving element and the second receiving
element such that the at least three diaphragm elements hold the
medical instrument arranged in the opening of the first receiving
element and the second receiving element.
17. The holder facility of claim 16, wherein the at least one first
coupling element of the respective diaphragm element is configured
as an elongated guide in which at least one second coupling element
of the first receiving element, the second receiving element, or
the first receiving element and the second receiving element is
accommodated in each case.
18. The holder facility of claim 16, wherein the at least one
second coupling element of the first receiving element, the second
receiving element, or the first receiving element and the second
receiving element is configured as an elongated guide in which at
least one first coupling element of the respective diaphragm
element is accommodated in each case.
19. The holder facility of claim 16, wherein the at least three
diaphragm elements within the diaphragm layer are arranged
overlapping each other at least in part.
20. The holder facility of claim 16, wherein the at least one first
coupling element of the respective diaphragm element, the at least
one second coupling element of the first receiving element, the
second receiving element, or the first receiving element and the
second receiving element in each case is configured as a raised
area, a cutout, or the raised area and the cutout.
21. The holder facility of claim 16, wherein the at least three
diaphragm elements feature a softer material compared to the first
receiving element, the second receiving element, or the first
receiving element and the second receiving element.
22. The holder facility of claim 16, wherein the at least three
diaphragm elements are arranged having a same shape about the
common axis of rotation.
23. The holder facility of claim 16, wherein the at least three
diaphragm elements along the diaphragm layer have a triangular,
circle, or triangular and circle segment-shaped form.
24. The holder facility of claim 16, wherein the opening to receive
the medical instrument of the first receiving element, the second
receiving element, or the first receiving element and the second
receiving element is configured as a hole, a slot, or the hole and
the slot.
25. The holder facility of claim 16, wherein the first receiving
element, the second receiving element, or the first receiving
element and the second receiving element are configured in the
shape of a wheel.
26. The holder facility of claim 25, wherein the first receiving
element, the second receiving element, or the first receiving
element and the second receiving element are configured as a
toothed wheel, a pulley wheel, or the toothed wheel and the pulley
wheel.
27. The holder facility of claim 16, further comprising a motorized
drive element configured to move the first receiving element
relative to the second receiving element about the common axis of
rotation.
28. The holder facility of claim 16, further comprising a fixing
element configured to lock the first receiving element in place in
relation to the second receiving element.
29. The holder facility of claim 16, further comprising a diaphragm
fixing element configured to lock the at least three diaphragm
elements in place.
30. The holder facility of claim 16, wherein the first receiving
element comprises a second coupling element in each case for each
of the at least three diaphragm elements, the second coupling
elements of the first receiving element being cut out as an
elongated guide and running in a straight line, wherein the second
receiving element comprises a second coupling element for each of
the at least three diaphragm elements in each case, the second
coupling elements of the second receiving element being cut out as
an elongated guide and running in a curve, wherein the first
receiving element and the second receiving element are configured
in the shape of a wheel, wherein the first receiving element, the
second receiving element, or the first receiving element and the
second receiving element are configured as a toothed wheel, wherein
the opening to receive the medical instrument of the first
receiving element and the second receiving element is configured as
a slot and is delimited by the common axis of rotation, wherein the
at least three diaphragm elements have a triangular shape, wherein
each diaphragm element of the at least three diaphragm elements has
two first coupling elements in each case, the two first coupling
element being configured as pin-shaped raised areas, wherein a
first of the two first coupling elements of each of the at least
three diaphragm elements is arranged on a side of the diaphragm
element facing towards the first receiving element, wherein a
second of the two first coupling elements of each of the at least
three diaphragm elements is arranged on a side of the diaphragm
element facing towards the second receiving element, and wherein
the two first coupling elements of each of the at least three
diaphragm elements do not lie on a spatial axis parallel to the
common axis of rotation.
Description
[0001] This application claims the benefit of German Patent
Application No. DE 10 2019 214 868.9, filed on Sep. 27, 2019, which
is hereby incorporated by reference in its entirety.
BACKGROUND
[0002] The present embodiments relate to a holder facility for
holding a medical instrument.
[0003] For the precise examination of an object to be examined
(e.g., for vascular diseases and/or tumor diseases, as well as for
interventions, such as for vasodilation and/or for placement of an
angioplasty in the object being examined), elongated and/or
flexible medical instruments are frequently used. In such cases,
the object being examined may be a human and/or animal patient, for
example. The medical instrument is further frequently embodied as a
surgical instrument (e.g., as a catheter and/or guide wire, and/or
as a diagnostic instrument, such as an endoscope with an ultrasound
head for a transesophageal echocardiogram (TEE probe), and/or a
bronchoscope). While the high mechanical flexibility and/or
deformability of the medical instruments frequently represents an
important basis for use in an intervention and/or examination,
precise guidance of the instrument may be rendered more difficult
by the attributes.
[0004] Guidance facilities for guiding a catheter are known from
the prior art, where at least sections of the catheter are moved
translationally within the guidance facility by a number of drive
wheels. The guidance facility in this case is frequently only
configured for a predetermined medical instrument. An extent of the
translational movement of the medical instrument by the guidance
facility is further frequently restricted to a few centimeters.
[0005] In addition, the document Loschak et al., "A 4-DOF Robot for
Positioning Ultrasound Imaging Catheters", in Proc ASME Des Eng
Tech Conf. 2015, 5A:V05AT08A046, discloses a robotic guidance
facility for guiding a catheter. In this facility (e.g., through
friction between the guidance facility and the catheter), this may
disadvantageously result in a torsion and/or deformation of the
catheter. This may render a precise guidance of the catheter as a
medical instrument significantly more difficult.
[0006] Further, robot-assisted facilities for guidance of
endoscopes are known, where the endoscopes are frequently to be
embodied specifically for the robot-assisted facility. The known
robot-assisted facilities further frequently require a large amount
of space, which may be a disadvantage, precisely in a clinical
(e.g., surgical) environment.
SUMMARY AND DESCRIPTION
[0007] The scope of the present invention is defined solely by the
appended claims and is not affected to any degree by the statements
within this summary.
[0008] The present embodiments may obviate one or more of the
drawbacks or limitations in the related art. For example, a
facility for holding a medical instrument securely and flexibly is
provided.
[0009] According to a variant, a holder facility includes a first
receiving element, a second receiving element, and at least three
diaphragm elements. In this variant, the at least three diaphragm
elements are arranged within a diaphragm layer between the first
receiving element and the second receiving element about a common
axis of rotation of the first receiving element and the second
receiving element. In this variant, the common axis of rotation
essentially runs at right angles to the diaphragm layer. The first
receiving element and the second receiving element each further
have an opening for receiving the medical instrument (e.g., at
least on the common axis of rotation). In addition, the first
receiving element and the second receiving element are able to be
moved around relative to one another about the common axis of
rotation. Further, the at least three diaphragm elements each
include at least one first coupling element. In this case, the
first receiving element and/or the second receiving element
includes at least one second coupling element for each of the at
least three diaphragm elements. Each of the at least three
diaphragm elements within the diaphragm layer in which these are
arranged are further forcibly guided by mechanical coupling between
the respective at least one first coupling element of the diaphragm
element and the at least one second coupling element. In addition,
when the first receiving element is moved relative to the second
receiving element about the common axis of rotation, there is a
forcibly-guided movement of the at least three diaphragm elements
within the diaphragm layer by the first receiving element and the
second receiving element towards the opening for receiving the
medical instrument such that the at least three diaphragm elements
hold a medical instrument arranged in the opening of the first
receiving element and the second receiving element.
[0010] In this case, the medical instrument may include a surgical
instrument (e.g., a catheter and/or a guide wire, and/or a
diagnostic instrument, such as an endoscope with an ultrasound head
for a transesophageal echocardiogram (TEE probe), and/or a
bronchoscope and/or a laparoscope). For example, the medical
instrument may be elongated and/or mechanically deformable.
[0011] The first receiving element and/or the second receiving
element may be embodied in the shape of a disk. In this case, the
first receiving element and/or the second receiving element may
have a central plane. In this case, a spatial extent of the first
receiving element and/or the second receiving element along the
respective central plane may be greater compared to a spatial
extent of the first receiving element and/or the second receiving
element at right angles to the respective central plane. The first
receiving element and/or the second receiving element may have an
edge. The edge may also have a raised area. Through this, it may be
made possible for the first receiving element and/or the second
receiving element to enclose the respective other receiving element
at least in part.
[0012] The first receiving element and/or the second receiving
element may at least in part have a mechanically stable (e.g.,
non-deformable) shape. Further, the common axis of rotation of the
first receiving element and/or the second receiving element may
form an axis of symmetry of the first receiving element and/or the
second receiving element in each case.
[0013] Each of the at least three diaphragm elements may have two
contact surfaces in each case for arrangement (e.g., direct
arrangement) on a contact surface of at least two neighboring
diaphragm elements in each case. This makes it possible for there
to be a mobility of the at least three diaphragm elements while
simultaneously preserving the stability. In this variant, the at
least two contact surfaces of each of the at least three diaphragm
elements may have a low-friction surface.
[0014] In addition, the diaphragm layer may include an area (e.g.,
a disk-shaped are) of space between the first receiving element and
the second receiving element. The diaphragm layer may be formed,
for example, by the spatial extent of the at least three diaphragm
elements between the first receiving element and the second
receiving element. In this case, the at least three diaphragm
elements within the diaphragm layer may be arranged between the
first receiving element and the second receiving element about the
common axis of rotation (e.g., in the form of a ring). For example,
the at least three diaphragm elements may be arranged along a
common circle about the common axis of rotation within the
diaphragm layer.
[0015] The first receiving element and/or the second receiving
element (e.g., a raised area on the edge of the first receiving
element and/or the second receiving element) may at least partly
enclose the diaphragm layer. This enables a protection (e.g., a
seal) against any external mechanical and/or chemical effect on the
at least three diaphragm elements to be provided.
[0016] In one embodiment, the common axis of rotation of the first
receiving element and the second receiving element runs essentially
at right angles (e.g., not parallel) to the diaphragm layer.
[0017] The opening for receiving the medical instrument is embodied
such that the medical instrument is able to be introduced
completely and with free movement in at least one spatial direction
into the opening. In this case, a maximum diameter of the medical
instrument that is able to be introduced into the opening of the
first receiving element and the second receiving element is
delimited by a spatial extent of the opening of the first receiving
element and the second receiving element.
[0018] In one embodiment, the first receiving element and the
second receiving element are able to be moved relative to one
another about the common axis of rotation. In this case, the first
receiving element and/or the second receiving element may be able
to be moved about the common axis of rotation. The first receiving
element and the second receiving element are further able to be
moved rotationally relative to one another. In addition, the first
receiving element and/or the second receiving element may be able
to be taken out of the arrangement and/or introduced into the
arrangement.
[0019] In one embodiment, the at least three diaphragm elements may
have two first coupling elements. The first receiving element and
the second receiving element may, for example, each have a second
coupling element for each of the at least three diaphragm elements.
This enables each of the at least three diaphragm elements to be
coupled mechanically to the first receiving element and the second
receiving element using the two second coupling elements in each
case. In this case, one of the two second coupling elements in each
case for each of the at least three diaphragm elements may further
be embodied for positioning.
[0020] In one embodiment, by moving the first receiving element
relative to the second receiving element about the common axis of
rotation, there may be a change in the arrangement of the second
coupling elements of the first receiving element and/or the second
receiving element in relation to the arrangement of the at least
three diaphragm elements. Provided the first receiving element and
the second receiving element for each of the at least three
diaphragm elements each have a second coupling element, the
movement of the first receiving element relative to the second
receiving element enables there to be a change in the arrangements
of the second coupling elements of the first receiving element and
the second receiving element in relation to one another. Through
the mechanical coupling between the first coupling elements of the
at least three diaphragm elements and the second coupling elements,
a forcibly-guided movement of the diaphragm elements within the
diaphragm layer may be made possible through this.
[0021] In one embodiment, the second coupling elements of the first
receiving element and/or the second receiving element are embodied
such that the at least three diaphragm elements are able to be
moved in a forcibly-guided manner towards the opening for receiving
the medical instrument (e.g., rotated and/or displaced). At least
one of the second coupling elements of the first receiving element
and/or the second receiving element may further be embodied in a
circular shape and/or curved and/or as a straight line.
[0022] In one embodiment, the at least three diaphragm elements may
be held movably by the mechanical coupling between the at least one
first coupling element and the respective at least one second
coupling element within the diaphragm layer (e.g., within a
predetermined radius of the common axis of rotation).
[0023] In such cases, all medical instruments that are able to be
introduced into the opening of the first receiving element and the
second receiving element are held by the at least three diaphragm
elements. When the first receiving element is moved relative to the
second receiving element about the common axis of rotation, an end
point of the movement may be predetermined by a mechanical
resistance when the at least three diaphragm elements strike the
medical instrument arranged in the opening of the first receiving
element and the second receiving element. In one embodiment, the
medical instrument may be held by the at least three diaphragm
elements after a movement of the first receiving element relative
to the second receiving element about the common axis of rotation
up to the end point of the movement. A movement of the first
receiving element relative to the second receiving element in a
first direction of movement in such a way that the at least three
diaphragm elements are forcibly guided towards the opening may be
referred to as closing the holder facility. In a similar way to
this, a movement of the first receiving element relative to the
second receiving element in a second direction of movement in such
a way that the at least three diaphragm elements make a forcibly
guided movement away from the opening may be referred to as opening
the holder facility.
[0024] In this case, the holding of the medical instrument by the
at least three diaphragm elements may be made possible by a
mechanical coupling between the medical instrument and the at least
three diaphragm elements. In one embodiment, the medical instrument
may be held in position by the at least three diaphragm elements in
relation to the holder facility (e.g., in a non-displaceable and/or
rotationally-stable manner). In this case, the at least three
diaphragm elements for holding the medical instrument may each
exert a pressure on the medical instrument.
[0025] In a further form of embodiment of the holder facility, the
at least one first coupling element of the respective diaphragm
element may be embodied as an elongated guide, in which at least
one second coupling element of the first receiving element and/or
of the second receiving element is accommodated in each case. In
this case, the at least one second coupling element of the first
receiving element and/or the second receiving element in each case
may be embodied such that the at least one second coupling element
is able to be received into an elongated guide of the respective
diaphragm element. This enables a mechanical coupling between the
at least one second coupling element of the first receiving element
and/or the second receiving element in each case and the elongated
guide of the respective diaphragm element to be made possible. In
one embodiment, the respective diaphragm element is able to be
moved (e.g., displaced) along a guide path within the elongated
guide. One axis of rotation in each case for each of the at least
three diaphragm elements may further be able to be predetermined by
receiving the at least one second coupling element within the
elongated guide of the respective diaphragm element. In this case,
each of the at least three diaphragm elements within the diaphragm
layer may be rotatable about the predetermined axis of rotation.
Further, at least one of the first coupling elements of the
respective diaphragm element may be embodied to surround the
accommodated second coupling element at least partly (e.g.,
completely).
[0026] In a further embodiment of the holder facility, the at least
one second coupling element of the first receiving element and/or
the second receiving element may be embodied as an elongated guide,
in which the respective at least one first coupling element of the
respective diaphragm element is accommodated. In this embodiment,
the at least one first coupling element of each of the at least
three diaphragm elements may be embodied in such a way that the at
least one first coupling element is able to be received into an
elongated guide of the first receiving element and/or the second
receiving element in each case. This enables a mechanical coupling
between the at least one first coupling element of the diaphragm
element in each case and the elongated guide to be made possible.
In one embodiment, the at least one first coupling element of the
diaphragm element is able to be moved (e.g., displaced) along a
guide path within the elongated guide of the first receiving
element and/or the second receiving element. One axis of rotation
in each case for each of the at least three diaphragm elements may
further be able to be predetermined by accommodating the at least
one second coupling element within the longitudinal guide. In this
embodiment, each of the at least three diaphragm elements within
the diaphragm layer may be able to be rotated about the
predetermined axis of rotation. Further, at least one of the second
coupling elements of the first receiving element and/or the second
receiving element may be embodied to surround the received first
coupling element at least partly (e.g., completely).
[0027] In a further form of embodiment of the holder facility, the
at least three diaphragm elements may be arranged at least partly
overlapping one another within the diaphragm layer. Through this, a
space-saving arrangement of the at least three diaphragm elements
within the diaphragm layer may be made possible. Further, through
the at least partly overlapping arrangement of the at least three
diaphragm elements, the mechanical coupling between the medical
instrument and the at least three diaphragm elements (e.g., in a
longitudinal direction of the medical instrument) may be improved.
In addition, a greater stability of the arrangement of the at least
three diaphragm elements within the diaphragm layer in relation to
a force effect exerted by the medical instrument being held may be
made possible with an at least partly overlapping arrangement of
the at least three diaphragm elements.
[0028] In a further form of embodiment of the holder facility, the
at least one first coupling element of the respective diaphragm
element in each case and/or the at least one second coupling
element of the first and/or the second receiving element in each
case may be embodied as a raised area and/or a cutout of the
respective diaphragm element. In this embodiment, the at least one
first coupling element may be embodied as a pin-shaped and/or
hemispherical-shaped and/or cylindrical raised area of the
respective diaphragm element. The at least one second coupling
element may further be embodied as a pin-shaped and/or
hemispherical-shaped and/or cylindrical raised area of the first
and/or the second receiving element.
[0029] The at least one first coupling element may further be
embodied as a cylindrical and/or hemispherical-shaped cutout of the
respective diaphragm element. In addition, the at least one second
coupling element may be embodied as a cylindrical and/or
hemispherical-shaped cutout of the first receiving element and/or
the second receiving element.
[0030] Further, the at least one first coupling element may be
embodied as a raised area and/or cutout of the respective diaphragm
element in such a way that a, for example, external shape of the
respective diaphragm element is formed by the at least one first
coupling element. For example, the at least one first coupling
element may be embodied as a raised area and/or cutout on a side
surface and/or edge and/or corner of the diaphragm element in each
case. Further, the at least one second coupling element may be
embodied as a raised area and/or cutout of the first receiving
element and/or the second receiving element in such a way that a
shape of the first receiving element and/or the second receiving
element is formed by the at least one second coupling element. For
example, the at least one second coupling element may be embodied
as a raised area and/or cutout on a side surface and/or edge and/or
corner of the first receiving element and/or the second receiving
element. Provided the first receiving element and/or the second
receiving element has an edge and/or a raised area, the respective
at least one second coupling element may be arranged on the edge
and/or the raised area. This enables a contact surface between the
at least one first coupling element of the respective diaphragm
element and the corresponding at least one second coupling element
of the first receiving element and/or the second receiving element
for mutual mechanical coupling to be maximized.
[0031] In a further form of embodiment of the holder facility, the
at least three diaphragm elements may feature a softer material by
comparison with the first receiving element and/or the second
receiving element. In this embodiment, each of the at least three
diaphragm elements may include at least one grip surface that
touches the medical instrument when the holder facility is closed.
The grip surface may feature a non-slip material and/or an adhesive
material. Through this, a secure holding of the medical instrument
by the at least three diaphragm elements may be made possible.
[0032] The at least three diaphragm elements may further consist,
at least partly, of a softer material by comparison with the first
receiving element and/or the second receiving element (e.g., visco
foam and/or rubber). This enables it to be made possible for the at
least three diaphragm elements to cling to the medical instrument
in the closed state of the holder facility. Through this, a
maximization of the grip surface between the at least three
diaphragm elements and the medical instrument may be achieved. This
further makes it possible for the at least three diaphragm elements
to adapt especially well to a shape (e.g., an irregular shape) of a
medical instrument. This enables flexible use of the holder
facility for many medical instruments of different shapes to be
made possible.
[0033] In a further form of embodiment of the holder facility, the
at least three diaphragm elements may be arranged in the same shape
about the common axis of rotation. This enables an even holding of
the medical instrument by the at least three diaphragm elements to
be made possible. A tilting of the at least three diaphragm
elements for the forcibly-guided movement within the diaphragm
layer may be prevented by an even arrangement about the common axis
of rotation. In addition, with an even arrangement of the at least
three diaphragm elements about the common axis of rotation, it may
be achieved that the medical instrument is held centered on the
common axis of rotation (e.g., centered in relation to the at least
three diaphragm elements).
[0034] In a further form of embodiment of the proposed holder
facility, the at least three diaphragm elements along the diaphragm
layer may have a triangular and/or circle segment-shaped form. This
enables an arrangement of the at least three diaphragm elements
next to one another (e.g., without mutual overlapping) within the
diaphragm layer to be made possible. Through a triangular and/or
circle segment-shaped form of the at least three diaphragm elements
along the diaphragm layer, a mutual guidance of the diaphragm
elements for a movement within the diaphragm layer is further made
possible. In this embodiment, neighboring diaphragm elements may
slide along on each other in each case.
[0035] In a further form of embodiment of the holder facility, the
opening for receiving the medical instrument of the first receiving
element and/or the second receiving element may be embodied as a
hole and/or slot. When the opening for receiving the medical
instrument is embodied as a hole, the medical instrument may be
able to be introduced at least along the common axis of rotation.
One end of the medical instrument may be introduced into the
opening, where the medical instrument is able to be moved at least
up to a prespecified position within the opening.
[0036] When the opening for receiving the medical instrument is
embodied as a slot, the holder facility may be able to be put onto
the medical instrument. The medical instrument may further be able
to be introduced from the side through the slot into the holder
facility. This enables it to be made possible for the holder
facility to be fitted to the medical instrument even when all ends
of the medical instrument are fastened.
[0037] Through a movement of the first receiving element relative
to the second receiving element about the common axis of rotation,
an arrangement of the two openings embodied as a slot may further
be changed such that a medical instrument arranged in the opening
cannot be taken out of the holder facility from the side. Through
this, an especially secure accommodation of the medical instrument
within the opening of the first and the second receiving element
may be made possible.
[0038] In a further form of embodiment of the holder facility, the
first receiving element and/or the second receiving element may be
embodied in the shape of a wheel. In this case, the first receiving
element and/or the second receiving element may be embodied round
and disk-shaped along the respective central plane (e.g., about the
common axis of rotation). In one embodiment, the first receiving
element and/or the second receiving element are able to be moved
rotationally in relation to one another about the common axis of
rotation. With a wheel-shaped design of the first receiving element
and/or the second receiving element, a simple rotational movement
of the first receiving element relative to the second receiving
element about the common axis of rotation may be made possible. A
wheel-shaped embodiment of the first receiving element and/or the
second receiving element may be space-saving.
[0039] In a further form of embodiment of the holder facility, the
first receiving element and/or the second receiving element may be
embodied as a toothed wheel and/or pulley wheel. Through this, a
driven movement of the first receiving element and/or the second
receiving element may be made possible. In this form of embodiment,
an embodiment as a toothed wheel refers to an arrangement of
tooth-shaped (e.g., triangular, raised areas around a circumference
of the wheel-shaped first receiving element and/or second receiving
element). The first receiving element and/or the second receiving
element may further have a cutout around the circumference, where a
belt to drive the movement of the first receiving element and/or
the second receiving element may be placed within the cutout. An
embodiment of the first receiving element and/or the second
receiving element as a toothed wheel and/or pulley wheel makes
possible an improved mechanical coupling (e.g., through friction)
to a drive element.
[0040] In a further form of embodiment of the holder facility, the
holder facility may also include a motorized drive element that is
configured to move the first receiving element relative to the
second receiving element about the common axis of rotation. In this
embodiment, the motorized drive element may include a motor (e.g.,
an electric motor). The motorized drive element may further include
a transmission element that couples the motor mechanically to the
first receiving element and/or the second receiving element. In
this case, the transmission element may be embodied, for example,
as a belt and/or toothed wheel and/or transmission. In one
embodiment, through the motorized drive element for moving the
first receiving element relative to the second receiving element, a
precise and/or remotely-controlled movement may be made possible.
For example, the holder facility for holding the medical instrument
may be opened or closed by the motorized drive element especially
easily and/or repeatedly.
[0041] In a further form of embodiment of the holder facility, the
holder facility may also include a fixing element that is embodied
to lock the first receiving element in place in relation to the
second receiving element. The medical instrument is only held
firmly by the at least three diaphragm elements for as long as the
first receiving element and the second receiving element in the
closed state of the holder facility remain at rest relative to one
another. A fixing element, which is embodied to lock the first
receiving element in relation to the second receiving element
(e.g., in a fixed position), may therefore be advantageous for
securely holding the medical instrument. For example, the first
receiving element may be locked in place in relation to the second
receiving element by the fixing element in the closed state of the
holder facility.
[0042] In this embodiment, the fixing element may be embodied, for
example, as a lock (e.g., a lever and/or a plug connection between
the first receiving element and the second receiving element)
and/or as part of the motorized drive element. In addition, the
fixing element may have at least one magnet. The fixing element may
further be able to be plugged into the first receiving element
and/or the second receiving element and/or be able to be introduced
into the first receiving element and/or in the second receiving
element. This enables the first receiving element and the second
receiving element to be connected (e.g., reversibly) mechanically
rigidly, where a movement of the first receiving element in
relation to the second receiving element may be prevented by the
fixing element. The first fixing element may further be locked in
relation to the second receiving element as a function of an
alignment and/or orientation.
[0043] The locking of the first receiving element in relation to
the second receiving element may further be able to be released by
the fixing element. For example, it may be made possible to open
the holder facility by releasing the locking of the first receiving
element in relation to the second receiving element.
[0044] In a further form of embodiment of the holder facility, the
holder facility may also include a diaphragm fixing element that is
embodied to lock the at least three diaphragm elements. In this
embodiment, the diaphragm fixing element may be arranged within the
diaphragm layer and/or around the diaphragm layer. In one
embodiment, at least one of the diaphragm elements may be locked in
a fixed position by the diaphragm fixing element. For example, with
an arrangement of the at least three diaphragm elements without
mutual overlapping within the diaphragm layer, a locking of an
individual diaphragm elements may be sufficient for locking all
diaphragm elements. This may be made possible, for example, by
mutual friction of the diaphragm elements on one another. The
diaphragm fixing element may further be embodied to mechanically
couple the at least one first coupling element of at least one
diaphragm element rigidly (e.g., immovably) to the corresponding at
least one second coupling element of the first receiving element
and/or the second receiving element.
[0045] The diaphragm fixing element may further be embodied to lock
in place the arrangement of the at least three diaphragm elements
(e.g., in the closed state of the holder facility). In this case,
the diaphragm fixing element may be embodied, for example, as a
circumferential band and/or ring and/or lever and/or clamp. In one
embodiment, the holder facility may be opened by releasing the lock
of the at least three diaphragm elements. With an arrangement of
the diaphragm fixing element within the diaphragm layer, a
space-saving design may be made possible.
[0046] In one embodiment, through a locking of the at least three
diaphragm elements by the diaphragm fixing element, a movement of
the first receiving element and/or the second receiving element may
be made possible. For example, the first receiving element and/or
the second receiving element may be able to be removed after
closure of the holder facility and locking of the at least three
diaphragm elements by the diaphragm fixing element. This may enable
the first receiving element and/or the second receiving element to
be able to be used in a further holder facility.
[0047] In one embodiment, the diaphragm fixing element and/or one
of the at least three diaphragm elements may include a fastening
element for fastening to a medical device and/or to a patient
support facility. This enables the medical instrument to be held by
the holder facility on the medical device and/or the patient
support facility.
[0048] In a further form of embodiment of the holder facility, the
first receiving element for each of the at least three diaphragm
elements may include a second coupling element in each case. The
second coupling element is cut out as an elongated guide that is
embodied as a cutout and runs in a straight line. The second
receiving element may further include a further second coupling
element for each of the at least three diaphragm elements in each
case. The further second coupling element is cut out as an
elongated guide and runs in a curve. In this case, the first
receiving element and the second receiving element may be embodied
in a wheel shape. In addition, the first receiving element and/or
the second receiving element may be embodied as a toothed wheel. In
this case, the opening for receiving the medical instrument of the
first receiving element and the second receiving element may be
embodied as a slot and may be delimited by the common axis of
rotation. The at least three diaphragm elements may further have a
triangular shape. In this embodiment, each of the at least three
diaphragm elements may have two first coupling elements in each
case. The two first coupling elements are embodied as pin-like
raised areas. Further, a first of the two first coupling elements
of each of the at least three diaphragm elements may be arranged on
a side of the diaphragm element facing towards the first receiving
element in each case. In this case, a second of the two first
coupling elements of each at least three diaphragm elements may be
arranged on a side of the diaphragm element facing towards the
second receiving element. The two first coupling elements of each
of the at least three diaphragm elements may further not lie on a
spatial axis parallel to the common axis of rotation.
[0049] Through this, a space-saving design of the holder facility
may be made possible.
[0050] In a further aspect, the present embodiments relate to a
movement facility for moving a medical instrument including a
holder facility, a transmission element, and a connection element.
In this case, the holder facility may be embodied to hold the
medical instrument. The transmission element may further transmit a
movement between at least one part of the holder facility and the
connection element (e.g., bidirectionally). In addition, the
connection element may be arranged at a distance from the holder
facility.
[0051] In this case, the holder facility may, for example, be a
holder facility as described above. The transmission element may
further have a belt and/or a toothed wheel and/or a transmission.
Through this, a precise and direct transmission of a movement
between at least one part of the holder facility and the connection
element may be made possible. In one embodiment, a movement may be
transmitted between the first receiving element and/or the second
receiving element and/or the at least three diaphragm elements of
the holder facility and the connection element (e.g.,
bidirectionally). Further, a movement of the holder facility as a
whole (e.g., in a closed state with the medical instrument arranged
therein) may be able to be transmitted between the holder facility
and the connection element by the transmission element. In this
facility, the movement may include rotational movement of the
holder facility (e.g., of the medical instrument). The arrangement
of the connection element at a distance from the holder facility
enables a suitable arrangement of the connection element (e.g., at
a distance from the medical instrument) to be made possible.
[0052] In addition, the connection element may be embodied as a
sleeve and/or shaft and/or an interface (e.g., an electronic
interface). The connection element and/or the transmission element
may further have at least one movement sensor that is embodied to
detect a movement of the connection element and/or a movement of at
least a part of the holder facility. In this case, the movement
sensor may include an optical and/or electromagnetic and/or
ultrasound-based movement sensor, for example. Through this, an
electronic (e.g., bidirectional) transmission of the movement
between the at least one part of the holder facility (e.g., the
first receiving element and/or the second receiving element and/or
the at least three diaphragm elements) and the connection element
is made possible.
[0053] The holder facility may further have another movement sensor
that is embodied to detect a movement of the medical instrument
relative to the holder facility (e.g., relative to the at least
three diaphragm elements). In this case, the other movement sensor
may include an optical and/or electromagnetic and/or
ultrasound-based movement sensor, for example. Provided the medical
instrument has a marker structure and/or at least one marker
object, the other movement sensor may detect the movement of the
medical instrument based on the movement of the marker structure
and/or the at least one marker object.
[0054] In a further form of embodiment of the movement facility,
the transmission element may have a belt drive and/or a toothed
wheel drive. In this embodiment, the belt drive may have at least
one belt and/or a pulley wheel, where the belt transmits a movement
between the at least one part of the holder facility and the pulley
wheel. The toothed wheel drive may further have at least one
toothed wheel, where the toothed wheel may be coupled mechanically
to the at least one part of the holder facility. The connection
element may be coupled mechanically and/or electronically to the
pulley wheel and/or the toothed wheel. Through this, a precise and
direct transmission of the movement between the at least one part
of the holder facility and the connection element may be made
possible.
[0055] In a further form of embodiment of the movement facility,
the holder facility may have a number of degrees of freedom of
movement. In this embodiment, the transmission element may transmit
the movement between the holder facility and the connection element
in accordance with the number of degrees of freedom of movement
(e.g., bidirectionally and/or simultaneously). For example, the
first receiving element and/or the second receiving element and/or
the at least three diaphragm elements may each have at least one
degree of freedom of movement. For example, the first receiving
element and/or the second receiving element may have a degree of
freedom of movement for rotation about the common axis of rotation.
The at least three diaphragm elements may further each have a
degree of freedom of movement within the forcibly-guided movement
between the opening and closing of the holder facility.
[0056] In one embodiment, the transmission element includes a
number of transmission channels (e.g., belts and/or toothed wheels
and/or lines) that are embodied to transmit a degree of freedom of
movement of the holder facility between the holder facility and the
connection element in each case. In one embodiment, the number of
degrees of freedom of movement of the holder facility may be
transmitted in parallel and/or simultaneously and/or independently
of one another and/or bidirectionally by the transmission element.
Through this, an individual and/or simultaneous activation of the
number of degrees of freedom of movement of the holder facility may
be made possible by the connection element. A detection of a
movement of at least one part of the holder facility corresponding
to a degree of freedom of movement in each case may further be
detected (e.g., separately) by the connection element. In this
case, the connection element and/or the transmission element may
each include a movement sensor for detection of a degree of freedom
of movement of the holder facility in each case.
[0057] In a further form of embodiment of the movement facility,
the connection element may have a connection receptacle for each of
the degrees of freedom of movement of the holder facility in each
case. In this embodiment, the connection receptacles may be
embodied as a sleeve and/or shaft and/or an interface (e.g., an
electronic interface). In one embodiment, at least one of the
connection receptacles may be embodied for mechanical and/or
electronic coupling of a robot and/or of a medical device and/or of
a processing unit.
[0058] In a further form of embodiment of the movement facility,
the movement facility may also include a housing. In this
embodiment, the housing may enclose the holder facility and the
transmission element at least partly such that the medical
instrument is able to be introduced into the holder facility. In
one embodiment, the holder facility and the transmission element
may be protected by the housing against any external mechanical
and/or chemical influence. Hygienic cleaning of the movement
facility may also be facilitated by the housing. In addition, a
mechanical stability of the arrangement including the holder
facility, the transmission element, and the connection element may
be improved by the housing. In one embodiment, the housing may be
embodied as a sterile barrier between the holder facility with the
transmission element and the connection element. For example, the
holder facility with the connection element may be coupled through
the housing (e.g., the sterile barrier) mechanically and/or
electromagnetically to the connection element.
[0059] In a further form of embodiment of the movement facility,
the movement facility may also include a fastening element. In this
embodiment, the fastening element may be embodied for fastening the
movement facility to a medical device and/or to a patient support
facility. The fastening element may further include a stand and/or
a screw clamp and/or a clamp mounting and/or a robot arm. In one
embodiment, the movement facility may be fastened (e.g., movably)
by the fastening element to a medical device (e.g., an intervention
robot and/or a robot arm and/or a medical imaging device, and/or a
patient support facility). Through this, a movement of the medical
instrument arranged in the movement facility relative to the
movement facility (e.g., to the fastening element) may be made
possible. The movement facility may further be fastened movably by
the fastening element (e.g., to a guide rail) of the medical device
and/or the patient support facility.
[0060] In a further form of embodiment of the movement facility,
the fastening element may have a motor drive that is embodied to
move the movement facility. In this embodiment, the motor drive may
include an electric motor, for example. The motor drive may further
be embodied, for example, as a roller drive for moving the movement
facility along a guide rail. Through this, a precise and guided
movement of the movement facility (e.g., of the medical instrument)
along a fastening on the medical device and/or the patient support
facility may be made possible.
[0061] In a further form of embodiment of the movement facility,
the movement facility may also include a motor element. In this
embodiment, the motor element may be embodied to be linked (e.g.,
mechanically) to the connection element such that the motor element
and the connection element are movement-coupled. The motor element
may, for example, include a motor (e.g., an electric motor). The
motor element may further be coupled electronically and/or
mechanically to the connection element. Through this, a movement is
able to be transmitted between the motor element and at least one
part of the holder facility by the transmission element. A sterile
barrier may further be arranged between the motor element and the
holder facility with the transmission element. In this embodiment,
the housing may at least partly enclose the holder facility and the
transmission element and thus form a sterile barrier from the motor
element and/or the fastening element.
[0062] In this embodiment, the motor element may be embodied both
for opening and/or closing the holder facility, and also for
movement of the holder facility as a whole. Through this, a
rotational movement of the medical instrument held in the holder
facility may be made possible.
[0063] In a further form of embodiment of the movement facility,
the motor element may include a sensor element for detection of a
movement of at least one part of the holder facility. In this case,
the sensor element may include an optical and/or electromagnetic
sensor, for example. A control of the movement of the at least one
part of the holder facility by the motor element may take place as
a function of the detected movement of the at least one part of the
holder facility and/or of another part of the holder facility. For
example, a rotational movement of the holder facility as a whole
may take place as a function of whether the holder facility is in
the closed state and/or the opened state.
[0064] Through the forms of embodiment of the movement facility
described above, support for medical personnel (e.g., a doctor) in
placement and/or guidance and/or movement of the medical instrument
(e.g., within the framework of an intervention) may be made
possible.
[0065] Described below is a method for moving a medical instrument
using a first movement facility. The advantages of the method
essentially correspond to the advantages of the movement facility
for moving a medical instrument described by way of example above.
Features, advantages, or alternate forms of embodiment may likewise
also be transferred to the other claimed subject matter and vice
versa.
[0066] In a further aspect, the present embodiments relate to a
method for moving a medical instrument by a first movement facility
(e.g., a first movement device). In this aspect, in act r1), the
medical instrument may be arranged in the first movement facility.
For example, the medical instrument may be introduced into the
opening of the first receiving element and the second receiving
element of the holder facility of the first movement facility.
[0067] Further, in act r2), a first position of at least a section
of the medical instrument is determined. In this case, for example,
a marking and/or a marker object on the medical instrument may be
used to determine the first position. The first position may be
determined relative to a reference point in space and/or to a
fastening element of the movement facility and/or relative to an
object being examined and/or relative to a medical imaging device.
The first position may further be determined as a reference
position of the medical instrument after the closure of the holder
facility.
[0068] In addition, in act r3), the first receiving element and/or
the second receiving element of the holder facility of the first
movement facility may be moved such that the at least three
diaphragm elements hold the medical instrument. In this case, the
holder facility may be closed. In one embodiment, the medical
instrument, after act r3), may be held stably and firmly by the at
least three diaphragm elements of the holder facility.
[0069] Further, in act r4), the first movement facility may be
moved from an initial position into a target position. In this
case, the first movement facility may, for example, be rotated
and/or displaced in its entirety. The holder facility of the first
movement facility may further be rotated (e.g., relative to the
first movement facility). In this case, the medical instrument may
be moved as well, at least in sections. This is made possible, for
example, by the firm and stable hold on the medical instrument in
the holder facility.
[0070] In act r5), a further position of the at least one section
of the medical instrument may be determined. In this case, for
example, an angle of rotation and/or a distance covered and/or a
number of rotations may be determined as the further position
(e.g., in reaction to the first position and/or to the reference
position).
[0071] Hereafter, in act r6), the first receiving element and/or
the second receiving element of the holder facility of the first
movement facility may be moved such that the medical instrument is
released by the at least three diaphragm elements. In this case,
the holder facility is opened, and the medical instrument is
released.
[0072] In this method, the acts r2) to r6) may be repeated (e.g.,
iteratively) until a target position of the at least one section of
the medical instrument is reached. Through this, a forward movement
(e.g., translational movement) and/or a rotational movement of the
medical instrument (e.g., over a great distance) may be made
possible, where the movement facility is moved repeatedly over a
comparatively small distance.
[0073] In a further aspect, the present embodiments relate to a
coordination facility for coordinated movement of a medical
instrument. In this aspect, the coordination facility may include a
first movement facility and at least one further movement facility.
The first movement facility and the at least one further movement
facility may further be arranged at a distance from one another. In
this case, the first movement facility and the at least one further
movement facility may be embodied to move the same medical
instrument. The first movement facility and the at least one
further movement facility may further move the medical instrument
in a coordinated manner.
[0074] In this case, the first movement facility and/or the at
least one further movement facility may, for example, be a movement
facility described above. The first movement facility and the at
least one further movement facility may, for example, be arranged
at a distance from one another such that the first movement
facility and the at least one further movement facility may accept
the same medical instrument. For example, the first movement
facility and the at least one further movement facility may be
arranged in a longitudinal direction of the medical instrument. The
first movement facility and the at least one further movement
facility may further be arranged at a distance from one another
along the path of the medical instrument running in a curve.
[0075] In addition, the first movement facility and the at least
one further movement facility may be embodied for coordinated
movement of the medical instrument. A coordinated movement may, for
example, include a movement matched to the state of the medical
instrument and/or to a state of the first movement facility and/or
the at least one further movement facility and/or a matched
movement sequence. Further, the movement of the medical instrument
may, for example, be coordinated as a function of a state of the
first movement facility and/or of the at least one further movement
facility. The movement of the medical instrument may further be
coordinated as a function of a state of the medical instrument. In
one embodiment, the coordination facility may include a processing
unit that is embodied for coordination of the movement of the
medical instrument. In this case, the processing unit may be
embodied for control of the first movement facility and/or of the
at least one further movement facility.
[0076] The coordination facility may further have a movement sensor
that is embodied to detect a movement of the medical instrument
relative to the first movement facility and to at least one further
movement facility. In this case, the further movement sensor may
include an optical and/or electromagnetic and/or ultrasound-based
movement sensor, for example. For example, the movement sensor of
the coordination facility may be embodied as a mono camera and/or
stereo camera. Provided the medical instrument has a marker
structure and/or at least one marker object, the further movement
sensor may detect the coordinated movement of the medical
instrument based on the movement of the marker structure and/or of
the at least one marker object. In this case, the movement sensor
may be arranged on the first movement facility and/or on the at
least one further movement facility, for example.
[0077] In a further form of embodiment of the coordination
facility, the coordination of the movement of the medical
instrument by the first movement facility and/or the at least one
further movement facility may include a compensation for a torsion
and/or deformation of the medical instrument. With the medical
instrument, a movement (e.g., rotation and/or translation) of at
least one section of the medical instrument may result in a
deformation (e.g., by compression) and/or torsion of the at least
one section and/or of a further section of the medical instrument.
In one embodiment, the first movement facility and/or the at least
one further movement facility may be moved in a coordinated manner
in such a way that a torsion and/or deformation is avoided and/or
compensated for.
[0078] For example, the first movement facility may be opened
and/or closed as a function of whether the at least one further
movement facility is open or closed. Through this a free movement
of the medical instrument, which is held by the first movement
facility and/or the at least one further movement facility through
the respective opened movement facility may be made possible. A
course (e.g., a known course) of the surgical instrument between
the first movement facility and/or the at least one further
movement facility may be taken into account for coordination of the
movement. For example, a course of the medical instrument at least
curved in sections and/or running in a straight line may be taken
into account for a rotation of the first movement facility and/or
the least one further movement facility. A relative position of the
first movement facility and/or of the at least one further movement
facility and/or a distance between the first movement facility and
the at least one further movement facility during a movement of the
medical instrument may be taken into account.
[0079] In a further form of embodiment of the coordination
facility, the coordination facility may also include an instrument
detection unit. In this embodiment, the instrument detection unit
may be embodied for identification of the medical instrument
accommodated in the first movement facility and the at least one
further movement facility. The medical instrument may further be
moved by the first movement facility and/or the at least one
further movement facility as a function of a material property of
the identified medical instrument.
[0080] In this embodiment, the instrument detection unit may
include a camera (e.g., a mono camera and/or a stereo camera)
and/or a barcode scanner and/or an RFID detection unit and/or an
electromagnetic antenna unit, for example. The medical instrument
may also include at least one identifying property (e.g., a barcode
and/or a marking and/or an RFID code and/or an electromagnetic
transmitter unit). In one embodiment, the medical instrument may be
identified by the instrument detection unit as soon as the medical
instrument is arranged in the first movement facility and/or the at
least one further movement facility and/or is approaching the
facility.
[0081] In one embodiment, a material property of the medical
instrument may be able to be obtained based on the identified
medical instrument. In this case, the material property may include
density information and/or hardness information and/or a
deformation property and/or dimension information of the medical
instrument. In one embodiment, the material property of the
identified medical instrument may be taken into account for the
coordinated movement of the first movement facility and/or the at
least one further movement facility. For example, a speed of
movement and/or a movement amplitude of the first movement facility
and/or the at least one further movement facility may be able to be
specified as a function of the material property of the identified
medical instrument.
[0082] In a further form of embodiment of the coordination
facility, the coordination facility may also include a state
detection unit. In this embodiment, the state detection unit may be
embodied to detect a deformation and/or torsion of the medical
instrument. In this embodiment, the medical instrument may be moved
by the first movement facility and/or the at least one further
movement facility as a function of the detected deformation and/or
torsion.
[0083] In this embodiment, the medical instrument may exert a
restoration force directed in opposition to the movement of the
first movement facility. For example, the medical instrument may be
arranged at least in sections on and/or in an object being
examined. In this embodiment, a restoring force on the rest of the
medical instrument may be exerted by friction forces between the
object being examined and the section of the medical instrument
arranged thereon and/or therein. Through this, a torsion and/or
deformation of the medical instrument occur after a movement of the
first movement facility, in which the medical instrument is also
moved, at least in sections. For example, with an arrangement where
the first movement facility is very far apart from the at least one
further movement facility, it may be necessary to compensate for
and/or minimize a torsion and/or deformation of the medical
instrument that has occurred by a coordinated movement of the at
least one further movement facility.
[0084] The state detection unit may include, for example, a camera
(e.g., a mono camera and/or stereo camera) and/or an ultrasound
sensor and/or an electromagnetic sensor and/or an optical sensor
and/or a tactile sensor, for example. In one embodiment, the state
detection is embodied to detect a deformation and/or torsion of the
medical instrument. In this case, the deformation and/or torsion
may be able to be detected, for example, dynamically and/or in
sections (e.g., between the first movement facility and the at
least one further movement facility) by the state detection unit.
For example, the state detection unit may be arranged on the first
movement facility and/or the at least one further movement
facility.
[0085] In this embodiment, a torsion of the medical instrument may
be able to be detected by a tactile sensor, for example (e.g.,
through a restoration force between medical instrument and the
respective movement facility). A deformation and/or torsion of the
medical instrument may further be able to be detected by an optical
sensor and/or a camera as a result of a surface change of the
medical instrument and/or a course of the medical instrument that
is changed at least in sections.
[0086] In addition, the medical instrument may be moved by the
first movement facility and/or the at least one further movement
facility coordinated such that the deformation and/or torsion of
the medical instrument detected by the state detection unit is
compensated for and/or minimized. The deformation and/or torsion of
the medical instrument detected by the state detection unit (e.g.,
momentarily) may be taken into account in the release of the first
movement facility and/or the at least one further movement facility
(e.g., of the respective holder facility). For example, a movement
of the first movement facility and/or the at least one further
movement facility (e.g., an opening of the respective holder
facility) may be able to be inhibited or enabled as a function of
the detected deformation and/or torsion of the medical
instrument.
[0087] The at least one further movement facility may further be
able to be moved in alignment with the first movement facility.
Through this, a torsion and/or deformation of the medical
instrument produced by a widely-spaced arrangement of the first
movement facility in relation to the at least one further movement
facility may be compensated for and/or minimized. In one
embodiment, the at least one further movement facility is arranged
closer to the object being examined, on which and/or in which at
least sections of the medical instrument are arranged, than the
first movement facility.
[0088] Through this, a material-friendly and safe movement of the
medical instrument by the coordination facility may be made
possible. A risk of injury for the object being examined may also
be minimized.
[0089] In a further form of embodiment of the coordination
facility, the first movement facility and the at least one further
movement facility may be arranged so that the coordination facility
may be moved by means of the respective fastening element along at
least one common movement axis, for example, at a constant spacing
from one another. In this case, the at least one common movement
axis may run parallel to a longitudinal axis of the medical
instrument. The fastening element may further be able to be coupled
mechanically and/or magnetically in a movable manner (e.g., by a
motor) to a rail system. Through this, a directed movement of the
first movement facility and the at least one further movement
facility (e.g., of the coordination facility) may be made
possible.
[0090] A forward movement (e.g., translational movement) and/or a
rotational movement of the medical instrument (e.g., over a great
distance) may be made possible, where the first movement facility
is able to be moved repeatedly (e.g., iteratively) over a
comparatively smaller distance relative to the at least one further
movement facility in a coordinated manner. In this case, the
processing unit may be embodied to detect a spatial positioning of
the first movement facility and the at least one further movement
facility (e.g., relative to one another and/or relative to the
object being examined). In this case, the spatial positioning may
include information about the spatial alignment and/or position of
the first movement facility and the at least one further movement
facility.
[0091] In a further form of embodiment of the coordination
facility, the coordination facility may also include a grip
element. In this embodiment, the arrangement of the first movement
facility and the at least one further movement facility along the
at least one common axis of movement may be fastened movably to the
grip element. The grip element may further be able to be held by
operating personnel. In this embodiment, the grip element may
include a holder and/or a housing and/or a rail system for movable
fastening of the first movement facility and the at least one
further movement facility. The grip element may further be embodied
as a protrusion (e.g., an ergonomic protrusion) and/or cutout
and/or a recess on a housing of the coordination facility. For
example, the grip element may partly enclose the first movement
facility and the at least one further movement facility. Through
this, a coordinated movement of the medical instrument is made
possible while the coordination facility is being held by an
operator using the grip element. In this case, the restoration
force necessary for movement of the medical instrument may be able
to be transferred by the operator via the grip element to the first
movement facility and/or to the at least one further movement
facility.
[0092] Through this, a flexible use of the coordination facility
may be made possible.
[0093] Through the forms of embodiment of the coordination facility
described above, support for a medical operator in placement and/or
guidance and/or movement of the medical instrument (e.g., within
the framework of an intervention) may be made possible.
[0094] A method for coordination of a movement of a medical
instrument by a coordination facility will be described below. The
advantages of the method essentially correspond to the advantages
of the coordination facility for coordinated movement of a medical
instrument described by way of example above. Features, advantages,
or alternate forms of embodiment mentioned here may likewise also
be transferred to the other subject matter and vice versa.
[0095] In a further aspect, the present embodiments relate to a
method for coordination of a movement of a medical instrument by a
coordination facility. In act s1), the medical instrument may be
arranged in the first movement facility and the at least one
further movement facility. In this case, the medical instrument may
be introduced, for example, into the respective opening of the
holder facility of the first movement facility and the at least one
further movement facility. The first movement facility and/or the
at least one further movement facility may further be arranged on
the medical instrument in such a way that the medical instrument is
accommodated in the respective opening of the holder facility.
[0096] Further, in act s2), a first position of at least one
section of the medical instrument is determined. In this case, for
example, a marking and/or a marker object on the medical instrument
may be used for determining the first position. The first position
may be determined relative to a reference point in space and/or
relative to the first movement facility and/or relative to the at
least one further movement facility and/or relative to an object
being examined and/or relative to a medical imaging device. The
first position may further be determined as the reference position
of the medical instrument after the closure of the holder facility
of the first movement facility and/or the at least one further
movement facility.
[0097] In act s3), the first receiving element and/or the second
receiving element of the holder facility of the first movement
facility may be moved such that the at least three respective
diaphragm elements hold the medical instrument. In this case, the
holder facility of the first movement facility may be closed. In
one embodiment, after act s3), the medical instrument may be held
stably and firmly by the at least three diaphragm elements of the
holder facility of the first movement facility.
[0098] Further, in act s4), there may be a movement of the first
movement facility from an initial position into a target position,
where at least sections of the medical instrument are moved as
well. In this case, the first movement facility may, for example,
be rotated and/or displaced in its entirety. In this case, the
first movement facility may be displaced, for example, relative to
at least one further movement facility. The holder facility of the
first movement facility may further be rotated (e.g., relative to
the first movement facility). In this case, at least sections of
the medical instrument may be moved as well. This is made possible,
for example, by the firm and stable holding of the medical
instrument in the holder facility of the first movement facility.
In one embodiment, the at least one further movement facility is
opened during the movement of the first movement facility. Through
this, it may be achieved that the medical instrument is
accommodated freely movably in the at least one further movement
facility during the movement of the first movement facility.
[0099] In act s5), a further position of the at least one section
of the medical instrument relative to the first movement facility
may be determined. In this case, for example, an angle of rotation
and/or a distance covered and/or a number of rotations may be
determined as the further position (e.g., in relation to the first
position and/or the reference position).
[0100] In addition, in act s6), the first receiving element and/or
the second receiving element of the holder facility of the at least
one further movement facility may be moved in such a way that the
at least three respective diaphragm elements hold the medical
instrument. In this case, the holder facility of the at least one
further movement facility may be closed. In one embodiment, after
act s6), the medical instrument may be held stably and firmly by
the at least three diaphragm elements of the holder facility of the
at least one further movement facility.
[0101] Further, in act s7), the first receiving element and/or the
second receiving element of the holder facility of the first
movement facility may be moved in such a way that the medical
instrument is released by the at least three diaphragm elements. In
this case, the holder facility of the first movement facility may
be opened. In one embodiment, after act s7), the medical instrument
may be accommodated freely movably in the first movement
facility.
[0102] Hereafter, in act s8), there may be a movement of the first
movement facility from the target position into a further initial
position. In one embodiment, the further initial position may
correspond to the initial position of the first movement facility
from act s4). The further initial position may further be
predetermined as the initial position in act s4). In addition, the
acts s1) to s8) may be repeated (e.g., iteratively) until a target
position of the at least one section of the medical instrument is
reached. Through this, a forward movement and/or a rotational
movement of the medical instrument (e.g., over a greater distance)
may be made possible, where the first movement facility is moved
repeatedly (e.g., iteratively) over a comparatively smaller
distance. The movement of the first movement facility and the at
least one further movement facility may further be coordinated such
that an opening and closing of the respective holder facility takes
place as a function of the respective other holder facility.
Through this, a secure holding of the medical instrument (e.g.,
between two movement steps) within the coordination facility may be
provided.
[0103] Described below is a method for optimized movement of a
medical instrument using a coordination facility. The advantages of
the method essentially correspond to the advantages of the
coordination facility for coordinated movement of a medical
instrument described by way of example above. Features, advantages,
or alternate forms of embodiment mentioned here may likewise also
be transferred to the other subject matter and vice versa.
[0104] In a further aspect, the present embodiments relate to a
method for optimized movement of a medical instrument by a
coordination facility. In this aspect, the coordination facility
may include a state detection unit, which is embodied to detect a
state of a torsion and/or deformation of the medical instrument.
The state detection unit may include a camera (e.g., a mono camera
and/or stereo camera) and/or an ultrasound sensor and/or an
electromagnetic sensor and/or an optical sensor and/or a tactile
sensor, for example. In one embodiment, the state detection is
embodied to detect a deformation and/or torsion of the medical
instrument. In this case, the deformation and/or torsion may be
able to be detected, for example, dynamically and/or in sections
(e.g., between the first movement facility and the at least one
further movement facility) by the state detection unit. For
example, the state detection unit may be arranged on the first
movement facility and/or the at least one further movement
facility.
[0105] In a first act t1), the medical instrument may be arranged
in the first movement facility and the at least one further
movement facility. In this case, the medical instrument may be
introduced, for example, into the respective opening of the holder
facility of the first movement facility and the at least one
further movement facility. The first movement facility and/or the
at least one further movement facility may further be arranged on
the medical instrument such that the medical instrument is
accommodated in the respective opening of the holder facility.
[0106] Further, in act t2), there may be a movement of the first
receiving element and/or the second receiving element of the holder
facility of the first movement facility and the at least one
further movement facility such that the at least three respective
diaphragm elements hold the medical instrument. In this case, the
respective holder facility of the first movement facility and the
at least one further movement facility may be closed. In one
embodiment, after act s3), the medical instrument may be held
stably and firmly by the at least three respective diaphragm
elements of the holder facility of the first movement facility and
the at least one further movement facility.
[0107] In act t3), an initial state of the torsion and/or
deformation of the medical instrument may be detected by the state
detection unit. In this case, the initial state of the torsion
and/or deformation of the medical instrument may include a material
property (e.g., a momentary material property) of the medical
instrument. The initial state of the torsion, for example, may
further be determined by a reconciliation between at least two
sensors of the state detection unit. In this case, a sensor of the
state detection unit may be arranged in each case on the first
movement facility and the at least one further movement
facility.
[0108] In act t4), the first movement facility may be moved from an
initial position into a target position. In this case, at least
sections of the medical instrument may be moved as well. In this
case, the first movement facility may, for example, be rotated
and/or displaced in its entirety. In this case, the first movement
facility may be displaced, for example, relative to the at least
one further movement facility. The holder facility of the first
movement facility may further be rotated (e.g., relative to the
first movement facility). In this case, at least sections of the
medical instrument may be moved as well. This is made possible, for
example, by the firm and stable holding of the medical instrument
in the holder facility of the first movement facility.
[0109] Further, in act t5), an intermediate state of the torsion
and/or deformation of the medical instrument may be detected by the
state detection unit. In this case, the intermediate state of the
torsion and/or deformation of the medical instrument may include a
material property (e.g., a momentary material property) of the
medical instrument. The intermediate state of the torsion, for
example, may further be determined by a reconciliation between at
least two sensors of the state detection unit. In this case, a
sensor of the state detection unit may be arranged in each case on
the first movement facility and the at least one further movement
facility. In addition, the intermediate state of the torsion and/or
deformation of the medical instrument may include information about
a change and/or deviation of the torsion and/or deformation of the
medical instrument compared to the initial state.
[0110] In act t6), there may be at least one movement of the
further movement facility as a function of the movement of the
first movement facility in act t4). In this case, at least sections
of the medical instrument may be moved as well. In this case, the
at least one further movement facility may, for example, be rotated
and/or displaced in its entirety. The at least one further movement
facility may, for example, be displaced relative to the first
movement facility. The holder facility of the at least one further
movement facility may further be rotated (e.g., relative to the at
least one further movement facility). In this case, at least
sections of the medical instrument may be moved as well. This is
made possible, for example, by the firm and stable holding of the
medical instrument in the holder facility of the first movement
facility.
[0111] Further, in act t7), a further intermediate state of the
torsion and/or deformation of the medical instrument may be
detected by the state detection unit. Further, through the movement
of the at least one further movement facility in act t6), a
deviation between the further intermediate state and the initial
state may be minimized.
[0112] In this case, the at least one further movement facility may
be moved in alignment with the first movement facility. Through
this, a torsion and/or deformation of the medical instrument
produced by a widely spaced arrangement of the first movement
facility in relation to the at least one further movement facility
may be compensated for and/or minimized. In one embodiment, the at
least one further movement facility is arranged closer to the
object being examined, which is able to be influenced by the
medical instrument, than the first movement facility.
[0113] The proposed methods may, for example, be useful for
assisting an operator during a movement and/or guidance and/or
alignment of a medical instrument.
[0114] A computer program product that includes a program and is
able to be loaded directly into a memory of a programmable
processor unit and has program means (e.g., libraries and auxiliary
functions) for carrying out a proposed method when the computer
program product is executed is further provided. The computer
program product in this case may include software with a source
code that still is to be compiled and linked or only is to be
interpreted, or executable software code, which still is to be
loaded into the processing unit for execution. A proposed method
may be carried out quickly, identically repeatedly, and robustly by
the computer program product. The computer program product is
configured so that the computer program product may carry out the
process acts of the present embodiments by the processing unit. The
processing unit in this case is to have the relevant required
units, such as, for example, a corresponding main memory, a
corresponding graphics card, or a corresponding logic unit, so that
the respective method acts may be carried out efficiently.
[0115] The computer program product is stored, for example, on a
computer-readable medium or is held on a network or server, from
where the computer program product may be loaded into the processor
of a processing unit, which is directly connected to the processing
unit or may be embodied as part of the processing unit. Further,
control information of the computer program product may be stored
on an electronically-readable data medium. The control information
of the electronically-readable data medium may be embodied such
that, when the data medium is used in a processing unit, the
control information carries out a method of the present
embodiments. Examples of electronically-readable data media are a
DVD, a magnetic tape, or a USB stick, on which
electronically-readable control information (e.g., software) is
stored. When this control information is read from the data medium
and stored in a processing unit, all forms of embodiment of the
methods described above may be carried out. Thus, the present
embodiments may also be based on the computer-readable medium
and/or the electronically-readable data medium.
[0116] Further forms of embodiment are described below.
[0117] In one embodiment, a movement facility for moving a medical
instrument including a holder facility, a transmission element, and
a connecting element is provided. The holder facility is embodied
for holding the medical instrument. The transmission element
transmits a movement between at least one part of the holder
facility and the connecting element (e.g., bidirectionally). The
connecting element is arranged at a distance from the holder
facility.
[0118] In one embodiment, the transmission element has at least one
belt drive and/or toothed drive.
[0119] In one embodiment, the holder facility has a number of
degrees of freedom of movement. The transmission element transmits
the movement according to the number of degrees of freedom of
movement between the holder facility and the connecting element
(e.g., bidirectionally and/or simultaneously).
[0120] In one embodiment, the connecting element has a connection
receptacle for each of the degrees of freedom of movement of the
holder facility.
[0121] In one embodiment, the movement facility further includes a
housing. The housing encloses the holder facility and the
transmission element such that the medical instrument is able to be
introduced into the holder facility.
[0122] In one embodiment, the movement facility further includes a
fastening element. The fastening element is embodied for fastening
the movement facility to a medical device and/or a patient support
facility.
[0123] In one embodiment, the fastening element has a motor drive
that is embodied to move the movement facility.
[0124] In one embodiment, the movement facility includes a motor
element. The motor element is embodied to be linked to the
connecting element (e.g., mechanically), such that the motor
element and the connecting element are movement-coupled.
[0125] In one embodiment, the motor element includes a sensor
element to detect a movement of at least one part of the holder
facility.
[0126] In one embodiment, a method for moving a medical instrument
by a first movement facility includes arranging (r1) the medical
instrument in the first movement facility. A first position of at
least one section of the medical instrument is determined (r2), and
the first receiving element and/or the second receiving element of
the holder facility of the first movement facility is moved (r3)
such that the at least three diaphragm elements hold the medical
instrument. The first movement facility is moved (r4) from an
initial position into a target position. The medical instrument is
moved as well, at least in sections. A further position of the at
least one section of the medical instrument is determined (r5), and
the first receiving element and/or the second receiving element of
the holder facility of the first movement facility is moved (r6)
such that the medical instrument is released by the at least three
diaphragm elements. The acts r2) to r6) are repeated until a target
position of the at least one section of the medical instrument is
reached.
[0127] In one embodiment, a coordination facility for coordinated
movement of a medical instrument includes a first movement facility
and at least one further movement facility. The first movement
facility and the at least on further movement facility are arranged
spaced at a distance from one another. The first movement facility
and the at least one further movement facility are embodied for
moving the same medical instrument. The first movement facility and
the at least one further movement facility move the medical
instrument in a coordinated manner.
[0128] In one embodiment, the coordination of the movement of the
medical instrument by the first movement facility and/or the at
least one further movement facility includes compensating for the
torsion and/or deformation of the medical instrument.
[0129] In one embodiment, the coordination facility further
includes an instrument detection unit that is embodied for
identification of the medical instrument accommodated in the first
movement facility and the at least one further movement facility.
The medical instrument is moved by the first movement facility
and/or the at least one further movement facility depending on a
material property of the identified medical instrument.
[0130] In one embodiment, the coordination facility further
includes a state detection unit. The state detection unit is
embodied for detecting a deformation and/or torsion of the medical
instrument. The medical instrument is moved by the first movement
facility and/or the at least one further movement facility
depending on the detected deformation and/or torsion.
[0131] In one embodiment, the coordination facility includes the
first movement facility and the at least one further movement
facility. The first movement facility and the at least one further
movement facility are arranged movably along at least one common
axis of movement (e.g., at a constant distance from one
another).
[0132] In one embodiment, the coordination facility further
includes a grip element. The first movement facility and the at
least one further movement facility are fastened movably to the
grip element along the at least one common axis of movement. The
grip element is able to be gripped by an operator.
[0133] In one embodiment, a method for coordination of a movement
of a medical instrument by a coordination facility includes
arranging (s1) the medical instrument in the first movement
facility and the at least one further movement facility. A first
position of at least one section of the medical instrument is
determined (s2), and the first receiving element and/or the second
receiving element of the holder facility of the first movement
facility is moved (s3) such that the at least three diaphragm
elements hold the medical instrument in each case. The first
movement facility is moved (s4) from an initial position into a
target position. The medical instrument is moved as well at least
in sections. A further position of the at least one section of the
medical instrument is determined (s5), and the first receiving
element and/or the second receiving element of the holder facility
of the at least one further movement facility is moved (s6) such
that the at least three diaphragm elements hold the medical
instrument in each case. The first receiving element and/or the
second receiving element of the holder facility of the first
movement facility is moved (s7) such that the medical instrument is
released by the at least three diaphragm elements. The first
movement facility is moved (s8) from the target position into a
further initial position. The further initial position is
predetermined in act s4) as the initial position. The acts s1) to
s8) are repeated until a target position of the at least one
section of the medical instrument is reached.
[0134] In one embodiment, a method for optimized movement of a
medical instrument by the coordination facility is provided. The
coordination facility includes a state detection unit that is
embodied to detect a state of a torsion and/or deformation of the
medical instrument. The method includes arranging (t1) the medical
instrument in the first movement facility and the at least one
further movement facility. The first receiving element and/or the
second receiving element of the holder facility of the first
movement facility and the at least one further movement facility is
moved (t2) such that the at least three diaphragm elements hold the
medical instrument. An initial state of the torsion and/or
deformation of the medical instrument is detected (t3) by the state
detection unit. The first movement facility is moved (t4) from an
initial position into a target position. The medical instrument is
moved as well, at least in sections. An intermediate state of the
torsion and/or deformation of the medical instrument is detected
(t5) by the state detection unit, and the at least one further
movement facility is moved (t6) depending on the movement of the
first movement facility in act t4) and/or the intermediate state
detected. The medical instrument is moved as well, at least in
sections. A further intermediate state of the torsion and/or
deformation of the medical instrument is detected (t7) by the state
detection unit. Through the movement in act t6), a deviation
between the further intermediate state and the initial state is
minimized.
[0135] In one embodiment, a computer program product that includes
a program and is able to be loaded directly into a memory of a
programmable processor unit of a processing unit, with program
means for carrying out a method, as, for example, described above,
when the program is executed in the processor unit of the
processing unit is provided.
BRIEF DESCRIPTION OF THE DRAWINGS
[0136] Exemplary embodiments are shown in the drawings and are
described in greater detail below. In different figures, same
reference characters are used for same features.
[0137] FIGS. 1 to 10 show schematic diagrams of different
embodiments of a holder facility;
[0138] FIGS. 11 and 12 show a schematic diagram of an opened and a
closed holder facility;
[0139] FIG. 13 shows a schematic diagram of an embodiment of a
holder facility with a motorized drive element;
[0140] FIG. 14 shows a schematic diagram of an embodiment of a
holder facility with a diaphragm fixing element;
[0141] FIG. 15 shows a schematic diagram of an embodiment of a
movement facility;
[0142] FIG. 16 shows a schematic diagram of an embodiment of a
movement facility with a housing;
[0143] FIG. 17 shows a schematic diagram of one embodiment of a
motor element and a fastening element;
[0144] FIG. 18 shows a schematic diagram of one embodiment of a
movement facility with a housing and a motor element;
[0145] FIG. 19 shows a schematic diagram of a flowchart of one
embodiment of a method for moving a medical instrument by a
movement facility;
[0146] FIG. 20 shows a schematic diagram of one embodiment of a
coordination facility for coordinated movement of a medical
instrument;
[0147] FIG. 21 shows a schematic diagram of another embodiment of a
coordination facility;
[0148] FIG. 22 shows a schematic diagram of one embodiment of a
coordination facility with a grip element;
[0149] FIG. 23 shows a schematic diagram of a flowchart of one
embodiment of a method for coordination of moving a medical
instrument by a coordination facility;
[0150] FIG. 24 shows a schematic diagram of a flowchart of one
embodiment of a method for optimized movement of a medical
instrument by a coordination facility.
DETAILED DESCRIPTION
[0151] FIG. 1 schematically shows one embodiment of a holder
facility (e.g., a holder). In this figure, the holder facility may
include a first receiving element 1, a second receiving element 2,
and at least three diaphragm elements 13. The at least three
diaphragm elements 13 may further be arranged within a diaphragm
layer 15 between the first receiving element 1 and the second
receiving element 2 about a common axis of rotation R. In this
figure, the common axis of rotation R may run essentially at right
angles (e.g., not in parallel) to the diaphragm layer 15. In this
figure, the first receiving element 1 and the second receiving
element 2 may each have an opening 12 for receiving the medical
instrument (not shown here). The first receiving element 1 and the
second receiving element 2 may further be able to be moved about
the common axis of rotation R relative to one another. The at least
three diaphragm elements 13 may each have at least one first
coupling element 14. The first receiving element 1 and/or the
second receiving element 2 may include at least a second coupling
element 11 in each case for each of the at least three diaphragm
elements 13. In this figure, each of the at least three diaphragm
elements 13 may be forcibly guided within the diaphragm layer 15 in
which the elements are arranged by mechanical coupling between the
respective at least one first coupling element 14 of the diaphragm
element 13 and the at least one second coupling element 11.
Further, for a movement of the first receiving element 1 relative
to the second receiving element 2 about the common axis of rotation
R, there may be a movement of the at least three diaphragm elements
13 within the diaphragm layer 15 towards the opening 12 for
receiving the medical instrument forcibly guided by the first
receiving element 1 and the second receiving element 2 such that
the at least three diaphragm elements 13 hold a medical instrument
arranged in the opening 12 of the first receiving element 1 and the
second receiving element 2.
[0152] In the exemplary embodiment shown schematically in FIG. 1,
the holder facility includes five diaphragm elements 13, for
example. In this figure, the first receiving element 1 may include
a second coupling element 11 in each case for each of the at least
three diaphragm elements 13. The second coupling element 11 is cut
out as an elongated guide and runs in a straight line. The second
receiving element 2 may include a second coupling element (not
shown) in each case for each of the at least three diaphragm
elements 13. The second coupling element of the second receiving
element 2 is cut out as an elongated guide and runs in a curve. The
first receiving element 1 and the second receiving element 2 may
further be embodied in the shape of a wheel. In this figure, the
first receiving element 1 given as an example may be embodied as a
toothed wheel. The opening 12 for receiving the medical instrument
of the first receiving element 1 and the second receiving element 2
may further be embodied as a slot and be delimited by the common
axis of rotation R. The at least three diaphragm elements 13 may
further have a triangular shape. In this figure, each of the at
least three diaphragm elements 13 may further have two first
coupling elements 14 in each case, which may be embodied as
pin-shaped raised areas. In this figure, a first of the two first
coupling elements 14 of each of the at least three diaphragm
elements 13 in each case may be arranged on a side of the diaphragm
element 13 facing towards the first receiving element 1. A second
of the two first coupling elements 14 of each of the at least three
diaphragm elements 13 in each case may further be arranged on a
side of the diaphragm element 13 facing towards the second
receiving element 2. In this figure, the two first coupling
elements 14 of each of the at least three diaphragm elements 13 may
not lie on a spatial axis parallel to the common axis of rotation
R.
[0153] In this figure, the holder facility may be embodied to save
space and/or with modular components. The holder facility may
further be embodied to hold different elongated medical
instruments. The holder facility may further be embodied as an iris
diaphragm, including the at least three diaphragm elements 13. In
accordance with a further embodiment of the holder facility, the at
least one first coupling element 14 of the respective diaphragm
element 13 and/or the at least one second coupling element 11 of
the first receiving element 1 and/or the second receiving element 2
may be embodied as a shoulder screw. In this figure, the mechanical
coupling between at least one first coupling element 14 and at
least one second coupling element 11 may be made by a forced
guidance of the shoulder screw in an elongated guide.
[0154] There may further be a more even hold on the medical
instrument with a higher number of diaphragm elements 13.
[0155] In one embodiment, a diameter of the opening 12 of the first
receiving element 1 and the second receiving element 2 is
proportional to a rotational movement of the first 1 receiving
element relative to the second receiving element 2 about the common
axis of rotation R.
[0156] This enables differently embodied medical instruments (e.g.,
heart catheters in particular various sizes in accordance with the
French catheter system, and/or catheters for intracardial
echocardiography, such as intracardiac-echo (ICE), and/or guide
wires) to be held by the same holder facility. In this figure, the
diameter of the medical instruments may range from the sub
millimeter range (e.g., coronary guide wires with a diameter of
0.25 mm) through the millimeter range (e.g., ICE catheters with a
diameter of 3.3 mm) to the centimeter range (e.g., bronchoscopes
and/or laparoscopes with a diameter of over 14 mm). In this figure,
the holder facility may be embodied for holding a large bandwidth
of diameters of medical instruments (e.g., medical instruments with
diameters between 0.25 mm and 14 mm). The holder facility may be
embodied for holding medical instruments of a predetermined
bandwidth of diameters (e.g., various guide wires with diameters in
the sub millimeter range and/or various catheters with diameters in
the millimeter range and/or various endoscopes with diameters in
the centimeter range). This enables a space requirement (e.g., a
spatial extent) of the holder facility to be minimized depending on
application.
[0157] Shown schematically in FIG. 2 is a form of embodiment of the
first receiving element 1 and/or the second receiving element 2. In
this figure, the opening 12 for receiving the medical instrument is
embodied by way of example as a hole. The at least one second
coupling element 11 of the first receiving element 1 and/or the
second receiving element 2 may further be embodied as an elongated
guide, in which the at least one first coupling element 14 of
respective diaphragm element 13 is accommodated in each case. In
this figure, the elongated guides of the first 1 and/or the second
receiving element 2 may be embodied as cutouts.
[0158] Shown schematically in FIG. 3, by way of example, is a
further form of embodiment of the first receiving element 1 and/or
the second receiving element 2 with three diaphragm elements 13. In
this figure, each of the three diaphragm elements 13 may have two
first coupling elements 14 in each case, which are embodied as
raised areas (e.g., pin-shaped raised areas). The first receiving
element 1 and/or the second receiving element 2 may further include
a second coupling element 11 in each case for each of the first
coupling elements 14 of the three diaphragm elements 13, which is
cut out as an elongated guide. The three diaphragm elements 13 may
have a circle segment shape along the diaphragm layer 15. In
addition, the three diaphragm elements 13 may be arranged in the
same shape about the common axis of rotation R. This enables an
especially even hold on a medical instrument 33 arranged in the
opening 12 of the first receiving element 1 and the second
receiving element 2 to be made possible.
[0159] Shown schematically in FIG. 4 in an exploded diagram of one
embodiment of the holder facility. In this figure, each of the at
least three diaphragm elements 13 may include two first coupling
elements 14 and 14' embodied as raised areas (e.g., in the shape of
pins). The first receiving element 1 may further include a second
coupling element 11 cut out as a hole for receiving a first
coupling element 14 of a diaphragm element 13 in each case. This
enables a mechanical coupling between the at least three diaphragm
elements 13 and the first receiving element 1 to be achieved such
that each of the at least three diaphragm elements 13 within the
diaphragm layer 15 is supported rotatably. The second receiving
element 2 may further have a second coupling element 11' cut out as
an elongated guide in each case for receiving a first coupling
element 14' of a respective diaphragm element 13 in each case. This
enables a mechanical coupling between the at least three diaphragm
elements 13 and the second receiving element 2 to be achieved such
that each of the at least three diaphragm elements is forcibly
guided within the diaphragm layer towards the opening 12 for
receiving the medical instrument 33.
[0160] Shown schematically in FIG. 5 in an exploded diagram is
another embodiment of the holder facility. In this figure, each of
the at least three diaphragm elements 13 may have a first coupling
element 14' in each case embodied as a, for example, pin-shaped
raised area on a side facing towards the second receiving element
2. Each of the at least three diaphragm elements 13 may also have a
first coupling element 14 cut out as an elongated guide on a side
facing towards the first receiving element 1. In this figure, the
first receiving element 1, for each of the at least three diaphragm
elements 13, may have a second coupling element 11 embodied in each
case as a pin-shaped raised area, which is accommodated in a first
coupling element 14 (e.g., an elongated guide) of a diaphragm
element in each case. The second receiving element 2, for each of
the at least three diaphragm elements 13, may further have a second
coupling element 11' cut out as a hole in each case, in which the
coupling element 14' of a diaphragm element 13 in each case facing
towards the second receiving element 2 is accommodated. This
enables a mechanical coupling between the at least three diaphragm
elements 13 and the second receiving element 2 to be achieved such
that each of the at least three diaphragm elements 13 is supported
rotatably within the diaphragm layer 15. The mechanical coupling
between the at least three diaphragm elements 13 and the first
receiving element 1 further enables a forcibly-guided movement of
the at least three diaphragm elements 13 within the diaphragm layer
towards the opening 12 for receiving the medical instrument 33 to
be provided.
[0161] FIG. 6 shows a schematic of a side view of one embodiment of
a holder facility. In this figure, the first receiving element 1
and the second receiving element 2 may be embodied in the shape of
a wheel and may be arranged in parallel to one another. A medical
instrument 33 may further be arranged in parallel to the common
axis of rotation R within the opening 12 of the first receiving
element 1 and the second receiving element 2. In this figure, the
medical instrument 33 may be held by the at least three diaphragm
elements 13, which are arranged within the diaphragm layer 15. In
this figure, the first receiving element 1 is embodied as a pulley
wheel. For example, the first receiving element 1 may have a cutout
around a circumference of the first receiving element 1 to accept a
belt.
[0162] Shown schematically and perspectively in FIG. 7 is an
embodiment of the holder facility. In this figure, the opening 12
for receiving the medical instrument 33 may be embodied as a hole.
The medical instrument 33 may further be held by the at least three
diaphragm elements 13 after the holder facility is closed. In this
figure, the at least three diaphragm elements 13 may feature a
softer material compared to the first receiving element 1 and/or
the second receiving element 2. In one embodiment, a grip surface
of the respective diaphragm element 13 may feature a non-slip
material and/or adhesive material. Through this, a secure hold on
the medical instrument 33 by the at least three diaphragm elements
13 can be made possible. In this figure, the at least three
diaphragm elements 13 may consist at least partly of a softer
material compared to the first receiving element 1 and/or the
second receiving element 2 (e.g., visco foam and/or rubber). The at
least three diaphragm elements 13 along the diaphragm layer 15 may
have a triangular shape.
[0163] Shown schematically in FIG. 8 is another embodiment of the
holder facility. In this figure, the opening 12 for receiving the
medical instrument 33 of the first receiving element 1 and/or the
second receiving element 2 may be embodied as a slot. This enables
the medical instrument 33 to be introduced into the holder facility
from the side. The holder facility (e.g., the first receiving
element 1 and/or the second receiving element 2) may further be
able to be put onto the medical instrument 33. In the form of
embodiment shown in FIG. 8, the first receiving element 1 and/or
the second receiving element 2 for each of the at least three
diaphragm elements 13 may include a second coupling element 11 cut
out as an elongated guide. In this figure, the second coupling
elements 11 may, for example, run in a curve. Each of the at least
three diaphragm elements in each case may further have at least one
first coupling element 14 embodied as a pin-shaped raised area,
which is accommodated in one of the second coupling elements 11 of
the first receiving element 1 and/or the second receiving element 2
in each case. This enables the forcibly-guided movement of the at
least three diaphragm elements 13 through to the opening 12 for
receiving the medical instrument 33 (e.g., along a path
predetermined by the curved course of the second coupling elements
11) to take place.
[0164] In the exemplary embodiment of the holder facility shown
schematically in FIG. 9, the first receiving element 1 and the
receiving element 2, for each of the at least three diaphragm
elements 13, may include a second coupling element 14 embodied in
each case as a raised area on an edge and/or a side surface. In
this figure, the second coupling elements 14 embodied as a raised
area may, for example, be connected to one another and/or at least
partly enclose the diaphragm layer 15. The at least three diaphragm
elements 13 may be at least partly enclosed by the second coupling
elements 14 embodied as a raised area. Each of the at least three
diaphragm elements 13 may have a first coupling element 13, in each
case, that is embodied as a raised area and/or cutout on a side
surface of the respective diaphragm element 13. In this figure, the
mechanical coupling between the at least three diaphragm elements
13 and the first receiving element 1 may be made between the side
surfaces of the diaphragm elements 13 and the second coupling
elements 13 of the first receiving elements 1 embodied as a raised
area in such a way that the at least three diaphragm elements 13
are forcibly guided through to the opening 12 for receiving the
medical instrument 33. Each of the at least three diaphragm
elements 13 may also include a first coupling element 14' embodied
as a pin-shaped raised area and/or cut out as a hole for mechanical
coupling to the second receiving element 2. This enables each of
the at least three diaphragm elements 13 to be rotatably supported
about the first coupling element 14' within the diaphragm layer
15.
[0165] Depicted in FIG. 10 is yet another embodiment of the holder
facility, where the at least three diaphragm elements 13 are
arranged at least partly overlapping within the diaphragm layer 15.
This enables a large number of diaphragm elements 13 to be arranged
in a space-saving manner within the diaphragm layer 15. An even
hold on the medical instrument 33 within the opening 12 may further
be made possible by the at least three diaphragm elements 13.
[0166] Shown schematically in FIG. 11 is an embodiment of the
holder facility, where a medical instrument 33 arranged in the
opening 12 is able to be moved freely. The holder facility is
opened for receiving the medical instrument 33. In this figure, the
first coupling elements 14 of the at least three diaphragm elements
13 are in an initial position in relation to the second coupling
elements 11. In FIG. 12, the holder facility is shown schematically
in the closed state. In this figure, the medical instrument 33
arranged in the opening 12 is held by the at least three diaphragm
elements 13. Through a movement of the first receiving element 1
relative to the second receiving element 2, the at least three
diaphragm elements 13 have been forcibly guided such that the first
receiving element 1 and the second receiving element 2 enclose the
medical instrument 33.
[0167] In the embodiment of the holder facility 17 shown
schematically in FIG. 13, the holder facility 17 may also include a
motorized drive element 70. In this figure, the motorized drive
element 70 may be embodied to move the first receiving element 1
relative to the second receiving element 2 about the common axis of
rotation R. In this figure, the motorized drive element 70 may
include a motor (e.g., an electric motor). The motorized drive
element 70 may further include a transmission element 71 that
couples the motor mechanically to the first receiving element 1
and/or the second receiving element 2. In this figure, the
transmission element 71 may be embodied as a belt and/or toothed
wheel and/or transmission and/or leadscrew.
[0168] The medical instrument 33 is held firmly by the at least
three diaphragm elements 13 for as long as the first receiving
element 1 and the second receiving element 2 of the holder facility
17 remain at rest relative to one another in the closed state. In
this figure, the holder facility 17 may also include a fixing
element embodied to lock the first receiving element 1 in place in
relation to the second receiving element 2. The first receiving
element 1 may, for example, be locked in place in relation to the
second receiving element 2 by the fixing element in the closed
state of the holder facility 17. In this figure, the fixing element
may, for example, be embodied as a lock (e.g., a lever and/or a
plug connection between the first receiving element 1 and the
second receiving element 2) and/or may be embodied as part of the
motorized drive element 70.
[0169] Shown schematically in FIG. 14 is another embodiment of the
holder facility 17. In this figure, the holder facility 17 may also
include a diaphragm fixing element 75 embodied to lock the at least
three diaphragm elements 13 in place. In this figure, the diaphragm
fixing element 75 may be arranged within the diaphragm layer 15
and/or around the diaphragm layer 15. In one embodiment, at least
one of the diaphragm elements 13 may be able to be locked in a
fixed position by the diaphragm fixing element 75. The diaphragm
fixing element 75 may further be embodied to mechanically rigidly
couple the at least one first coupling element 14 of at least one
diaphragm element 13 to the corresponding at least one second
coupling element 11 of the first receiving element 1 and/or the
second receiving element 2 (e.g., so that the receiving element 1,
2 does not move).
[0170] The diaphragm fixing element 75 may further be embodied to
lock in place the arrangement of the at least three diaphragm
elements 13 (e.g., in the closed state of the holder facility 17).
In this figure, the diaphragm fixing element 75 may be embodied as
a circumferential band and/or ring and/or lever and/or clamp. In
one embodiment, the holder facility 17 may be opened by releasing
the lock of the at least three diaphragm elements 13. With an
arrangement of the diaphragm fixing element 13 within the diaphragm
layer 15, a space-saving design may be made possible.
[0171] In one embodiment, through a locking of the at least three
diaphragm elements 13 by the diaphragm fixing element 15, a
movement of the first receiving element 1 and/or the second
receiving element 2 may be made possible. In this figure, the first
receiving element 1 and/or the second receiving element 2 may be
able to be removed from the holder facility 17 after locking of the
at least three diaphragm elements 13 by the diaphragm fixing
element 75.
[0172] FIG. 15 shows a schematic diagram of one embodiment of a
movement facility for movement of a medical instrument 33. In this
figure, the movement facility may include a holder facility 17, a
transmission element 61, and a connection element 60. The holder
facility 17 may be further embodied for holding the medical
instrument 33. In addition, the transmission element 61 may
transmit a movement between at least one part of the holder
facility 17 and the connection element 60 (e.g., bidirectionally).
In this figure, the connection element 60 may be arranged at a
distance from the holder facility 17.
[0173] In the embodiment of the movement facility 18 shown
schematically in FIG. 15, the transmission element 61 may have a
belt drive. In addition or as an alternative, the transmission
element 61 may have a toothed wheel drive (not shown).
[0174] In addition, the holder facility 17 may have a number of
degrees of freedom of movement (e.g., three degrees of freedom of
movement). In this figure, the transmission element 61 may transmit
the movement in accordance with the number of degrees of freedom of
movement between the holder facility 17 and the connection element
60 (e.g., bidirectionally and/or simultaneously). The connection
element 60 may further have a connection receptacle 60.1, 60.2 and
60.3 in each case for each of the degrees of freedom of movement of
the holder facility 17. In this figure, the transmission element
61, for each of the three degrees of freedom of movement of the
holder facility 17, for example, may have a belt drive in each case
for transmission of the movement to one of the three connection
receptacles 60.1, 60.2 and 60.3 in each case.
[0175] FIG. 16 shows a schematic diagram of one embodiment of a
movement facility 18 with housing 62. In this figure, the movement
facility 18 may include a housing 62 that encloses the holder
facility 17 and the transmission element 61 such that the medical
instrument 33 is able to be introduced into the holder facility 12
(e.g., into the opening 12 of the holder facility 12).
[0176] In one embodiment, the holder facility 17 and the
transmission element 61 may be protected by the housing 62 against
any mechanical and/or chemical influence. It can further be made
easier by the housing 62 to clean the movement facility 18. In
addition, a mechanical stability of the arrangement including the
holder facility 17, the transmission element 61, and the connection
element 60 may be improved by the housing 62. In the form of
embodiment shown in FIG. 16, the housing 62 also includes an
opening in each case for each of the connection receptacles 60.1,
60.2 and 60.3.
[0177] Shown in FIG. 17 is a schematic diagram of one embodiment of
a motor element 63 and a fastening element 64. In this figure, a
movement facility 18 may include the motor element 63 and the
fastening element 64. The fastening element 64 may further be
embodied for fastening the movement facility 18 to a medical device
and/or a patient support facility (e.g., to a guide rail). The
motor element 63 may also be embodied to be connected to the
connection element 60 (e.g., mechanically), in such a way that the
motor element 63 and the connection element 60 are
movement-coupled. This enables a movement to be able to be
transmitted between the motor element 63 and at least one part of
the holder facility 17 by the transmission element 60.
[0178] For example, the fastening element 64 may include a movement
unit (e.g., a roller system). This enables a movement of the
movement facility 18 to be made possible. In one embodiment, the
movement unit of the fastening elements 64 may have a motor drive,
where the processing unit 22 may further be embodied to control the
motor drive.
[0179] In this figure, the motor element 63 may be embodied both to
open and/or to close the holder facility 17, and also for movement
of the holder facility 17 in its entirety. Through this, a
rotational movement of the medical instrument 33 held in the holder
facility 17 may be made possible. The motor element 63 may further
be arranged on a side of the first receiving element 1 and/or the
second receiving element 2 (e.g., along the common axis of rotation
R). Through this, a space-saving arrangement may be made
possible.
[0180] The motor element 63 may also include a sensor element 66
for detection of a movement of at least a part of the holder
facility 17. In this figure, the sensor element 66 may include an
optical and/or electromagnetic sensor, for example.
[0181] The holder facility 17, the transmission element 61, the
connection element 60, and the housing 62 may further be embodied
as a single-use cassette. In this figure, the motor element 63 and
the fastening element 64 may be reusable, while the single-use
cassette described is, for example, able to be coupled by the
connection element to the motor element. In one embodiment, the
single-use cassette may be embodied in a space-saving manner.
[0182] In addition, the movement facility 18 may include a
processing unit 22 (e.g., a processor) that is embodied to control
the motor element 63 and/or the holder facility 17.
[0183] Shown in FIG. 18 is a schematic diagram of one embodiment of
a movement facility 18 with housing 62 and motor element 63. In
this figure, the motor element 63 may be mechanically coupled to
one of the three degrees of freedom of movement of the holder
facility 17 in each case (e.g., using the three connection
receptacles 60.1, 60.2 and 60.3). In this figure, the housing 62
may be embodied, for example, as a sterile barrier between the
movement facility 18 and the motor element 63.
[0184] Depicted in FIG. 19 is a schematic diagram of one embodiment
of a method for moving medical instruments using a first movement
facility 18. Accordingly, in a first act r1), the medical
instrument 33 may be arranged in the first movement facility 18.
Further, in act r2), a first position P1.M of at least a section of
the medical instrument 33 may be determined. Hereafter, in act r3),
the first receiving element 1 and/or the second receiving element 2
of the holder facility 17 of the first movement facility 18 may be
moved such that the at least three diaphragm elements 13 hold the
medical instrument 33. In act r4), the first movement facility 18
may be moved from an initial position P1.B into a target position
PZ.B, where at least a section of the medical instrument 33 is
moved as well. In act r5), a further position P2.M of the at least
one section of the medical instrument 33 may be determined.
Further, in act r6), the first receiving element 1 and/or the
second receiving element 2 of the holder facility 17 of the first
movement facility 18 may be moved in such a way that the medical
instrument 33 is released by the at least three diaphragm elements
13. In this figure, the acts r2) to r6) may be repeated until a
target position Z of the at least one section of the medical
instrument 33 is reached. In this figure (e.g., after act r6)),
there may be a reconciliation E of the further position P2.M with
the target position Z.
[0185] The method may, for example, be useful for automated
movement and/or movement assisting an operator of the medical
instrument 33 by the movement facility 18 towards target position
Z. The method may also include a regulation of the movement by a
signal of the sensor element 66 and/or visually-guided navigation
(e.g., monitored by a medical imaging method, such as computed
tomography angiography and/or magnetic resonance angiography and/or
ICE ultrasonography and/or intravascular ultrasound (IVUS) and/or
optical coherence tomography (OCT)).
[0186] Shown schematically in FIG. 20 is one embodiment of a
coordination facility for coordinated movement of a medical
instrument 33. In this figure, the coordination facility may
include a first movement facility 18 and at least one further
movement facility 18'. The first movement facility 18 and the at
least one further movement facility 18' may further be arranged at
a distance from one another. In this figure, the first movement
facility 18 and the at least one further movement facility 18' may
be embodied for moving the same medical instrument 33. The first
movement facility 18 and the at least one further movement facility
18' may further move the medical instrument 33 in a coordinated
manner. In this figure, the coordination facility may include a
processing unit 22 for coordination of the movement of the first
movement facility 18 and the at least one further movement facility
18'.
[0187] The coordination of the movement of the medical instrument
33 by the first movement facility 18 and/or the at least one
further movement facility 18' may also include a compensation for a
torsion and/or deformation of the medical instrument 33.
[0188] In addition, the coordination facility may also include an
instrument detection unit 67 that is embodied for identification of
the medical instrument 33 accommodated in the first movement
facility 18 and the at least one further movement facility 18'. In
this figure, the medical instrument 33 may be moved by the first
movement facility 18 and/or the at least one further movement
facility 18' as a function of a material property of the identified
medical instrument 33. For this, the instrument detection unit 67
may send a signal to the processing unit 22, for example.
[0189] The coordination facility may include a state detection unit
that is embodied to detect a deformation and/or torsion of the
medical instrument 33. In this figure, the state detection unit may
include a sensor element 66 for the first movement facility 18 and
at least one further sensor element 66' for the at least one
further movement facility 18' in each case. The medical instrument
33 may further be moved by the first movement facility 18 and/or
the at least one further movement facility 18' as a function of the
detected deformation and/or torsion. For this, the sensor elements
66 and 66' of the state detection unit may each send a signal to
the processing unit 22.
[0190] In addition, the first movement facility 18 and the at least
one further movement facility 18' may be arranged movably by a
fastening element 64 and 64' (e.g., fasteners) in each case along
at least one common movement axis (e.g., at a constant distance
from one another).
[0191] Shown schematically in FIG. 21 is another embodiment of the
coordination facility. In this figure, the first movement facility
18 and the at least one further movement facility 18' may be
arranged movably by the respective fastening elements 64 and 64' on
a common rail 19. For example, the fastening elements 64 and 64'
may each include a movement unit (e.g., a roller system). Through
this, a guided movement of the first movement facility 18 and the
at least one further movement facility 18' along the common rail 19
may be made possible. In one embodiment, at least one of the
movement units of the fastening elements 64 and 64' may have a
motor drive, where the processing unit 22 may be further embodied
for control (e.g., coordinated control) of the motor drive. In this
figure, a movement unit of the fastening elements 64 and/or 64'
may, for example, be able to be moved passively. The first movement
facility 18 and the at least one further movement facility 18' may
further be able to be enclosed (e.g., during an intervention) by
sterile envelopes (e.g., a housing).
[0192] Shown schematically in FIG. 22 is yet another embodiment of
the coordination facility. In this figure, the coordination
facility may also include a grip element 77, where the arrangement
of the first movement facility 18 and the at least one further
movement facility 18' along the at least one common axis of
movement AX are fastened movably to the grip element. In this
figure, the grip element 77 may be able to be held by an operator.
In one embodiment, the arrangement of the first movement facility
18 and the at least one further movement facility 18' may be able
to be enclosed by a housing 78. In this figure, the housing 78 may
further include the grip element 77 and/or be embodied as grip
element 77.
[0193] Shown schematically in FIG. 23 is a flow diagram of one
embodiment of a method for coordination of a movement of a medical
instrument 33 by a coordination facility. In this figure, in a
first act s1), the medical instrument 33 may be arranged in the
first movement facility 18 and the at least one further movement
facility 18'. In addition, in act s2), a first position P1.M of at
least one section of the medical instrument 33 may be determined.
Hereafter, in act s3), the first receiving element 1 and/or the
second receiving element 2 of the holder facility 17 of the first
movement facility 18 may be moved such that the at least three
diaphragm elements 13 hold the medical instrument 33 in each case.
Further, in act s4), the first movement facility 18 may be moved
from an initial position P1.B into a target position PZ.B. In this
figure, at least sections of the medical instrument 33 are moved as
well. In act s5), a further position P2.M of the at least one
section of the medical instrument 33 may be determined. In act s6),
the first receiving element 1 and/or the second receiving element 2
of the holder facility 17 of the at least one further movement
facility 18' may be moved such that at least three diaphragm
elements 13 hold the medical instrument 33 in each case. Hereafter,
in act s7), the first receiving element 1 and/or the second
receiving element of the holder facility 17 of the first movement
facility 18 may be moved such that the medical instrument 33 is
released by the at least three diaphragm elements 13. In act s8),
the first movement facility 18 may be moved from the target
position PZ.B into a further initial position P2.B. In this figure,
the further initial position P2.B in act s4) may be predetermined
as initial position P1.B. The acts s1) to s8) may further be
repeated until a target position Z of the at least one section of
the medical instrument 33 is reached. In this figure, for example,
after act s8), there may be a reconciliation E of the further
position P2.M with the target position Z.
[0194] Through this, an almost infinite movement of the medical
instrument 33 may be made possible. A movement trajectory of the
medical instrument independent of a distance of the first 18 in
relation to the at least one further movement facility 18' may be
realized by repeatedly carrying out the acts s1) to s8).
[0195] Shown schematically in FIG. 24 is a flow diagram of an
embodiment of a method for optimized movement of a medical
instrument 33 by a coordination facility. In this figure, the
coordination facility may include a state detection unit for
detecting a state of a torsion and/or deformation of the medical
instrument 33. In a first act t1), the medical instrument 33 may be
arranged in the first movement facility 18 and the at least one
further movement facility 18'. Hereafter, in act s2), the first
receiving element 1 and/or the second receiving element 2 of the
holder facility 17 of the first movement facility 18 and the at
least one further movement facility 18' may be moved such that the
at least three diaphragm elements 13 hold the medical instrument 33
in each case. In act s3), an initial state Z1.M of a torsion and/or
deformation of the medical instrument 33 may be detected by the
state detection unit. Hereafter, in act t4), there may be a
movement of the first movement facility 18 from an initial position
P1.B1 into a target position PZ.B1, where at least sections of the
medical instrument 33 are moved as well. In act t5), an
intermediate state Z2.M of a torsion and/or deformation of the
medical instrument 33 may be detected by the state detection unit.
Hereafter, in act t6), the at least one further movement facility
18' may be moved as a function of the movement of the first
movement facility in act t4) and/or of the detected intermediate
state Z2.M b. In this figure, the at least one further movement
facility 18' may be moved from an initial position P1.B2 into a
target position P2.B2. Further, in act t7) (e.g., after and/or
during the movement of the at least one further movement facility
18' in act t6), a further intermediate state Z3.M of the at least
one section of the medical instrument 33 may be detected by the
state detection unit. In this figure, a deviation A between the
further intermediate state Z3.M and the initial state Z1,M through
the movement in act t6) may be minimized.
[0196] The schematic diagrams contained in the figures described do
not depict any scale or size ratio.
[0197] The method described in detail above, as well as the
facilities shown, merely involve exemplary embodiments, which may
be modified by the person skilled in the art in a variety of ways
without departing from the area of the invention. Further, the use
of the indefinite article "a" or "an" does not exclude the features
concerned also being present more than once. Likewise, the terms
"unit" and "element" do not exclude the components concerned
consisting of a number of sub-components working together, which,
if necessary, may also be spatially distributed.
[0198] The elements and features recited in the appended claims may
be combined in different ways to produce new claims that likewise
fall within the scope of the present invention. Thus, whereas the
dependent claims appended below depend from only a single
independent or dependent claim, it is to be understood that these
dependent claims may, alternatively, be made to depend in the
alternative from any preceding or following claim, whether
independent or dependent. Such new combinations are to be
understood as forming a part of the present specification.
[0199] While the present invention has been described above by
reference to various embodiments, it should be understood that many
changes and modifications can be made to the described embodiments.
It is therefore intended that the foregoing description be regarded
as illustrative rather than limiting, and that it be understood
that all equivalents and/or combinations of embodiments are
intended to be included in this description.
* * * * *