US 11,744,959 B2
Gripper apparatus for cannulas
Pascal Kopperschmidt, Dittelbrunn (DE); Pia Daniel, Bodman (DE); Reiner Spickermann, Wasserlosen-Burghausen (DE); Otto Arkossy, Budapest (HU); Cacilia Scholz, Schwalbach (DE); Kai-Uwe Ritter, Rednitz-Hembach (DE); Elke Schulte, Schweinfurt (DE); and Christopher Hauke, Mainz-Kostheim (DE)
Assigned to FRESENIUS MEDICAL CARE DEUTSCHLAND GMBH, Bad Homburg (DE)
Appl. No. 16/479,941
Filed by FRESENIUS MEDICAL CARE DEUTSCHLAND GMBH, Bad Homburg (DE)
PCT Filed Jan. 29, 2018, PCT No. PCT/EP2018/052116
§ 371(c)(1), (2) Date Jul. 23, 2019,
PCT Pub. No. WO2018/138326, PCT Pub. Date Aug. 2, 2018.
Claims priority of application No. 10 2017 201 451.2 (DE), filed on Jan. 30, 2017.
Prior Publication US 2019/0336705 A1, Nov. 7, 2019
Int. Cl. A61M 5/32 (2006.01); A61B 34/30 (2016.01); A61B 17/34 (2006.01); A61B 34/00 (2016.01); A61M 25/01 (2006.01); A61M 25/02 (2006.01)
CPC A61M 5/3287 (2013.01) [A61B 17/3403 (2013.01); A61B 34/30 (2016.02); A61B 34/70 (2016.02); A61M 25/013 (2013.01); A61B 2017/3409 (2013.01); A61M 5/3204 (2013.01); A61M 25/02 (2013.01)] 10 Claims
OG exemplary drawing
 
1. A gripper apparatus for a cannulation robot for gripping a cannula holder, the gripper apparatus comprising two gripper elements and a moving device, wherein:
the gripper apparatus is configured such that the two gripper elements are able to be moved relative to each other and work in concert with one another to grip a cannula holder;
the moving device is configured to move the two gripper elements relative to one another and configured to move at least one of the gripper elements relative to a cannula holder when in use;
the moving device is configured to bring the gripper apparatus into a gripping state for gripping whereby at least one of the gripper elements is engaged with a cannula holder;
each of the two gripper elements has a respective grip region, and
in the state, either (1) the gripper apparatus is oriented to be arranged in an upper area above an upper side of a cannula and facing away from a patient when a distal end of the cannula is inserted into a patient, or (2) the grip regions are arranged and the gripper elements are formed such that a lower area below an underside of a cannula and facing a patient when the distal end of the cannula is inserted into the patient, is substantially free, or (3) both (1) and (2).