End effector for an instrument
An end effector ( 60 ) comprises a base ( 63 ), a first gripper ( 64 ) connected with the base ( 63 ) so as to swivel around a gripper axis ( 68 ), and a positioning element ( 66 ) which is guided on the base displaceably along an end effector axis ( 76 ) and interacts with the gripper ( 64 ) via a guide slot system. The gripper axis ( 68 ) extends outside of a guide slot ( 70 ) of the guide slot system.
1. An instrument ( 30 ) comprising:
an end effector ( 60 );
an elongated shaft sleeve ( 44 );
a first shaft ( 42 ) guided within the elongated shaft sleeve ( 44 ), wherein the first shaft ( 42 ) is at least locally flexible and is guided so as to be longitudinally displaceable within the elongated shaft sleeve ( 44 );
a swivel mechanism ( 79 ) which connects the end effector ( 60 ) and the elongated shaft sleeve ( 44 ) and is driven by said first shaft ( 42 ), said swivel mechanism ( 79 ) having a proximal member ( 61 ) fixed to the elongated shaft sleeve ( 44 ) and a distal member ( 62 ) connected with the end effector ( 60 ) and the first shaft ( 42 ), which proximal and distal members ( 61 , 62 ) are connected via two axially spaced guide slot systems and are configured so as to swivel relative to each other around a virtual swivel axis ( 78 ) extending outside of the swivel mechanism ( 79 ); and
wherein a first one of the two axially spaced guide slot systems comprises a guide slot ( 75 ) on the distal member ( 62 ) and a bolt ( 74 ) on the proximal member ( 61 ), and a second one of the two axially spaced guide slot systems comprises a guide slot ( 72 ) on the proximal member ( 61 ) and a bolt ( 73 ) on the distal member ( 62 );
wherein said end effector ( 60 ) comprises a base ( 63 ), a first gripper ( 64 ) connected with the base ( 63 ) so as to swivel around a first gripper gripper axis ( 68 ), a positioning element ( 66 ) which is guided on the base displaceably along an end effector axis ( 76 ) and interacts with the gripper ( 64 ) via a guide slot system, wherein the positioning element ( 66 ) has an inner thread which engages with an outer thread of a rotatable drive element ( 77 ) and wherein the rotatable drive element ( 77 ) is mounted rotatably and immovably in the axial direction on the base ( 63 ), and wherein the gripper axis ( 68 ) extends outside of a guide slot ( 70 ) of a guide slot system.
2. The instrument according to claim 1 , characterised in that a distance between the guide slot ( 70 ) and gripper axis ( 68 ) is equal to at least one third of a length of the guide slot ( 70 ).
3. The instrument according to claim 1 , characterised in that the guide slot ( 70 ) extends between a plane perpendicular to an end effector axis ( 76 ) in which the gripper axis ( 68 ) extends, and a clamping zone of the gripper ( 64 ).
4. The instrument according to claim 1 , characterised in that the guide slot ( 70 ) is recessed in the gripper ( 64 ) and a bolt ( 69 ) of the positioning element ( 66 ) is displaceable within the guide slot ( 70 ).
5. The instrument according to claim 4 , characterised in that the distance between an end of the guide slot ( 70 ) facing the gripper axis ( 68 ) and an end effector axis ( 76 ) is less than the distance between an end of the guide slot ( 70 ) facing away from the gripper axis ( 68 ) and the end effector axis ( 76 ).
6. The instrument according to claim 5 , characterised in that the guide slot ( 70 ) is curved, and wherein a concave side of said curved guide slot ( 70 ) facing the end effector axis ( 76 ).
7. The instrument according to claim 4 , characterised in that the positioning element ( 66 ) has a cut-out ( 80 ) through which the gripper ( 64 ) extends, and the bolt ( 69 ) of the positioning element ( 66 ) is held in the positioning element ( 66 ) on both sides of the cut-out ( 80 ).
8. The instrument according to claim 1 , characterised in that a second gripper ( 65 ) is connected with the base ( 63 ) so as to swivel around a second gripper gripper axis ( 68 ) and interact with the positioning element ( 66 ) via a guide slot system.
9. The instrument according to claim 8 , characterised in that the first gripper gripper axis ( 68 ) and the second gripper gripper axis ( 68 ) are two tangents to a circle centred around the end effector axis ( 76 ).
10. The instrument ( 30 ) according to claim 1 , characterised in that a distance between the bolt ( 74 ) on the proximal member ( 61 ) and the bolt ( 73 ) on the distal member ( 62 ) is the greater the closer the swivel mechanism ( 79 ) approaches a configuration in which it is extended in a straight line.
11. An instrument ( 30 ) comprising:
an end effector ( 60 );
an elongated shaft sleeve ( 44 );
a first shaft ( 42 ) guided within the elongated shaft sleeve ( 44 ), wherein the first shaft ( 42 ) is at least locally flexible and is guided so as to be longitudinally displaceable within the elongated shaft sleeve ( 44 );
a swivel mechanism ( 79 ) which connects the end effector ( 60 ) and the elongated shaft sleeve ( 44 ) and is driven by said first shaft ( 42 ), said swivel mechanism ( 79 ) having a proximal member ( 61 ) fixed to the elongated shaft sleeve ( 44 ) and a distal member ( 62 ) connected with the end effector ( 60 ) and the first shaft ( 42 ) and wherein the distal member ( 62 ) is connected rotatably and immovably in an axial direction with the base ( 63 ), and wherein the first shaft ( 42 ) is anchored non-rotatably on the base ( 63 ), which proximal and distal members ( 61 , 62 ) are connected via two axially spaced guide slot systems and are configured so as to swivel relative to each other around a virtual swivel axis ( 78 ) extending outside of the swivel mechanism ( 79 ); and
wherein a first one of the two axially spaced guide slot systems comprises a guide slot ( 75 ) on the distal member ( 62 ) and a bolt ( 74 ) on the proximal member ( 61 ), and a second one of the two axially spaced guide slot systems comprises a guide slot ( 72 ) on the proximal member ( 61 ) and a bolt ( 73 ) on the distal member ( 62 ).
12. An instrument ( 30 ) comprising:
an end effector ( 60 );
an elongated shaft sleeve ( 44 );
a first shaft ( 42 ) guided within the elongated shaft sleeve ( 44 ), wherein the first shaft ( 42 ) is at least locally flexible and is guided so as to be longitudinally displaceable within the elongated shaft sleeve ( 44 );
a second shaft ( 41 ), disposed within the first shaft ( 42 ), and coupled to a positioning element ( 66 );
a swivel mechanism ( 79 ) which connects the end effector ( 60 ) and the elongated shaft sleeve ( 44 ) and is driven by said first shaft ( 42 ), said swivel mechanism ( 79 ) having a proximal member ( 61 ) fixed to the elongated shaft sleeve ( 44 ) and a distal member ( 62 ) connected with the end effector ( 60 ) and the first shaft ( 42 ), which proximal and distal members ( 61 , 62 ) are connected via two axially spaced guide slot systems and are configured so as to swivel relative to each other around a virtual swivel axis ( 78 ) extending outside of the swivel mechanism ( 79 ); and
wherein a first one of the two axially spaced guide slot systems comprises a guide slot ( 75 ) on the distal member ( 62 ) and a bolt ( 74 ) on the proximal member ( 61 ), and a second one of the two axially spaced guide slot systems comprises a guide slot ( 72 ) on the proximal member ( 61 ) and a bolt ( 73 ) on the distal member ( 62 ).