Manipulator for an instrument for minimally invasive surgery, and a positioning aid for positioning such an instrument
View Patent ↗A manipulator for an instrument for minimally invasive surgery, having at a proximal end a handle for operating the instrument, and wherein the instrument is removably placed at a distal end, and wherein a parallelogram construction is provided between the proximal end and the distal end for guaranteeing an unambiguous positional relationship between the handle and the instrument, wherein the parallelogram construction is coupled with a system of bars for controlling the position of the parallelogram construction, the bars of the system of bars being connected to the parallelogram construction as well as to each other by means of cardan joints.
1. A manipulator for an instrument for minimally invasive surgery, having at a proximal end a handle for operating the instrument, and wherein the instrument is removably placed at a distal end, and wherein a parallelogram construction is provided between the proximal end and the distal end for guaranteeing an unambiguous positional relationship between the handle and the instrument, and wherein the parallelogram construction is coupled with a system of bars for controlling the position of the parallelogram construction, the bars of the system of bars being connected to the parallelogram construction as well as to each other by means of cardan joints, said system of bars being mounted on a horizontally extending main arm, and wherein on this main arm two next to each other upwardly extending arm sections are provided that are interconnected via a first coupling arm, which arm sections carry operating arms that are coupled with a horizontal arm of the parallelogram constructions as well as being mutually interconnected via a second, horizontally extending, coupling arm.
2. A manipulator according to claim 1 , wherein the system of bars is provided with at least one counterweight and/or compensating springs.
3. A manipulator according to claim 1 , wherein the system of bars is provided with a counterweight that is incorporated in the bars of the system of bars.
4. A manipulator according to claim 1 , wherein the handle is coupled with an arm of the parallelogram construction via a cardan joint.
5. A manipulator according to claim 4 , additionally comprising control cables that pass through the cardan joint and are in operable communication with the handle.
6. A manipulator according to claim 5 , wherein each control cable is guided over a bypass wheel pertaining to that control cable and has a rotation axis that coincides with a cardan shaft, and wherein each bypass wheel co-operates with two support wheels provided at opposing sides of the bypass wheel and closely adjacent thereto, each of which is placed substantially at right angles to the bypass wheel and parallel to each other.