Abstract: An instrument support device for a manipulator of a robotic surgical system, comprising: an arm having first, second and third arm elements; an interface for connecting the first arm element to the manipulator via a rotational joint; a torsional joint connecting the first and second arm elements; a first rotational joint connecting the second and third arm elements; a sliding joint connecting the third arm element to an instrument mounting for receiving a surgical instrument with a longitudinal axis; and a controller with drives for moving the arm elements and instrument mounting. The instrument mounting is connected to the third arm element via a second rotational joint, the rotational axes of the first and second rotational joints lie parallel to each other, and the longitudinal axis is guidable through a pivot point on the rotational axis of the torsional joint in an extension from the second arm element, without constraint.

Abstract: A device for robot-assisted surgery, comprising at least one non-sterile manipulator arm (12) having a coupling unit (100) with drive elements. The device further has an instrument unit (300) which comprises a surgical instrument (500) and a sterile sterile unit (400) for coupling the surgical instrument (500) to the drive elements of the coupling unit (100). The coupling unit (100) comprises a translatory drive element (110, 112) for generating a translatory drive movement and a rotatory drive element (114, 116) for generating a rotatory drive movement. The sterile unit (400) has a translationally driven element (408, 410) couplable to the translatory drive element (110, 112) and a rotationally driven element (412, 414) couplable to the rotatory drive element (114, 116). The device has a sterile lock (200) which is capable of being coupled to the coupling unit (100) and to the sterile unit (400).

Abstract: An operating device (42) for a robot-assisted surgery system (10) comprising a manually actuatable operating element (124) as well as an interface (100) for attaching the operating device (42) to a holding unit (50). When attached to the holding unit (50), the operating element (124) is rotatable relative to the interface (100) about three axes of rotation (106, 114, 126) running orthogonally to each other, these three axes of rotation (106, 114, 126) intersecting in a common point of intersection (150).

Abstract: An instrument support device for a manipulator of a robotic surgical system, comprising: an arm having first, second and third arm elements; an interface for connecting the first arm element to the manipulator via a rotational joint; a torsional joint connecting the first and second arm elements; a first rotational joint connecting the second and third arm elements; a sliding joint connecting the third arm element to an instrument mounting for receiving a surgical instrument with a longitudinal axis; and a controller with drives for moving the arm elements and instrument mounting. The instrument mounting is connected to the third arm element via a second rotational joint, the rotational axes of the first and second rotational joints lie parallel to each other, and the longitudinal axis is guidable through a pivot point on the rotational axis of the torsional joint in an extension from the second arm element, without constraint.

Abstract: An operating device (42) for a robot-assisted surgery system (10) comprising a manually actuatable operating element (124) as well as an interface (100) for attaching the operating device (42) to a holding unit (50). When attached to the holding unit (50), the operating element (124) is rotatable relative to the interface (100) about three axes of rotation (106, 114, 126) running orthogonally to each other, these three axes of rotation (106, 114, 126) intersecting in a common point of intersection (150).

Abstract: The invention describes a retaining and positioning device of a surgical instrument and/or of an endoscope for minimally invasive surgery, more particularly for use within a surgical robot system, including a first axis of rotation, around which a retaining element can be rotated. The first axis of rotation always intersects with a longitudinal axis of at least one surgical instrument and/or of an endoscope in a pivotal point by means of a thrust drive being attached to the retaining element, to which thrust drive an instrument drive unit can be rotatably arranged around the pivotal point. The instrument drive unit has a telescopic arrangement via which the surgical instrument can be moved in a translational manner along the longitudinal axis thereof by means of a guide arrangement in the body in such a manner that the longitudinal axis of the surgical instrument is variably adjustable relative to the telescopic arrangement.

Abstract: The invention relates to a transmission mechanism for a drive system, having at least one tensioning device and acting in two directions. For force transmission, the tractive device runs between a drive roll and an output roll, which are carried by a frame. A spring coupling is connected in the force transmission section between the drive roll and the output roll and has a nonlinear force-distance characteristic curve.

Abstract: The invention describes a retaining and positioning device of a surgical instrument and/or of an endoscope for minimally invasive surgery, more particularly for use within a surgical robot system, including a first axis of rotation, around which a retaining element can be rotated. The first axis of rotation always intersects with a longitudinal axis of at least one surgical instrument and/or of an endoscope in a pivotal point by means of a thrust drive being attached to the retaining element, to which thrust drive an instrument drive unit can be rotatably arranged around the pivotal point. The instrument drive unit has a telescopic arrangement via which the surgical instrument can be moved in a translational manner along the longitudinal axis thereof by means of a guide arrangement in the body in such a manner that the longitudinal axis of the surgical instrument is variably adjustable relative to the telescopic arrangement.

Abstract: A device for robot-assisted surgery, comprising at least one non-sterile manipulator arm (12) having a coupling unit (100) with drive elements. The device further has an instrument unit (300) which comprises a surgical instrument (500) and a sterile sterile unit (400) for coupling the surgical instrument (500) to the drive elements of the coupling unit (100). The coupling unit (100) comprises a translatory drive element (110, 112) for generating a translatory drive movement and a rotatory drive element (114, 116) for generating a rotatory drive movement. The sterile unit (400) has a translationally driven element (408, 410) couplable to the translatory drive element (110, 112) and a rotationally driven element (412, 414) couplable to the rotatory drive element (114, 116). The device has a sterile lock (200) which is capable of being coupled to the coupling unit (100) and to the sterile unit (400).

Abstract: The invention describes a mounting and positioning device of a surgical instrument and/or an endoscope for minimally-invasive surgery, in particular for use within a surgical robot system, comprising a first axis of rotation (3), around which a support element (4) is rotatably arranged, wherein the first axis of rotation (3) intersects with the longitudinal axis (11) of at least one surgical instrument (9; 17A, 17b) and/or an endoscope (9; 17A, 17b) in a pivot point (13), as the result of a deviation drive (5) being fixed on the support element (4), said deviation drive arranging an instrument drive unit (15) in rotatable fashion around a pivot point (13), and wherein a telescopic device (8) is provided at an instrument drive unit (15), which allows for the translatory movement of the surgical instrument (9; 17A, 17b) and/or the endoscope (9; 17A, 17B) into the body, along its longitudinal axis (11) using a guide device (10, 10s) in such fashion that the longitudinal axis (11) of the surgical instrument (9; 1

Abstract: The invention describes a mounting and positioning device of a surgical instrument and/or an endoscope for minimally-invasive surgery, in particular for use within a surgical robot system, comprising a first axis of rotation (3), around which a support element (4) is rotatably arranged, wherein the first axis of rotation (3) intersects with the longitudinal axis (11) of at least one surgical instrument (9; 17A, 17b) and/or an endoscope (9; 17A, 17b) in a pivot point (13), as the result of a deviation drive (5) being fixed on the support element (4), said deviation drive arranging an instrument drive unit (15) in rotatable fashion around a pivot point (13), and wherein a telescopic device (8) is provided at an instrument drive unit (15), which allows for the translatory movement of the surgical instrument (9; 17A, 17b) and/or the endoscope (9; 17A, 17B) into the body, along its longitudinal axis (11) using a guide device (10, 10s) in such fashion that the longitudinal axis (11) of the surgical instrument (9; 1

Abstract: The invention relates to a transmission mechanism for a drive system, having at least one tensioning device and acting in two directions. For force transmission, the tractive device runs between a drive roll and an output roll, which are carried by a frame. A spring coupling is connected in the force transmission section between the drive roll and the output roll and has a nonlinear force-distance characteristic curve.

Abstract: The aim of the invention is to provide a device for measuring friction conditions enabling precise measurement and displaying high reproductibility, using simple means. According to the invention, this is achieved by connecting the point of application of force for the introduction of a normal force to the point of application of force of a normal force sensor by means of an elastic flexing element. The flexing element is also connected to the point of application of force for the introduction of a tangential force and the friction force sensor. Connections occur via partial areas with varying flexural strengths and both partial areas are offset at an angle of 90°. The inventive device which examines the friction conditions between friction partners enables a normal force to be applied between two corresponding friction partners and to be determined by means of a normal force sensor.

Abstract: An improved device for measuring the contact force between a contact wire and a power collector in an electrically powered vehicle, specially an electrical railway vehicle, by use of optical fiber force sensors. To this end, two compact force sensors are arranged between the base body (7) of the contact strip (6) and the pantograph rocker frame (5) or between the wearing element or shoe (8) and the base body (7) of the contact strip (6). Each sensor includes a deformable body (11), which is elastic in an axial direction but highly rigid crosswise, with the body being fitted with an integrated optical fuber reflex sensor (19). Axial deformations of the deformable body (11) equivalent to the contact force are detected by the reflex sensor (19) with high resolution, accuracy and no interference, are then signaled to a device (27) via optical fibers requiring no potential and converted therein into contact force-equivalent signals (28) or instructions (29).