Deutsche Forschungsanstalt Fur Luft-und Raumfahrt E.v.

Deutsches Zentrum Fur Luft-und Raumfahrt E.v.

Matthias Balazs

Matthias Hahnle

Peter Spitzweck

A gripping unit for application in Minimally Invasive Surgery includes a stationary jaw (2) rigidly attached to a base section (4), a movable jaw (1) connected via a joint (5) to a push/pull rod (3), and an operating handle (6). The stationary jaw (2), the movable jaw (1), the push/pull rod (3) and the base section (4) have, in the longitudinal direction of the gripping unit, a channel (9) to receive an additional instrument (7), designed so that the channels (9, 30) in the base section (4) and in the push/pull rod (3) together form a circular conduit.

Gripping unit for application in minimally invasive surgery

In a flexible structure, a number n of notches (12a, 12b) is formed in a preferably circular-cylindrical block of material (1). The parallel and equidistant notches (12a, 12b) begin at two diametrically opposed jacket lines (10.sub.1, 10.sub.2) and are at right angles or an acute angle to the longitudinal axis (10) of the block and are made so deep that for joining together (n+1) segments (22), a continuous, approximately rectangular residual cross-sectional region (32) remains, in the form of a residual web. Symmetrically to the longitudinal axis (10), continuous, closed conduits (52, 52.sub.1, 52.sub.2) are formed in the rectangular residual cross-sectional region (32). Moreover, aligned bores (42.sub.1, 42.sub.2) are located at diametrically opposed points, and in them pressure- and/or tension exerting components can be accommodated for bending the flexible structure.

Flexible structure

In an apparatus for operating a robotic device (1), preferably in minimally-invasive surgery and/or robotics, at least one movable robotic part (11; 12) of the robotic device (1) is connected to a first holding part (60) by way of a first, flexible connecting part (51.sub.1) of a hinge joint (5.sub.1) Moreover, the movable robotic part (11; 12) is connected to a second holding part (61) by way of a second, flexible connecting part (52.sub.1) of the hinge joint (5.sub.1). This connection is produced in such a way that, when the first holding part (60) moves relative to the second holding part (61) or vice versa, the robotic device (1) pivots the first holding part out of its initial position, and when the part (60 or 61) that has been moved relative to the other part has been brought back, the device restores the part to its initial position.

Gripping apparatus for use in minimally-invasive surgery

A surgical instrument for one-handed preparation of an anastomosis in minimally invasive surgery has, from the distal end to the proximal end, an interchangeable insertion head (1), a staple holder (30) with U-shaped staples and with a circular groove with thread placed in it, an ejector unit, an gently bendable, adjustable and fixable joint (6), an annular knife retained on the ejector unit, a hollow-cylindrical holder part that is axially displaceable in the annular knife and has a number of elastically resilient, radially pivotable gripper and holder arms (20), a circular-cylindrical shaft (7) mounted on the proximal end of the joint (6), an adjusting and fixing device (8) with a hand wheel (80) mounted on the proximal end of the hollow shaft, and a handle (9) with a toggle lever mechanism (90, 93) pivotably connected to it. (FIG. 1).

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Grafrath, Germany

Matthias Balazs