DE10307054A1 - Holder and guide system e.g. for endoscope for minimal invasive surgery, having hinge with mount at which endoscope is coupled and rod coupling to movable arm and held by two support rods - Google Patents
Holder and guide system e.g. for endoscope for minimal invasive surgery, having hinge with mount at which endoscope is coupled and rod coupling to movable arm and held by two support rods Download PDFInfo
- Publication number
- DE10307054A1 DE10307054A1 DE10307054A DE10307054A DE10307054A1 DE 10307054 A1 DE10307054 A1 DE 10307054A1 DE 10307054 A DE10307054 A DE 10307054A DE 10307054 A DE10307054 A DE 10307054A DE 10307054 A1 DE10307054 A1 DE 10307054A1
- Authority
- DE
- Germany
- Prior art keywords
- holding
- guiding system
- guide arm
- endoscope
- handrails
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Classifications
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
- A61B1/00147—Holding or positioning arrangements
- A61B1/00149—Holding or positioning arrangements using articulated arms
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
- A61B90/50—Supports for surgical instruments, e.g. articulated arms
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
- F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon Stands for scientific apparatus such as gravitational force meters
- F16M11/02—Heads
- F16M11/04—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand
- F16M11/06—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting
- F16M11/10—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting around a horizontal axis
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
- F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon Stands for scientific apparatus such as gravitational force meters
- F16M11/20—Undercarriages with or without wheels
- F16M11/2092—Undercarriages with or without wheels comprising means allowing depth adjustment, i.e. forward-backward translation of the head relatively to the undercarriage
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
- F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon Stands for scientific apparatus such as gravitational force meters
- F16M11/20—Undercarriages with or without wheels
- F16M11/24—Undercarriages with or without wheels changeable in height or length of legs, also for transport only, e.g. by means of tubes screwed into each other
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
- A61B90/10—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges for stereotaxic surgery, e.g. frame-based stereotaxis
- A61B90/11—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges for stereotaxic surgery, e.g. frame-based stereotaxis with guides for needles or instruments, e.g. arcuate slides or ball joints
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
- F16M2200/00—Details of stands or supports
- F16M2200/04—Balancing means
- F16M2200/044—Balancing means for balancing rotational movement of the undercarriage
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
- F16M2200/00—Details of stands or supports
- F16M2200/06—Arms
- F16M2200/068—Arms being part of the undercarriage
Abstract
Description
Die Erfindung betrifft ein Halte- und Führungssystem für ein medizinisches Instrument, vorzugsweise ein Endoskop, mit wenigstens einem Führungsarm, an dem das medizinische Instrument angekoppelt ist.The invention relates to a holding and guidance system for a medical instrument, preferably an endoscope, with at least a guide arm, to which the medical instrument is coupled.
Ein derartiges System ist beispielsweise
aus der
Aus der
Neben den vorstehend beschriebenen
einarmigen Systemen ist beispielsweise aus der
Dabei stellen Operationen im Bereich der minimal invasiven Chirurgie erhebliche Anforderungen an das üblicherweise in einem abgedunkelten Saal arbeitende Operationsteam. Nur beispielhaft sei auf die mehrstündige laparoskopische Cholezystektomie verwiesen. Im Rahmen einer derartigen Operation muß das Endoskop zwischen verschiedenen Positionen hin und her gefahren und während der Operation mehrfach gereinigt werden. Dabei wird das Endoskop während der Operation üblicherweise von einem Assistenzarzt bedient. Die Führung des Endoskops, die mit zunehmender Dauer der Operation üblicherweise zunehmend unruhig wird, beeinträchtigt unter Umständen den operierenden Chirurgen, so, daß die weitere Zusammenarbeit hierdurch oftmals erschwert wird.Doing operations in the area Minimally invasive surgery usually places considerable demands on that operating team working in a darkened room. For example only be on the multi-hour referred to laparoscopic cholecystectomy. As part of such Operation must Moved the endoscope back and forth between different positions and during during the operation. The endoscope while surgery usually operated by an assistant doctor. The guidance of the endoscope that with increasing duration of surgery usually becomes increasingly restless in certain circumstances the operating surgeon so that further collaboration this is often difficult.
Das Erfordernis, das Endoskop in einer gewünschten Position für eine längere Zeit möglichst bewegungsfrei zu halten, kann durch passive Haltesysteme nachhaltig unterstützt werden.The need to put the endoscope in a desired one Position for a longer one Time as free of movement as possible holding can be sustainably supported by passive holding systems.
Allerdings müssen auch derartige Systeme grundsätzlich manuell von einem Assistenten eingestellt werden. Aktive Systeme bieten den Vorteil, daß hierbei der Chirurg selbst das Endoskop über dem entsprechende Operationsfeld führen kann. Teilweise kann der Assistenzarzt vollständig eingespart werden. Bei derartigen aktiven Systemen beschränkt und bestimmt der Bewegungsradius des aktiven Führungssystems den Operationsradius des Chirurgen.However, such systems must also be operated manually be set by an assistant. Offer active systems the advantage that the surgeon even put the endoscope over it can lead to the corresponding surgical field. Sometimes the Resident completely be saved. In such active systems limited and the radius of movement of the active guidance system determines the operating radius of the surgeon.
Ausgehend von diesem Stand der Technik ist somit ein Halte- und Führungssystem für medizinische Instrumente zu schaffen, das einen hohen Bedienkomfort mit einem möglichst großen Bewegungsradius verbindet.Based on this state of the art is thus a holding and guidance system for medical To create instruments that are extremely easy to use preferably huge Radius of movement connects.
Diese Aufgabe wird im Rahmen der Erfindung mit einem Halte- und Führungssystem gemäß den Merkmalen des Anspruchs 1 gelöst. Dadurch, daß im Unterschied zu den bekannten ein- und mehrarmigen Halte- und Führungssystemen ein kinematisches Dreibein eingesetzt wird, ergibt sich trotz einer kompakten und ansprechenden Bauweise ein erheblich vergrößertes Operationsfeld.This task is carried out within the Invention with a holding and guidance system according to the characteristics of claim 1 solved. The fact that in Difference to the well-known one and multi-arm holding and guiding systems a kinematic tripod is used, despite a compact and appealing design a significantly enlarged operating field.
Um das Halte- und Führungssystem aktiv auszubilden, sind die Führungs- und/oder Haltestangen mit pneumatischen, hydraulischen, oder elektromotorischen Arbeitszylindern versehen.About the holding and guiding system to actively train the management and / or handrails with pneumatic, hydraulic, or electromotive Provide working cylinders.
Die beiden Haltestangen sind gelenkig, vorzugsweise kugelgelenkig mit dem Führungsarm verbunden.The two handrails are articulated, preferably connected to the guide arm in a ball joint.
Hierdurch wird eine nahezu uneingeschränkte Beweglichkeit des Führungsarms innerhalb des von dem kinematischen Dreibein überstrichenen Bereichs erreicht. Die Kugelgelenklagerung innerhalb eines Dreibeins stellt sicher, daß innerhalb des von dem Dreibein erreichbaren Operationsbereichs nahezu jeder Punkt aktiv oder passiv angefahren werden kann.This creates an almost unlimited mobility of the guide arm reached within the range covered by the kinematic tripod. The ball joint bearing within a tripod ensures that within the operating area accessible by the tripod almost everyone Point can be approached actively or passively.
Dabei sind die beiden Haltestangen als solche vorzugsweise selbst kugelgelenkig gelagert. Der zentrale Führungsarm ist vorzugsweise kardanisch gelagert.Here are the two handrails as such, preferably itself mounted on a ball joint. The central one guide is preferably gimbal mounted.
Das erwähnte Führungssystem ist Idealerweise mit einer Befestigungsbogen, die als Haltesystem fungiert, verbunden. Der Befestigungsbogen ist dabei dem zu operierenden Körper bzw. der Behandlungsfläche derart zugeordnet, daß der Befestigungsbogen über dem zu operierenden Körper angeordnet ist.The management system mentioned is ideal connected with a mounting arch that acts as a holding system. The fastening arch is the body to be operated on or the treatment area assigned such that the Mounting arch over the body to be operated on is arranged.
Das Führungssystem ist dabei in einfacher Weise über eine Cliphalterung mit der Befestigungsbogen lösbar verbunden. Hierdurch kann das komplette Führungssystem in einfacher Weise von der Befestigungsbogen beispielsweise zu Zwecken der Sterilisation gelöst werden.The guidance system is simple in a way Clip bracket releasably connected to the mounting arch. This can the complete guidance system in a simple manner from the mounting arch for example for purposes sterilization solved become.
Der ist dabei in vorteilhafter Weise beidseits der Operationsfläche vorzugsweise relativ beweglich zu dieser Operationsfläche angeordnet. Somit kann über das Verfahren des Befestigungsbogens relativ zum Patientenkörper ein noch größerer Bewegungsradius für das Halte- und Führungssystem erreicht werden.This is advantageous on both sides of the operating area preferably arranged relatively movable to this operating area. Thus, over the procedure of the fastening bow relative to the patient's body even greater range of motion for the Holding and guiding system can be achieved.
Dabei können die beiden Haltestangen und die zentrale Führungsstange über einen auf dem Befestigungsbogen längsbeweglich angeordneten Wagen relativ zum Befestigungsbogen bewegt werden. Im Ergebnis wird somit das Halte- und Führungssystem ebenfalls relativ zum Patienten, insbesondere von der linken zur rechten Körperseite und umgekehrt bewegt, so daß die gesamte Breite des Patientenkörpers ohne weiteres anfahrbar ist.The two handrails and the central guide rod can be moved relative to the fastening arch via a carriage which is arranged to be longitudinally movable on the fastening arch. As a result, the holding and guiding system is also moved relative to the patient, in particular from the left to the right side of the body and vice versa, so that the entire width of the patient's body can be approached without further ado.
Das insbesondere aus dem kinematischen Dreibein mit den Arbeitszylindern bestehende Führungssystem wird elektromotorisch angetrieben.Especially from the kinematic tripod with the working cylinders existing guide system becomes electric motor driven.
In vollständiger Ausgestaltung umfaßt das Führungs- und Haltesystem zusätzlich eine Kontrolleinheit sowie eine Bedieneinheit mit wenigstens einer Benutzerschnittstelle. Die Bedieneinheit ist in vorteilhafter Ausgestaltung mit einem Hand- und/oder Fußschalter sowie mit einem Mikrofon und/oder Touch Panel ausgestattet. Bei dieser Ausgestaltung kann der operierende Chirurg über eines oder mehrere der genannten Bedienelemente das Endoskop unproblematisch an der gewünschten Stelle relativ zum Patientenkörper positionieren.In its complete form, the management and holding system in addition a control unit and an operating unit with at least one User interface. The control unit is in an advantageous embodiment with a hand and / or foot switch and equipped with a microphone and / or touch panel. at In this configuration, the operating surgeon can use one or several of the controls mentioned the endoscope unproblematic at the desired location relative to the patient's body position.
Um das Halte- und Führungssystem mit den unterschiedlichen medizinischen Instrumenten versehen zu können, weist die Kontrolleinheit in vorteilhafter Weise ein variables Interface zum Anschluss unterschiedlichster medizinischer Instrumente auf.About the holding and guiding system with the different medical instruments can, the control unit advantageously has a variable interface for connecting a wide variety of medical instruments.
Die Erfindung wird nachstehend anhand eines in der Zeichnung nur beispielhaft dargestellten Ausführungsbeispiels näher erläutert.The invention is illustrated below an embodiment shown in the drawing only as an example explained in more detail.
Es zeigen:Show it:
Der Befestigungbogen
Das Führungssystem für das Endoskop
Alternativ kann gemäß der Darstellung
in
Anstelle eines eigenen Befestigungsbogens
Gemäß der Detaildarstellung in
Das Gesamtsystem ist in einem Blockschaltbild
in
Vorstehend ist somit ein Halte- und Führungssystem für medizinische Instrumente, vorzugsweise der Endoskopie beschrieben, daß aufgrund einer neuartigen kinematischen Anordnung trotz seines mechanisch einfachen Aufbaus einen erheblichen Bedienkomfort und ein erweitertes Operations feld erlaubt. Dabei sind die medizinischen Instrumente in jeder Stellung des Führungssystems sicher gelagert. Dies gilt sowohl für eine aktive, wie auch eine passive Ausführung des Systems.A holding and guiding system for medical instruments, preferably endoscopy, has thus been described above, which, despite its mechanically simple structure, has a considerable advantage due to a novel kinematic arrangement Chen ease of use and an expanded operating field allowed. The medical instruments are securely stored in every position of the guidance system. This applies to both active and passive execution of the system.
- 11
- kinematisches Dreibeinkinematic tripod
- 22
- Befestigungsbogenmounting sheet
- 33
- Operationsflächeoperation area
- 44
- Führungsarmguide
- 5,65.6
- HaltestangenHandrails
- 77
- Instrumentenhalterunginstrument holder
- 88th
- Läuferrunner
- 99
- KlemmarretierungKlemmarretierung
- 1010
- Endoskopendoscope
- 1111
- Arbeitszylinderworking cylinder
- 1212
- Cliphalterungclip bracket
- 1313
- Führungssystemguidance system
- 1414
- Haltesystemholding system
- 1515
- Kontrolleinheitcontrol unit
- 1616
- Bedieneinheitoperating unit
- 1717
- Displaydisplay
- 1818
- Interface interface
- 2020
- Basisschienebase rail
- 2121
- U-Profil U-profile
- 2222
- Kardanische Lagerunggimbal storage
Claims (14)
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE10307054A DE10307054B4 (en) | 2003-02-20 | 2003-02-20 | Holding and guiding system |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE10307054A DE10307054B4 (en) | 2003-02-20 | 2003-02-20 | Holding and guiding system |
Publications (2)
Publication Number | Publication Date |
---|---|
DE10307054A1 true DE10307054A1 (en) | 2004-09-09 |
DE10307054B4 DE10307054B4 (en) | 2005-04-21 |
Family
ID=32841717
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
DE10307054A Expired - Fee Related DE10307054B4 (en) | 2003-02-20 | 2003-02-20 | Holding and guiding system |
Country Status (1)
Country | Link |
---|---|
DE (1) | DE10307054B4 (en) |
Cited By (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE102005003380A1 (en) * | 2005-01-24 | 2006-08-03 | Innomedic Gmbh | holder |
WO2007087798A2 (en) * | 2006-02-01 | 2007-08-09 | Innomedic Gmbh | Aiming device for performing minimally invasive interventions |
US8979826B2 (en) | 2010-12-29 | 2015-03-17 | Boston Scientific Scimed, Inc. | Instrument holder |
DE102013111935A1 (en) * | 2013-10-30 | 2015-04-30 | Rg Mechatronics Gmbh | A framework for holding a surgical robot, using such a frame in a surgical robotic system, and a robotic robot system having such a frame |
DE102020130493A1 (en) | 2020-11-18 | 2022-05-19 | Karl Storz SE & Co. KG Intellectual Property | Holding device, medical system and method for positioning a medical instrument |
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DE3804491A1 (en) * | 1987-12-02 | 1989-06-15 | Olympus Optical Co | Device for brain surgery |
DE4120260C1 (en) * | 1991-06-19 | 1993-01-07 | Siemens Ag, 8000 Muenchen, De | Balanced holder for medical appts. component - has swivelable combined arm with component holding and lever arm sections |
US5397323A (en) * | 1992-10-30 | 1995-03-14 | International Business Machines Corporation | Remote center-of-motion robot for surgery |
WO1995013758A1 (en) * | 1993-11-15 | 1995-05-26 | Urso Paul Steven D | Surgical procedures |
US5571072A (en) * | 1995-04-28 | 1996-11-05 | Kronner; Richard F. | Dual-axis endoscope holder |
US5626595A (en) * | 1992-02-14 | 1997-05-06 | Automated Medical Instruments, Inc. | Automated surgical instrument |
US5776126A (en) * | 1993-09-23 | 1998-07-07 | Wilk; Peter J. | Laparoscopic surgical apparatus and associated method |
DE19822195C1 (en) * | 1998-05-16 | 2000-01-27 | Aesculap Ag & Co Kg | Holding arrangement for surgical instrument |
DE69420228T2 (en) * | 1993-11-07 | 2000-04-13 | Ultra Guide Ltd | Articulated cannula guide for use with an ultrasound scanner |
DE10055293A1 (en) * | 2000-11-03 | 2002-05-29 | Storz Karl Gmbh & Co Kg | Device for holding and positioning an endoscopic instrument |
-
2003
- 2003-02-20 DE DE10307054A patent/DE10307054B4/en not_active Expired - Fee Related
Patent Citations (10)
Publication number | Priority date | Publication date | Assignee | Title |
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DE3804491A1 (en) * | 1987-12-02 | 1989-06-15 | Olympus Optical Co | Device for brain surgery |
DE4120260C1 (en) * | 1991-06-19 | 1993-01-07 | Siemens Ag, 8000 Muenchen, De | Balanced holder for medical appts. component - has swivelable combined arm with component holding and lever arm sections |
US5626595A (en) * | 1992-02-14 | 1997-05-06 | Automated Medical Instruments, Inc. | Automated surgical instrument |
US5397323A (en) * | 1992-10-30 | 1995-03-14 | International Business Machines Corporation | Remote center-of-motion robot for surgery |
US5776126A (en) * | 1993-09-23 | 1998-07-07 | Wilk; Peter J. | Laparoscopic surgical apparatus and associated method |
DE69420228T2 (en) * | 1993-11-07 | 2000-04-13 | Ultra Guide Ltd | Articulated cannula guide for use with an ultrasound scanner |
WO1995013758A1 (en) * | 1993-11-15 | 1995-05-26 | Urso Paul Steven D | Surgical procedures |
US5571072A (en) * | 1995-04-28 | 1996-11-05 | Kronner; Richard F. | Dual-axis endoscope holder |
DE19822195C1 (en) * | 1998-05-16 | 2000-01-27 | Aesculap Ag & Co Kg | Holding arrangement for surgical instrument |
DE10055293A1 (en) * | 2000-11-03 | 2002-05-29 | Storz Karl Gmbh & Co Kg | Device for holding and positioning an endoscopic instrument |
Cited By (11)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE102005003380A1 (en) * | 2005-01-24 | 2006-08-03 | Innomedic Gmbh | holder |
WO2007087798A2 (en) * | 2006-02-01 | 2007-08-09 | Innomedic Gmbh | Aiming device for performing minimally invasive interventions |
WO2007087798A3 (en) * | 2006-02-01 | 2007-09-20 | Innomedic Gmbh | Aiming device for performing minimally invasive interventions |
US8979826B2 (en) | 2010-12-29 | 2015-03-17 | Boston Scientific Scimed, Inc. | Instrument holder |
US10080612B2 (en) | 2010-12-29 | 2018-09-25 | Boston Scientific Scimed, Inc. | Instrument holder |
US11141236B2 (en) | 2010-12-29 | 2021-10-12 | Boston Scientific Scimed, Inc. | Instrument holder |
DE102013111935A1 (en) * | 2013-10-30 | 2015-04-30 | Rg Mechatronics Gmbh | A framework for holding a surgical robot, using such a frame in a surgical robotic system, and a robotic robot system having such a frame |
DE102020130493A1 (en) | 2020-11-18 | 2022-05-19 | Karl Storz SE & Co. KG Intellectual Property | Holding device, medical system and method for positioning a medical instrument |
EP4000495A1 (en) | 2020-11-18 | 2022-05-25 | Karl Storz SE & Co. KG | Holding device, medical system and method for positioning a medical instrument |
US11413113B2 (en) | 2020-11-18 | 2022-08-16 | Karl Storz Se & Co. Kg | Holding device, medical system and method for positioning a medical instrument |
DE102020130493B4 (en) | 2020-11-18 | 2022-09-15 | Karl Storz Se & Co. Kg | Holding device, medical system and method for positioning a medical instrument |
Also Published As
Publication number | Publication date |
---|---|
DE10307054B4 (en) | 2005-04-21 |
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Date | Code | Title | Description |
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OP8 | Request for examination as to paragraph 44 patent law | ||
8364 | No opposition during term of opposition | ||
R119 | Application deemed withdrawn, or ip right lapsed, due to non-payment of renewal fee |
Effective date: 20120901 |