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    • 8. 发明授权
    • Medical instrument
    • US11517385B2
    • 2022-12-06
    • US17584952
    • 2022-01-26
    • KARL STORZ SE & Co. KG
    • Jochen Stefan
    • A61B34/00A61B34/30
    • The disclosure relates to an actuation unit (16) for a medical instrument (10) and to a medical instrument (10) with a shaft (12) which extends between a proximal end (20) and a distal end (22), wherein the instrument (10) is designed at the distal end (22) to receive an end effector (14), an actuation unit (16, 216) which is assigned to the proximal end of the shaft (12), and which has a plurality of drives (50, 52, 54, 56), and with at least two control trains (100, 102, 104, 106, 108, 110, 112, 114) which extend through the shaft (12), wherein the at least two control trains (100, 102, 104, 106, 108, 110, 112, 114) can be used for controlling at least one degree of freedom of the instrument, in particular for deflecting the end effector (14), wherein the at least two control trains (100, 102, 104, 106, 108, 110, 112, 114) comprise a first control train (100, 104, 108, 112) and a second control train (102, 106, 110, 114), and wherein the first control train (100, 104, 108, 112) is coupled to a first carrier (70, 74, 78, 82) and the second control train (102, 106, 110, 114) is coupled to a second carrier (72, 76, 80, 84), on which a drive (50, 52, 54, 56) acts for generating a pushing movement or pulling movement of the carrier (70, 72, 74, 76, 78, 80, 82, 84).