Endoscopic instrument
Endoscopic instrument with a control element, an instrument shaft, an adjustment element, a pull element, an actuator, an intermediate element which is operatively connected to the control element and to the adjustment element such that a force applied to the control element by the user can be transmitted to the adjustment element via the intermediate element in order to move the adjustment element, a detection device for detecting a torsion of the intermediate element, and an abutment device, which defines a free rotatory movement range of the control element relative to the adjustment element.
1. An endoscopic instrument, comprising:
a control section with a control element;
an instrument shaft with an actuatable portion, wherein the instrument shaft is connected to the control section;
an adjustment element;
a pull element, which is mechanically coupled to the adjustment element and to the actuatable portion of the instrument shaft, such that a movement of the adjustment element causes an actuation of the actuatable portion by a transmission of force via the pull element;
an actuator, which is coupled to the adjustment element, such that an actuation of the actuator causes the movement of the adjustment element by force transmission from the actuator to the adjustment element;
an intermediate element, which is operatively connected to the control element and to the adjustment element such that a force applied to the control element by a user is transmitted to the adjustment element via the intermediate element in order to move the adjustment element;
a detection device configured to detect a torsion of the intermediate element; and
an abutment device that includes a first abutment element and a second abutment element, the abutment device limiting free rotatory movement of the control element relative to the adjustment element to a movement range defined between the first abutment element and the second abutment element;
wherein the intermediate element extends along a rotation axis and is rotatable about the rotation axis.
2. The endoscopic instrument of claim 1 , wherein the detection device includes a measurement element arranged on the intermediate element.
3. The endoscopic instrument of claim 1 , wherein the detection device includes a measurement element which is configured in such a way that an electrical resistance of the measurement element changes when a shape of the measurement element changes.
4. The endoscopic instrument of claim 1 , wherein the detection device includes a measurement element configured as a strain gauge.
5. The endoscopic instrument of claim 1 , wherein the detection device includes at least two measurement elements which are arranged in such a way that, in the detection device, a compensation is permitted for at least one interference chosen from the group consisting of flexion, longitudinal extension and temperature.
6. The endoscopic instrument of claim 1 , wherein the intermediate element includes at least a first area and a second area, wherein the first area is made from a different material than the second area.
7. The endoscopic instrument of claim 1 , wherein the intermediate element is made from a different material than the control element.
8. The endoscopic instrument of claim 1 , wherein the intermediate element is made from a different material than the adjustment element.
9. The endoscopic instrument of claim 1 , wherein the abutment device is adjustable, in order to vary the movement range.
10. The endoscopic instrument of claim 1 , wherein the adjustment element includes a gear.
11. The endoscopic instrument of claim 1 , wherein the adjustment element includes a gear with a positive transmission ratio.
12. The endoscopic instrument of claim 1 , wherein a first rotation axis of the adjustment element, a second rotation axis of the control element, and a longitudinal axis of the intermediate element coincide.
13. The endoscopic instrument of claim 1 , wherein a first rotation axis of the adjustment element and a third rotation axis of the actuator coincide.
14. The endoscopic instrument of claim 1 , wherein the adjustment element has an at least approximately circular support element, on which the abutment device is arranged at least approximately in a circumferential direction of the at least approximately circular support element.
15. The endoscopic instrument of claim 1 , further comprising a controller configured to detect a measured value of the torsion of the intermediate element and to trigger the actuator based on the measured value.
16. The endoscopic instrument of claim 1 , wherein the adjustment element includes an at least approximately circular support element extending circumferentially about the rotation axis; and
wherein the first abutment element and the second abutment element are disposed at different circumferential positions on the support element such that a circumferential distance is defined therebetween.
17. The endoscope instrument of claim 16 , wherein the movement range corresponds to the circumferential distance defined between the first abutment element and the second abutment element.
18. The endoscope instrument of claim 16 , wherein the first abutment element and the second abutment element each extend from the support element in a direction parallel to the rotation axis;
wherein the control element includes an end portion that extends in a direction at least substantially perpendicular to the rotation axis; and
wherein the end portion of the control element is positioned between the first abutment element and the second abutment element, and is pivotable about the rotation axis between a first position, in which the end portion contacts the first abutment element, and a second position, in which the end portion contacts the second abutment element.