DE19509116A1 - Flexible Struktur - Google Patents
Flexible StrukturInfo
- Publication number
- DE19509116A1 DE19509116A1 DE19509116A DE19509116A DE19509116A1 DE 19509116 A1 DE19509116 A1 DE 19509116A1 DE 19509116 A DE19509116 A DE 19509116A DE 19509116 A DE19509116 A DE 19509116A DE 19509116 A1 DE19509116 A1 DE 19509116A1
- Authority
- DE
- Germany
- Prior art keywords
- block
- structure according
- longitudinal axis
- sections
- cross
- 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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J18/00—Arms
- B25J18/06—Arms flexible
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61M—DEVICES FOR INTRODUCING MEDIA INTO, OR ONTO, THE BODY; DEVICES FOR TRANSDUCING BODY MEDIA OR FOR TAKING MEDIA FROM THE BODY; DEVICES FOR PRODUCING OR ENDING SLEEP OR STUPOR
- A61M25/00—Catheters; Hollow probes
- A61M25/01—Introducing, guiding, advancing, emplacing or holding catheters
- A61M25/0105—Steering means as part of the catheter or advancing means; Markers for positioning
- A61M25/0133—Tip steering devices
- A61M25/0138—Tip steering devices having flexible regions as a result of weakened outer material, e.g. slots, slits, cuts, joints or coils
-
- 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
- F16C—SHAFTS; FLEXIBLE SHAFTS; ELEMENTS OR CRANKSHAFT MECHANISMS; ROTARY BODIES OTHER THAN GEARING ELEMENTS; BEARINGS
- F16C1/00—Flexible shafts; Mechanical means for transmitting movement in a flexible sheathing
- F16C1/02—Flexible shafts; Mechanical means for transmitting movement in a flexible sheathing for conveying rotary movements
- F16C1/04—Articulated shafts
-
- 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
- F16D—COUPLINGS FOR TRANSMITTING ROTATION; CLUTCHES; BRAKES
- F16D3/00—Yielding couplings, i.e. with means permitting movement between the connected parts during the drive
- F16D3/50—Yielding couplings, i.e. with means permitting movement between the connected parts during the drive with the coupling parts connected by one or more intermediate members
- F16D3/72—Yielding couplings, i.e. with means permitting movement between the connected parts during the drive with the coupling parts connected by one or more intermediate members with axially-spaced attachments to the coupling parts
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/00234—Surgical instruments, devices or methods, e.g. tourniquets for minimally invasive surgery
- A61B2017/00292—Surgical instruments, devices or methods, e.g. tourniquets for minimally invasive surgery mounted on or guided by flexible, e.g. catheter-like, means
- A61B2017/003—Steerable
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/28—Surgical forceps
- A61B17/29—Forceps for use in minimally invasive surgery
- A61B2017/2901—Details of shaft
- A61B2017/2905—Details of shaft flexible
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/28—Surgical forceps
- A61B17/29—Forceps for use in minimally invasive surgery
- A61B2017/2926—Details of heads or jaws
- A61B2017/2927—Details of heads or jaws the angular position of the head being adjustable with respect to the shaft
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61M—DEVICES FOR INTRODUCING MEDIA INTO, OR ONTO, THE BODY; DEVICES FOR TRANSDUCING BODY MEDIA OR FOR TAKING MEDIA FROM THE BODY; DEVICES FOR PRODUCING OR ENDING SLEEP OR STUPOR
- A61M25/00—Catheters; Hollow probes
- A61M25/01—Introducing, guiding, advancing, emplacing or holding catheters
- A61M25/0105—Steering means as part of the catheter or advancing means; Markers for positioning
- A61M25/0133—Tip steering devices
- A61M25/0147—Tip steering devices with movable mechanical means, e.g. pull wires
-
- 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
- F16C—SHAFTS; FLEXIBLE SHAFTS; ELEMENTS OR CRANKSHAFT MECHANISMS; ROTARY BODIES OTHER THAN GEARING ELEMENTS; BEARINGS
- F16C2202/00—Solid materials defined by their properties
- F16C2202/20—Thermal properties
- F16C2202/28—Shape memory material
-
- 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
- F16C—SHAFTS; FLEXIBLE SHAFTS; ELEMENTS OR CRANKSHAFT MECHANISMS; ROTARY BODIES OTHER THAN GEARING ELEMENTS; BEARINGS
- F16C2316/00—Apparatus in health or amusement
- F16C2316/10—Apparatus in health or amusement in medical appliances, e.g. in diagnosis, dentistry, instruments, prostheses, medical imaging appliances
Description
Die Erfindung betrifft eine flexible Struktur.
Aus DE 33 90 015 T1 ist beispielsweise eine radial auslenkba
re, flexible Druckübertragungseinheit bekannt, die an einem
distalen Ende einer Schaftanordnung angebracht ist, mittels
welcher an deren proximalen Ende angebrachte Betätigungs
elemente eines chirurgischen Klammerinstruments mit einer am
distalen Ende der Druckübertragungseinrichtung angeordneten
Klammersetzanordnung eines Klammerinstruments verbunden sind.
Mit der bekannten Druckübertragungseinrichtung lassen sich
Längsdruckkräfte übertragen. Nachteilig bei dieser radial aus
lenkbaren Druckübertragungseinheit ist jedoch, daß die Struk
tur aus einer Vielzahl Einzelteile zusammengesetzt ist, was
einerseits teuer in der Fertigung ist, im Betrieb zudem mit
ungenauer Bewegungsübertragung verbunden ist und darüber hin
aus wegen der vielen Spalten und Winkel einer Sterilisation
nicht zugänglich ist.
Gemäß der Erfindung soll daher eine flexible Struktur geschaf
fen werden, bei welcher sowohl verschiedenartige Bewegungski
nematiken als auch verschiedene Zusatzfunktionen in einem Bau
teil vereinigt sind. Gemäß der Erfindung ist dies bei einer
flexiblen Struktur durch die Merkmale im Anspruch 1 erreicht.
Vorteilhafte Weiterbildungen sind Gegenstand der auf den An
spruch 1 unmittelbar oder mittelbar rückbezogenen Ansprüche.
Bei einer flexiblen Struktur gemäß der Erfindung ist ein Mate
rialblock durch n Einschnitte in eine Anzahl von (n + 1) Ab
schnitte ( mit n = 1, 2, 3 . . .) unterteilt, welche durch beibe
haltene Restquerschnitt-Bereiche zu einer einteiligen, abwin
kelbaren Struktur miteinander verbunden sind. Eine solche
Struktur kann vorzugsweise in einer Ebene abgewinkelt bzw. ge
bogen werden.
Die flexible Struktur gemäß der Erfindung wird vorzugsweise
aus einem Block hergestellt, dessen Material vorzugsweise ein
Kunststoff, wie Polytetrafluorethylen (PTFE) . . . (PA) Polye
thylen (PE), Polyvinylchlorid (PVC) u.ä. ist. Bedingt sind für
die flexible Struktur gemäß der Erfindung auch metallische
Sonderlegierungen, wie Formgedächtnislegierungen oder Titanle
gierungen einsetzbar, sowie auch alle sonstigen, zähelasti
schen Werkstoffe.
In dem vorzugsweise aus einem der vorstehend angeführten
Kunststoffe hergestellten Materialblock sind mehrere vorzugs
weise parallel zueinander verlaufende Einschnitte eingebracht,
so daß sich in bzw. um den verbleibenden Restquerschnittsbe
reich eine entsprechende Bewegungsfreiheit einstellt. Die Be
wegungsfreiheit ist hierbei von der jeweiligen Breite der Ein
schnitte, von der Einschnittiefe und somit von dem verbleiben
dem Restquerschnittsbereich, der als eine Art Biegelasche
dient, sowie von der Anzahl, der Anordnung, und der Form der
einzelnen Abschnitte abhängig.
Das bevorzugte Kunststoffmaterial ist Polytetrafluorethylen
(PTFE), da es eine gute Spanbarkeit, ein gutes zähelastisches
Materialverhalten, eine ausgesprochen hohe Biegewechselfestig
keit, eine sehr geringe Verformungs- bzw. Kriechneigung auf
weist und insbesondere im Hinblick auf Anwendungen im medizini
schen Bereich sich sehr gut reinigen läßt. Um eine Abbiegemög
lichkeit um ca. 55° bis 60° zu erreichen, kann vorzugsweise eine
Anzahl von n = 21 Einschnitten mit einer Breite von 0,5 mm ein
gebracht werden, wobei bei einem Ausgangsrohdurchmesser des Ma
terialblocks von 20 mm der durchgehende Restquerschnittsbereich
eine Breite von etwa 2 mm und eine Dicke von ebenfalls 2 mm auf
weist.
Beim Abbiegen um den Winkel α von bis zu etwa 55° bis 60°werden
die Randfaser-Bogenlängen, die im geraden, gestreckten Zustand
des Bauelements eine Länge von l haben, um Δl entsprechend der
nachstehenden Formel verkürzt bzw. verlängert:
Δl = n·B·
wobei mit Δl eine Verkürzung bzw. Verlängerung, mit n die An
zahl der Einschnitte und mit B die Breite eines Einschnitts be
zeichnet sind. Hierbei sind die Einschnitte vorzugsweise äqui
distant angeordnet, wobei bei der flexiblen Struktur gemäß der
Erfindung eine Länge von l 5·Δl einzuhalten ist, um auf die
se Weise die Werkstoff-Elastizität gut auszunutzen.
Ferner sollte bevorzugt eine Einschnittiefe von etwa 0,45·D
vorgenommen werden, was einer Stegbreite des Restquerschnittbe
reichs von etwa 0,1 D entspricht, wobei mit D der Außendurchmes
ser der fertigen, flexiblen Struktur bezeichnet ist. Die vor
stehenden Angaben beziehen sich auf das Material PTFE und sind
stark von dem Elastizitätsmodul und der Zugfestigkeit des ver
wendeten Werkstoffs abhängig.
Der Abbiegewinkel α einer flexiblen Struktur gemäß der Erfin
dung läßt sich nach der nachstehenden Formel berechnen zu:
Hierbei ist der Abbiegewinkel nicht von der Länge der flexiblen
Struktur abhängig, sondern vielmehr von deren Außendurchmesser
sowie von der Verkürzung bzw. Verlängerung Δl. (Hierbei sind
die wiedergegebenen Formeln durch den in ihnen nicht berück
sichtigten Einfluß der Stegbreite mit einem kleinen Fehler be
haftet). Mit der Breite bzw. der Dicke der Restquerschnittsbe
reiche nimmt der daraus resultierende Abbiegeradius einer fle
xiblen Struktur zu.
Um verschiedene kinematische Eigenschaften bei der flexiblen
Struktur gemäß der Erfindung zu erzielen, können Lage, Anzahl
und Form der Einschnitte variiert werden, wie nachstehend an
hand einer Vielzahl von Ausführungsformen im einzelnen genauer
erläutert wird. Darüber hinaus können die Einschnitte beliebig
zueinander angeordnet werden, vorzugsweise parallel und äquidi
stant oder parallel mit variablem Abstand, können gegeneinander
um die gleichen Winkel geneigt sein und können bei gleicher
oder unterschiedlicher Breite des Restquerschnittsbereichs ver
schieden tief eingeschnitten sein. Ferner können alle sich
hieraus ergebenden Kombinationen angewendet werden.
Darüber hinaus kann die flexible Struktur gemäß der Erfindung
hergestellt werden aus Halbzeugen mit beliebigen Querschnitten,
wie beispielsweise aus länglichen Halbzeugen mit einem Recht
eckquerschnitt, einem kreis- oder ellipsenförmigen Querschnitt,
mit beliebigen Polygonquerschnitten, aus beliebigen Hohlquer
schnitten, vorzugsweise Rohren und technischen Profilen, aus
Halbzeugen mit beliebigen Querschnittsformen und beliebigen
Querschnittsverläufen über die Länge einer flexiblen Struktur,
welche bevorzugt in Kegelform oder Keilform ausgeführt ist,
oder kann beliebige stetige oder unstetige Querschnittverläu
fe, wie beispielsweise einen Rechteckquerschnitt, der stetig in
einem Ellipsoidquerschnitt übergeht, aufweisen.
Ein weiterer Vorteil der flexiblen Struktur gemäß der Erfindung
besteht darin, daß sie beinahe in jeder beliebigen Größe, ins
besondere mittels spanabhebender Fertigung herstellbar ist, wie
beispielsweise in einer miniarturisierten Baugröße, einer mi
krosystem-technischer Baugröße, wobei sie bevorzugt mittels di
rekter Laserbearbeitung hergestellt wird. Ebenso ist eine Fer
tigung der flexiblen Struktur gemäß der Erfindung in makrosko
pischen Baugrößen, vorzugsweise in Abmessungen möglich, die bei
der Installation in Kanälen und für Kabelführungseinrichtungen
üblich sind.
Darüber hinaus ist eine Teilgröße vorstellbar, wie sie vorzugs
weise bei Tunnel-Bauelementen oder Abwasserkanälen üblich ist.
Darüber hinaus läßt sich die erfindungsgemäße flexible Struktur
in Abmessungen herstellen, wie sie in der Robotik zum Einsatz
kommen, wobei dies dann wieder von der Mikrosystemtechnik bis
gegebenenfalls zu haushohen Robotern zum Demontieren von Kern
kraftwerken reicht.
Ferner ist bei der flexiblen Struktur gemäß der Erfindung be
sonders vorteilhaft, daß folgende, verschiedene Bewegungsformen
realisierbar sind, nämlich ein Abwinkeln in einer Ebene, in
einer Richtung oder in zwei Richtungen, wobei von dem geraden
bzw. gestreckten Zustand ausgegangen ist, ein Abwinkeln in zwei
Ebenen in beliebigen Richtungen, ein Drehen um eine Achse, eine
Schraubung um eine Achse, sowie ein Verkürzen oder Verlängern
in einer Achsrichtung, wobei die äußere Form der flexiblen
Struktur gemäß der Erfindung beliebige Querschnittsverläufe zu
läßt.
Ferner können bei der flexiblen Struktur gemäß der Erfindung
durch eine entsprechende Bauteil-Strukturierung verschiedene
passive Zusatzfunktionen integriert werden, so beispielsweise
Kanäle zur Aufnahme von Seilzügen, zum Abwinkeln bzw. Abbiegen
der flexiblen Struktur, Saug- und Spülkanäle, Kanäle zum Unter
bringen von Lasern, Lichtleiteroptiken und Lichtbeleuchtungen
und/oder Operationswerkzeugen, beispielsweise bei der minimal
invasiven Chirurgie (MIC).
Auch können Kanäle zur Aufnahme von Antrieben für Instrumente
oder Einrichtungen ausgebildet werden, welche durch die flexi
ble Struktur hindurch gesteuert werden müssen, wie beispiels
weise Greifarme, Zangen, Scheren oder sonstige Aktuatoren. Dar
über hinaus können bei der flexiblen Struktur gemäß der Erfin
dung Kabelkanäle vorgesehen werden, um isoliert Koagulations-
HF-Strom zu leiten oder um Endeffektoren mittels elektromotori
scher Antriebe oder elektromechanischer Effekte, wie beispiels
weise, des Piezoeffekts, des magnetostriktiven Effekts, oder
einer Ansteuerung von Formgedächtnis-Legierungen vorgesehen
werden.
Bei einer entsprechenden Bauteil-Strukturierung können beliebi
ge aktive Zusatzfunktionen beispielsweise in Form von kineti
schen Eigenschaften integriert werden. Hierzu können vorzugs
weise Mikroaktuatoren eingesetzt werden, die in jedem Abschnitt
oder auch gekoppelt bzw. ungekoppelt in ausgewählten Abschnit
ten wirksam sind. Ferner können in der flexiblen Struktur An
triebe integriert werden, wodurch aus der Struktur ein Aktuator
gemacht wird. Hierbei brauchen die Antriebe nicht zwingend in
der flexiblen Struktur untergebracht sein, sondern können auch,
ähnlich wie bei Roboterhänden mit Bowdenzug-Seilantrieben, au
ßerhalb der flexiblen Struktur angeordnet sein.
Mit Hilfe bekannter Stellglieder, wie vorzugsweise Linearan
trieben, sind auch aktive Versionen der flexiblen Struktur rea
lisierbar, so beispielsweise ein Antrieb mittels Seilzügen zum
Abwinkeln bzw. Abbiegen der flexiblen Struktur, wobei die Seil
züge von einem Linearantrieb oder alternativ hierzu auch von
Hand betätigt werden können.
Die flexible Struktur gemäß der Erfindung läßt sich auch
äußerst kostengünstig herstellen, weil in einem Bauteil mehrere
flexible Glieder elastisch miteinander verbunden sind und die
Struktur durch Zusatzfunktionen ohne weiteres erweitert werden
kann, so daß dadurch auch eine Integration komplexer Funktionen
ermöglicht ist. Ferner weist die flexible Struktur gemäß der
Erfindung keine herkömmlichen, mechanischen Mehrkörper-Gelenke
auf und bleibt deshalb, solange sie einsetzbar ist, spielfrei.
Hierdurch ist erreicht, daß für eine Kombination mit extern
oder intern angebrachten Antrieben und/oder einer entsprechen
den Sensorik ein in geometrischer Hinsicht konstant bleibendes
Gebilde vorliegt, das während seiner Lebensdauer kein Spiel
aufweist.
Wenn die flexible Struktur aus PTFE hergestellt ist, ist sie
für medizinische Anwendungen besonders geeignet, da gegenüber
herkömmlichen Gelenkketten vorteilhaft ist, daß die flexible
Struktur keine Gelenksspalte besitzt, welche einer gründlichen
Reinigung nicht zugängig sind. Vielmehr kann die flexible
Struktur gemäß der Erfindung mit hohem Druck von 4,5 bar und
bei Temperaturen von 134°C und höher gereinigt und sterilisiert
werden, ohne hierzu demontiert werden zu müssen, da sowohl alle
Einschnitte als auch die Zusatzfunktionen ermöglichenden Kanäle
leicht spülbar oder ohnehin vollständig abgedichtet sind.
Darüber hinaus kann die flexible Struktur auch außerhalb der
Medizintechnik auf den verschiedensten Gebieten eingesetzt wer
den, und zwar vorzugsweise als Aktuator-Hauptgruppe in der Ro
botik, als Optikträger in der flexiblen Endoskopie und zur
Hohlraumkontrolle, oder die Struktur gemäß der Erfindung ist
auch als flexibles Führungsrohr für einen beliebigen techni
schen sowie auch einen nicht-technischen Einsatz verwendbar.
Nachfolgend wird die Erfindung anhand von bevorzugten Ausfüh
rungsformen unter Bezugnahme auf die anliegenden Zeichnungen im
einzelnen erläutert. Es zeigen:
Fig. 1a schematisch eine Seitenansicht einer ersten Ausführungs
form einer flexiblen Struktur gemäß der Erfindung;
Fig. 1b eine Schnittansicht entlang einer Linie I-I in Fig. 1a;
Fig. 2a schematisch eine Seitenansicht einer zweiten Ausfüh
rungsform der flexiblen Struktur gemäß der Erfindung;
Fig. 2b eine Schnittansicht entlang einer Linie II-II in Fig. 2a;
Fig. 2c eine Längsschnittansicht der in Fig. 2a schematisch wie
dergegebenen zweiten Ausführungsform;
Fig. 2d eine Draufsicht auf die in Fig. 2c rechte Endfläche der
Längsschnittansicht;
Fig. 2e eine Draufsicht auf die in Fig. 2c linke Endfläche der
Fig. 2c;
Fig. 3a schematisch eine dritte Ausführungsform der flexiblen
Struktur gemäß der Erfindung;
Fig. 3b und Fig. 3c Schnittansichten entlang einer Linie
IIIb-IIIb bzw. IIIc-IIIc;
Fig. 4a schematisch eine Draufsicht auf eine vierte Ausführungs
form der flexiblen Struktur gemäß der Erfindung;
Fig. 4b und Fig. 4c Schnittansichten entlang einer Linie IVb-IVb
bzw. IVc-IVc in Fig. 4a;
Fig. 5a schematisch eine fünfte Ausführungsform einer flexiblen
Struktur gemäß der Erfindung;
Fig. 5b eine Schnittansicht entlang einer Linie Vb-Vb in Fig. 5a;
Fig. 5c eine Schnittansicht entlang einer Linie Vc-Vc in Fig. 5a;
Fig. 6a eine sechste Ausführungsform der flexiblen Struktur ge
mäß der Erfindung;
Fig. 6b eine Schnittansicht entlang einer Linie VI-VI in Fig. 6a;
Fig. 7a schematisch eine siebte Ausführungsform der flexiblen
Struktur gemäß der Erfindung;
Fig. 7b eine Schnittansicht entlang einer Linie VII-VII in
Fig. 7a;
Fig. 8 eine schematische Darstellung einer flexiblen Struktur
nach Fig. 2a, 3a, 6a oder 7a in abgewinkeltem Zustand;
Fig. 9a schematisch eine achte Ausführungsform der flexiblen
Struktur gemäß der Erfindung;
Fig. 9b eine Schnittansicht entlang einer Linie IX-IX in Fig. 9a;
Fig. 10a eine neunte Ausführungsform der flexiblen Struktur gemäß
der Erfindung;
Fig. 10b eine Schnittansicht entlang einer Linie X-X in Fig. 10a
und
Fig. 11 bis 23 senkrecht zur Längsachse einer flexiblen Struktur
vorgenommene Schnittansichten weiterer Ausführungsformen
der flexiblen Struktur gemäß der Erfindung.
Anhand der Fig. 1a und 1b wird eine erste Ausführungsform einer
flexiblen Struktur gemäß der Erfindung beschrieben. In einem
kreiszylinderförmigen Materialblock 1 sind n Einschnitte 11 aus
gebildet, welche von einer parallel zur Haupt-Längsachse 10 ver
laufenden Mantellinie 10₁ parallel und äquidistant sowie senk
recht zu der Blocklängsachse 10 ausgebildet sind. Dadurch sind
zwischen den n Einschnitten 11 (n + 1) Abschnitte 21 entstanden,
die durch einen im unteren Bereich der Fig. 1a in Draufsicht und
in Fig. 1b im Schnitt wiedergegebenen segmentförmigen Restquer
schnitt-Bereich 31 zu einer einteiligen, abwinkelbaren Struktur
verbunden sind.
Wie aus der Schnittansicht der Fig. 1b zu ersehen ist, ist der
segmentförmige Restquerschnitt-Bereich 31 symmetrisch zu einer
zur Block-Längsachse senkrecht verlaufenden, in Fig. 1b gestri
chelt wiedergegebenen Linie 11 symmetrisch. Im Unterschied zu
dem in Fig. 1a dargestellten Verlauf der Einschnitte 11 können in
dem Materialblock 1 Einschnitte auch unter einem spitzen Winkel
zur Blocklängsachse 10 äquidistant oder auch in unterschiedli
chen Abständen ausgebildet sein.
Die vorstehende Feststellung gilt prinzipiell für alle in den
Zeichnungen dargestellten Ausführungsformen und wird aus diesem
Grund in Verbindung mit der Beschreibung der verschiedenen Aus
führungsformen nicht jedesmal wiederholt. Um die flexible Struk
tur beispielsweise in der aus Fig. 8 ersichtlichen Weise abwin
keln bzw. abbiegen zu können, ist bei der in Fig. 1a und 1b dar
gestellten, ersten Ausführungsform an einer dem segmentförmigen
Restquerschnitt-Bereich 31 gegenüberliegenden Stelle eine zur
der Längsachse 10 parallele Bohrung 41 vorgesehen, in welcher
ein zum Abwinkeln der flexiblen Struktur zugausübendes Mittel
untergebracht werden kann.
In der in Fig. 2a und 2b wiedergegebenen zweiten Ausführungsform
einer flexiblen Struktur sind im Unterschied zu der ersten in
Fig. 1a und Fig. 1b dargestellten Ausführungsform die n Einschnit
te 12a und 12b von zwei diametral gegenüberliegenden Mantelli
nien 10₁ und 10₂ aus parallel und äquidistant sowie senkrecht zu
der Längsachse 10 des Materialblocks 1 angeordnet. Die Ein
schnitte 12a und 12b sind so tief eingebracht, daß bei
den (n + 1) Abschnitten 22 zwischen den einander gegenüberlie
genden Enden der beiden Einschnittgruppen 12a und 12b ein durch
gehender, etwa rechteckiger Restquerschnitt-Bereich 32 in Form
eines Reststeges verbleibt, wie aus der Schnittansicht der
Fig. 2b zu ersehen ist.
Symmetrisch zur Längsachse 10 ist in dem rechteckigen Restquer
schnitt-Bereich 32 ein durchgehender geschlossener Kanal 52 aus
gebildet, wie der Längsschnittansicht in Fig. 2c zu entnehmen
ist. Ferner sind symmetrisch zu dem Kanal 52 an diametral gegen
überliegenden Stellen weitere miteinander fluchtende Bohrungen
42₁ und 42₂ ausgebildet, in denen zum Abwinkeln der flexiblen
Struktur nicht näher dargestellte, Druck und/oder Zug ausübende
Mittel untergebracht sein können. Zur Ausbildung von Saug
und/oder Spülkanälen sowie von Kanälen zur Aufnahme von Licht
leitern u.ä. können bezüglich des durchgehenden, mittig angeord
neten Kanals (52) auf einer Seite oder auf beiden Seiten ein
oder mehrere zusätzliche Kanäle 52₁ und 52₂ ausgebildet sein.
In Fig. 3a bis 3c gehen n Einschnitte 13a und 13b in dem kreis
zylinderförmigen Materialblock 1 jeweils abwechselnd von zwei
einander diametral gegenüberliegenden Mantellinien 10₁ bis 10₄
aus, welche, wie den Fig. 3a und 3c zu entnehmen ist, entlang
einer Kreisumfangslinie des Materialblocks 1 um 90° gegenein
ander versetzt sind. In Fig. 3a sind die n-Einschnitte ebenfalls
wieder parallel und äquidistant senkrecht zu der Längsachse 10
angeordnet. Hierbei sind die n Einschnitte 13a und 13b so tief
eingebracht, daß an den einander gegenüberliegenden Enden der
beiden um 90° versetzten Einschnitt-Gruppen 13a und 13b symme
trisch zur Block-Längsachse 10 ein etwa quadratischer Restquer
schnitt-Bereich 33 verbleibt, wie in den Schnittansichten der
Fig. 3b und 3c durch gestrichelte Linien angezeigt ist. Wie eben
falls den beiden Schnittansichten in Fig. 3b und 3c zu entnehmen
ist, sind symmetrisch zur Längsachse 10 ein durchgehender ge
schlossener Kanal 53 sowie diametral gegenüberliegende miteinan
der fluchtende Bohrungen 43₁ und 43₂ ausgebildet.
In Fig. 4a bis 4c ist eine vierte bevorzugte Ausführungsform
einer flexiblen Struktur wiedergegeben. Hierbei gehen die Ein
schnitte 14a und 14b jeweils von den zwei Mantellinien 10₁ und
10₂ aus, die diametral, d. h. um 180° entlang einer Kreisumfangs
linie des kreiszylinderförmigen Materialblocks 1 versetzt sind.
In Fig. 4a sind die Einschnitte ebenfalls wieder parallel und
äquidistant sowie senkrecht zur Längsachse 10 ausgerichtet. Je
weils zwei der Abschnitte 24 an den beiden Enden jedes Ein
schnitts 14a bzw. 14b sind durch etwa segmentförmige Restquer
schnitt-Bereiche 34₁ und 34₂ miteinander verbunden, welche, wie
aus den Schnittansichten der Fig. 4b und 4c zu ersehen ist, ein
ander diametral gegenüberliegend ausgebildet sind.
Somit ist durch die beiden segmentförmigen Restquerschnitt-Be
reich 34₁ und 34₂ wieder eine einteilige abwinkelbare Struktur
geschaffen. Ferner ist in der vierten Ausführungsform symme
trisch zur Längsachse 10 ein durch die Einschnitte 14a und 14b
unterbrochener, durchgehender Kanal 54 ausgebildet.
In Fig. 5a bis 5c gehen ein Teil der Einschnitte 15b und 15b′
wiederum von den beiden einander gegenüberliegenden Mantellinien
10₁ und 10₂ aus und sind parallel zueinander sowohl in gleichen
als auch in unterschiedlichen Abständen senkrecht zur Längsachse
10 angeordnet und so tief eingebracht, daß, wie aus Fig. 5c zu
ersehen ist, ein etwa rechteckiger Restquerschnittbereich 352
verbleibt. Wie im linken Teil der Fig. 5a dargestellt ist, gehen
von der einen Mantellinie 10₁ unter unterschiedlichen Winkeln
sowie senkrecht zur Längsachse 10 verlaufende Einschnitte 15a
aus, die, wie aus der Schnittansicht 5b zu entnehmen ist, so
tief eingebracht sind, daß im Bereich der Einschnitte 15a nur
noch ein segmentförmiger Querschnitt-Bereich 35₁ verbleibt.
Auch bei der fünften Ausführungsform ist symmetrisch zur Läng
sachse 10 ein durch die Einschnitte 15a unterbrochener, durchge
hender Kanal 55 ausgebildet, zu welchem symmetrisch zwei diame
tral gegenüberliegende miteinander fluchtende Bohrungen 45₁ und
45₂ ausgebildet sind. Somit sind zwischen den Einschnitten 15a,
15b und 15b′ unterschiedlich breite und unter unterschiedlichen
Winkeln bezüglich der Längsachse 10 ausgebildete Einschnitte 15a
bzw. 15b und 15b′ gebildet.
Bei der sechsten in Fig. 6a und 6b dargestellten Ausführungsform
ist der Materialblock 1 als ein Drehteil ausgebildet, in welchem
die Einschnitte 16 parallel zueinander senkrecht zu der Läng
sachse 10 verlaufen und durch dazwischen angeordnete Abschnitte
26 voneinander getrennt sind. Die Abschnitte 26 sind durch einen
zentralen, vorzugsweise kreisförmigen Restquerschnittbereich 36
miteinander verbunden, so daß dadurch wiederum eine einteilige,
abwinkelbare, flexible Struktur gebildet ist.
In dem kreisförmigen Restquerschnitt-Bereich 36 ist ein durch
gehender geschlossener Kanal 56 vorgesehen, und es sind diame
tral gegenüberliegende, miteinander fluchtende Bohrungen 46₁ und
46₂ beispielsweise zur Unterbringung von Zug oder Druck ausüben
den Mitteln vorgesehen.
Im Unterschied zu der sechsten in Fig. 6a und 6b dargestellten
Ausführungsform ist bei der siebten Ausführungsform einer flexi
blen Struktur in Fig. 7a und 7b ein zusammenhängender, fortlau
fender, schraubenlinienförmiger Einschnitt 17 in dem Material
block 1 ausgebildet. Symmetrisch zur Längsachse 10 ist wiederum
ein etwa kreisförmiger Restquerschnitt-Bereich 37 stehen geblie
ben, in welchem mittig ein durchgehender geschlossener Kanal 57
ausgebildet ist. Auf beiden Seiten des zentral angeordneten Ka
nals 57 sind wieder diametral einander gegenüberliegende, mit
einander fluchtende Bohrungen 47₁ und 47₂ vorgesehen.
In Fig. 9a und 9b ist eine neunte Ausführungsform der flexiblen
Struktur dargestellt, bei welcher zum Unterbringen von einem
oder mehreren Aktuatoren die Breite der Einschnitte 19 zwischen
den senkrecht zur Längsachse 10 angeordneten Abschnitten 29 ein
Mehrfaches der Breite der Abschnitte beträgt, und die Einschnit
te im Querschnitt rechteckig oder quadratisch ausgebildet sind.
Auch bei dieser Ausführungsform ist in dem verbleibenden, etwa
rechteckigen Restquerschnitt-Bereich 39 mittig ein durchgehen
der, geschlossener Kanal 59 ausgebildet, zu welchem diametral
gegenüberliegend miteinander fluchtende Bohrungen 49₁ und 49₂
vorgesehen sind.
Im Unterschied zu der Ausführungsform in Fig. 9a und 9b weisen
Einschnitte 110 bei der zehnten, in Fig. 10a und Fig. 10b darge
stellten Ausführungsform im Querschnitt die Form eines Dreiecks,
vorzugsweise eines gleichseitigen Dreiecks auf. Zwischen diesen
im Querschnitt dreieckigen Einschnitten 110 sind zu diesen kom
plementäre Abschnitte 210 vorgesehen. Im übrigen entspricht die
in Fig. 10a und 10b dargestellte Ausführungsform der in Fig. 9a
und 9b wiedergegebenen Ausführungsform, was dadurch zum Ausdruck
gebracht ist, daß abgesehen von dem Restquerschnitt-Bereich 310
in Fig. 10b die übrigen Bezugszeichen statt mit der Ziffer 9, wie
in Fig. 9b, nunmehr mit der Zahl 10 enden.
In den Fig. 11 bis 23 sind senkrecht zu einer in diesen Figuren
nicht näher bezeichneten (senkrecht zur Zeichenebene verlaufen
den) Längsachse unterschiedliche Querschnittsformen von Materi
alblöcken wiedergegeben, welche die Form von Polygonen haben,
und zwar in Fig. 11, 14, 17 und 20 die Form eines Quadrats, in
Fig. 12 und 18 die Form eines Sechsecks, in Fig. 13 und 19 die
Form einer Ellipse, in Fig. 15 und 21 die Form eines gleichseiti
gen Dreiecks und in Fig. 16 die Form eines gleichschenkligen Tra
pezes, bzw. Kreisform haben, wie in Fig. 22 und 23.
In den Fig. 11 bis 23 sind die jeweiligen durchgehenden, ge
schlossenen Kanäle mit 5 sowie der Zahl der jeweiligen Figur be
zeichnet. Dasselbe gilt für die einander diametral gegenüberlie
gende Bohrungen, die mit der Ziffer 4 und anschließend mit der
der jeweiligen Figur entsprechenden Zahl bezeichnet sind. Die
verbleibenden Restquerschnitt-Bereiche sind an erster Stelle mit
dem Bezugszeichen 3 und dann anschließend mit der der jeweiligen
Figur entsprechenden Zahl bezeichnet. Dasselbe gilt auch für die
Bezeichnung der Abschnitte, die an erster Stelle mit der Ziffer
2 und anschließend mit der Zahl der jeweiligen Figur bezeichnet
sind. Im übrigen sind die Einzelheiten, sowie die spezielle An
ordnung und Ausbildung der einzelnen Teile ohne Schwierigkeit
den jeweiligen Querschnittsdarstellungen in den Fig. 11 bis 23 zu
entnehmen, so daß hierauf im einzelnen nicht mehr näher einge
gangen ist.
Claims (17)
1. Flexible Struktur, dadurch gekennzeichnet, daß
ein Materialblock durch n Einschnitte (n = 1, 2, 3 . . .) in eine
Anzahl von (n + 1) Abschnitten unterteilt ist, und
die Abschnitte durch Restquerschnitt-Bereiche zu einer ein
teiligen abwinkelbaren Struktur miteinander verbunden sind.
2. Struktur nach Anspruch 1, dadurch gekennzeichnet, daß die
Anzahl von n Einschnitten (11) in einem vorzugsweise kreiszy
linderförmigen Materialblock (1), ausgehend von einer parallel
zur Block-Längsachse (10) verlaufenden Mantellinie (10₁) pa
rallel und äquidistant sowie senkrecht oder unter einem spit
zen Winkel zur Block-Längsachse (10) in der Weise ausgebildet
sind, daß (n + 1) Abschnitte (21) durch einen durchgehenden,
etwa segmentförmigen Restquerschnitt-Bereich (31) zu einer
einteiligen abwinkelbaren Struktur verbunden sind.
3. Struktur nach Anspruch 1, dadurch gekennzeichnet, daß die
Anzahl von n Einschnitten (12a, 12b) in einem vorzugsweise
kreiszylinderförmigen Materialblock (1) ausgehend von zwei
diametral gegenüberliegenden Mantellinien (10₁, 10₂) parallel
und äquidistant sowie senkrecht oder unter einem spitzen Win
kel zur Block-Längsachse (10) so tief eingebracht sind, daß
zum Verbinden von (n + 1) Abschnitten (22) zwischen den einan
der gegenüberliegenden Enden der beiden Einschnitt-Gruppen
(12a, 12b) symmetrisch zur Block-Längsachse (10) ein durchge
hender, etwa rechteckiger Restquerschnitt-Bereich (32) in Form
eines Reststeges verbleibt.
4. Struktur nach Anspruch 1, dadurch gekennzeichnet, daß die
Anzahl von n Einschnitten (13a, 13b) in einem vorzugsweise
kreiszylinderförmigen Materialblock (1) abwechselnd ausgehend
von jeweils zwei einander diametral gegenüberliegenden, ent
lang einer Kreisumfangslinie um 90° versetzten Mantellinien
(10₁, 10₂; 10₃, 10₄), parallel und äquidistant senkrecht oder
unter einem spitzen Winkel zur Block-Längsachse (23) so tief
eingebracht sind, daß zum Verbinden der (n + 1) Abschnitte
(23) zwischen den einander gegenüberliegenden Enden der bei
den, jeweils um 90° gegeneinander versetzten Einschnitt-Grup
pen (13a, 13b) symmetrisch zur Block-Längsachse (10) ein sich
in Längsrichtung über den gesamten Materialblock erstrecken
der, etwa quadratischer Restquerschnitt-Bereich (33) ver
bleibt.
5. Struktur nach Anspruch 1, dadurch gekennzeichnet, daß die
Anzahl von n Einschnitten (14a, 14b) in einem vorzugsweise
kreiszylinderförmigen Materialblock (1), abwechselnd ausgehend
von um 180° entlang einer Kreisumfangslinie versetzten Mantel
linien (10₁, 10₂) parallel und äquidistant sowie senkrecht oder
unter einem spitzen Winkel zur Block-Längsachse (10) ausgebil
det sind, so daß immer jeweils zwei sich an beiden Enden jedes
Einschnitts befindende Abschnitte (24) durch um 180° gegenein
ander versetzte, etwa segmentförmige Restquerschnitt-Bereiche
miteinander verbunden sind und somit durch die insgesamt n
segmentförmigen Restquerschnitts-Bereiche (34₁, 34₂) eine ein
teilige abwinkelbare Struktur gebildet ist.
6. Struktur nach einem der Ansprüche 1 bis 3, dadurch gekenn
zeichnet, daß in dem vorzugsweise kreiszylinderförmigen Mate
rialblock (1) der eine Teil der Einschnitte (15b, 15b′), aus
gehend von zwei diametral gegenüberliegenden Mantellinien
(10₁, 10₂) in gleichen und ungleichen Abständen sowie senk
recht zu der Blocklängsachse (10) und der andere Teil der Ein
schnitte (15a) ausgehend von einer (10₁) der beiden parallel
zur Blocklängsachse verlaufenden Mantellinien in gleichen oder
ungleichen Abständen sowie senkrecht oder unter spitzem Winkel
zur Längsachse (10) in den Materialblock (1) in der Weise ein
gebracht sind, daß zum Verbinden der (n + 1) Abschnitte ein
Teil der Abschnitte (25a) an einem sich über einen Teil des
Blockes (1) in dessen Längsrichtung erstreckenden, etwa seg
mentförmigen Restabschnitt (35₁) und der andere Teil der Ein
schnitte (25b) an einem zur Längsachse symmetrischen, sich
über den Restteil des Blockes (1) in dessen Längsrichtung er
streckenden, etwa rechteckigen Restquerschnittsbereich (35₂)
endet.
7. Struktur nach Anspruch 1, dadurch gekennzeichnet, daß bei
einem Materialblock (1) in Form eines Drehteils der Block (1)
durch die Anzahl von n Einschnitten (16), die zueinander pa
rallel und in gleichen oder ungleichen Abständen voneinander
angeordnet sind, in (n + 1) Abschnitte (26) unterteilt ist,
die durch einen zentralen, etwa kreisförmigen Restquer
schnitts-Bereich (36) miteinander verbunden sind, so daß da
durch eine einteilige abwinkelbare Struktur gebildet ist.
8. Struktur nach Anspruch 1, dadurch gekennzeichnet, daß
in einem Materialblock (1) in Form eines Drehteils ein fort
laufender, schraubenlinienförmiger Einschnitt (17) in der Wei
se ausgebildet ist, daß in der Mitte des Blockes (1) symme
trisch zu dessen Längsachse (10) ein etwa kreisförmiger Rest
querschnitt-Bereich (37) stehen bleibt.
9. Struktur nach Anspruch 3, dadurch gekennzeichnet, daß zum
Unterbringen eines oder mehrerer Aktuatoren die Breite von im
Querschnitt rechteckigen oder quadratischen Einschnitten (19)
ein Mehrfaches der Breite von massiven, senkrecht zur Läng
sachse (10) ausgebildeten Abschnitten (29) ist.
10. Struktur nach einem der vorhergehenden Ansprüche, dadurch
gekennzeichnet, daß die Einschnitte (110) in Seitenansicht die
Form von Dreiecken, vorzugsweise von gleichseitigen Dreiecken
haben, und die komplementären Abschnitte (210) durch einen et
wa rechteckigen, sich in Längsrichtung des Blockes (1) über
dessen gesamten Länge erstreckenden Restquerschnittsbereich
(310) zu einer einteiligen abwinkelbaren Struktur verbunden
sind.
11. Struktur nach einem der vorhergehenden Ansprüche, dadurch
gekennzeichnet, daß der Materialblock senkrecht zu seiner
Längsachse, die Form eines Polygons, insbesondere eines
gleichseitigen Dreiecks (Fig. 15; Fig. 21), eines Quadrats
(Fig. 11; Fig. 14; Fig. 17; Fig. 20), eines Sechsecks (Fig. 12;
Fig. 18), die Form einer Ellipse (Fig. 13; Fig. 19) oder eines
gleichschenkligen Trapezes (Fig. 16) hat, und daß jeder Materi
alblock durch n Einschnitte in (n + 1) Abschnitte aufgeteilt
ist, die über Restquerschnittbereiche eine einteilige, flexi
ble, abwinkelbare Struktur bilden.
12. Struktur nach einem der vorhergehenden Ansprüche, dadurch
gekennzeichnet, daß zum Unterbringen eines dem Abwinkeln der
flexiblen Struktur dienenden, zugausübenden Mittels im Außenbe
reich jedes Abschnitts (21; 215; 216; 221) miteinander fluch
tende Bohrungen (41; 415, 416, 421) vorgesehen sind.
13. Struktur nach einem der Ansprüche 1 bis 11, dadurch ge
kennzeichnet, daß zum Unterbringen von zwei Druck oder Zug
ausübenden Mitteln in den Abschnitten (22 bis 214, 219, 220)
diametral gegenüberliegende, miteinander fluchtende Bohrungen
(42₁, 42₂ bis 214₁, 214₂; 219₁, 219₂; 220₁, 220₂) vorgesehen
sind.
14. Struktur nach einem der vorhergehenden Ansprüche, dadurch
gekennzeichnet, daß zur Ausbildung eines Operationskanals kon
zentrisch zu der Materialblock-Mittenachse ein durchgehender,
geschlossener Kanal (52, 53, 56 bis 513; 519) ausgebildet
ist.
15. Struktur nach einem der vorhergehenden Ansprüche, dadurch
gekennzeichnet, daß zur Ausbildung eines Operationskanals, von
Saug- und/oder Spülkanälen sowie Kanälen zur Aufnahme von
Lichtleitern u.ä. durchgehende, geschlossene Kanäle (52) und
auch miteinander fluchtende Bohrungen (52₁, 52₂) ausgebildet
sind.
16. Struktur nach einem der vorhergehenden Ansprüche, dadurch ge
kennzeichnet, daß die flexible Struktur vorzugsweise aus zäh
elastischem Kunststoff wie Polytetrafluorethylen (PTFE), . . .
(PA), Polyethylen (PE), Polivinylchlorid (PVC) besteht.
17. Struktur nach einem der vorhergehenden Ansprüche, dadurch
gekennzeichnet, daß die flexible Struktur aus metallischen Son
derlegierungen, wie Formgedächtnis-Legierungen oder Titan-Le
gierungen besteht.
Priority Applications (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE19509116A DE19509116C2 (de) | 1995-03-16 | 1995-03-16 | Flexible Struktur |
US08/617,191 US6012494A (en) | 1995-03-16 | 1996-03-18 | Flexible structure |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE19509116A DE19509116C2 (de) | 1995-03-16 | 1995-03-16 | Flexible Struktur |
Publications (2)
Publication Number | Publication Date |
---|---|
DE19509116A1 true DE19509116A1 (de) | 1996-09-19 |
DE19509116C2 DE19509116C2 (de) | 2000-01-05 |
Family
ID=7756598
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
DE19509116A Expired - Fee Related DE19509116C2 (de) | 1995-03-16 | 1995-03-16 | Flexible Struktur |
Country Status (2)
Country | Link |
---|---|
US (1) | US6012494A (de) |
DE (1) | DE19509116C2 (de) |
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US6012494A (en) | 2000-01-11 |
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