Abstract: The Invention relates to a control device (25, 28, 29) for controlling a robot system (11) with at least one robot arm (14, 18) on which a surgical instrument (15, 19) is secured that has an end effector (17, 21), wherein the control device (25, 28, 29) comprises an imaging system (25, 28) that records the control specification of at least one hand (30L, 30R), evaluates it and converts it to corresponding control commands for one or more components of the robot system (11).

Abstract: A robot system comprises a base (2), a robot arm (1) connected to the base, a camera (10), at least one objective lens in the camera (10) being movable with the robot arm (1), and a screen (16). A control unit (15) is configured to detect a change in the distance between an object (21) detected by the camera (10) and the objective lens, and to vary the zoom factor of a zoom function of the camera (10) according to the change in distance.

Abstract: The invention relates to a surgical robot system comprising a robot arm (8) installed on a substructure (1), a first control instance (16) for producing control commands for the robot arm (8) on the basis of user inputs, and a second control instance (18), which receives the control commands from the first control instance (16) and checks the control commands with respect to whether the execution of the control commands by the robot arm (8) requires the robot arm to leave a specified occupied space (21, 22) of the robot arm (8) and releases a control command for execution by the robot arm (8) at most to the extent to which the control command can be executed without the robot arm leaving the specified occupied space (21, 22, 30).

Abstract: The invention relates to a method for defining a working range (A, A?) in which a robot (3) can guide a tool (7) fastened to the robot. According to the invention, the working range (A, A?) is defined in that a viewing body (K, K?), within which an image-capturing unit (6) captures images, is defined by positioning and/or setting the focal length of the image-capturing unit (6) and the working range (A, A?) is defined in dependence on the lateral boundary (11, 11?).

Abstract: The invention relates to a 3D input device (1) for controlling the position of an object (8, 14) in space, comprising a manually operable 3D input element (3), at which input element control demands in three spatial coordinates can be input, and a control dial (4), which generates an output signal dependent on the rotational angle when rotated. According to the invention, the 3D input device (1) comprises a control unit (21) which moves the object (8, 14) in space depending on the rotary movement executed at the control dial (4).

Abstract: The invention relates to an instrument (30) with an elongated first shaft (42), an end effector which is arranged on a distal end of the first shaft (42) and an actuation unit (19) arranged on the proximal end of the first shaft, wherein the actuation unit (19) comprises a first wheel (32) which is connected non-rotatably with the first shaft (42). The first shaft (42) is axially displaceable in relation to the first wheel (32) and is in threaded engagement with a second wheel (33) which is axially immovable in relation to the first wheel (32).

Abstract: The invention relates to a manually operable input device (1) having a sensor system (15) that comprises at least one rotary control knob (4) for detecting at least one movement characteristic variable. By predefining various movement patterns at the rotary control knob (4), various control commands can be generated. For this purpose, the input device (1) according to the invention comprises an evaluation unit (8) that compares the signal (13, 14) generated by the sensor system (15) with predefined rotational movement codes (C1-C16) and generates a code-dependent control command (16) if the predefined movement pattern or the corresponding signal (13, 14) matches a predefined rotational movement code (C1-C16).

Abstract: The invention relates to a device (10) for holding a surgical instrument (11), which is designed to be introduced through a sheath (12) into the body of a patient (2), and a sheath (12). The holding device according to the invention comprises a first holder (26) for the surgical instrument and a second holder (18) for the sheath. Furthermore, a drive unit (27) is provided by means of which said second holder (18) can be moved relative to said first holder in the longitudinal direction (15) and/or the direction of rotation of the surgical instrument (11).

Abstract: An end effector (60) comprises a base (63), a first gripper (64) connected with the base (63) so as to swivel around a gripper axis (68), and a positioning element (66) which is guided on the base displaceably along an end effector axis (76) and interacts with the gripper (64) via a guide slot system. The gripper axis (68) extends outside of a guide slot (70) of the guide slot system.

Abstract: The invention relates to a holding device (1) for a robotic surgical system, said holding device having a clamping device (11?) for removably holding a surgical object (12), said clamping device comprising at least two clamping jaws (14, 15) and a bearing part (8) on which at least one of the clamping jaws (10, 15) is movably mounted, and having at least one actuation element (18, 19) for actuating at least one of the clamping jaws (14, 15). The holding device (11) can be provided with a sterile encasement (13) in an intended use. According to the invention, the actuation element (18, 19) is guided in an axially movable manner on the bearing part (8).

Abstract: The invention relates to a method for controlling a robot system (1) for minimally invasive surgery, which comprises at least two robots (2, 3). According to the invention a port (7), which serves to provide access into the body of a patient (5), is operated by means of a first robot (2), and a surgical instrument (10), which is designed to be introduced into the body of the patient (5) through the port (7), is operated by means of a second robot (3). The separate operation of the port (7) and the surgical instrument (10) makes it possible to guide the port (7) synchronously to a movement of the surgical instrument (10), to damp the movement of the surgical instrument (10) or to block the movement by fixing the port (7).

Abstract: The invention relates to a device (2, 6) for manually controlling a robot system, comprising an input device (2), which can be operated by means of at least two hands and has a sensor system (7, 10) for detecting control specifications of a first hand (12) and control specifications of a second hand (13). According to the invention, the control device (2, 6) comprises a first control unit (19), which performs a position control function in dependence on the control specifications of the first hand (12), and a second control unit (20), which performs a velocity control function or a position control function in dependence on the control specifications of the second hand (13).

Abstract: A displaceable system is provided including at least one set of at least two wheels arranged in pairs for movement in a plane, the set being disposed on at least one wheel axle parallel to the plane. A single electric drive motor, a differential having variable torque distribution, and an electric servomotor are provided on the wheel axle for both wheels of a set. The electrical servomotor acts on the differential such that the torque generated by the single electric drive motor is distributed within the wheel axle individually to the wheels.

Abstract: A monitoring system for rail-borne transportation of goods or people in at least one car. The one or more cars may, for example, be railway cars or tram cars which are moved in the public rail system. The monitoring system according to the invention first of all includes a generator mount, which is integrated in at least one wheel bearing of the car. The generator mount is therefore used on the one hand as the bearing for a wheel of the car, and on the other hand to produce electrical energy, as a result of which it forms a power supply unit. The components which are required to produce the electrical voltage in the generator mount are integrated in the mount. One of these components is formed by a conductor arrangement which is used for induction of an electrical voltage to be generated.

Abstract: A monitoring system for rail-borne transportation of goods or people in at least one car. The one or more cars may, for example, be railway cars or tram cars which are moved in the public rail system. The monitoring system according to the invention first of all includes a generator mount, which is integrated in at least one wheel bearing of the car. The generator mount is therefore used on the one hand as the bearing for a wheel of the car, and on the other hand to produce electrical energy, as a result of which it forms a power supply unit. The components which are required to produce the electrical voltage in the generator mount are integrated in the mount. One of these components is formed by a conductor arrangement which is used for induction of an electrical voltage to be generated.

Abstract: A displaceable system including at least one set of at least two wheels arranged in pairs for movement in a plane, said set being disposed on at least one wheel axle parallel to the plane. A single electric drive motor, a differential having variable torque distribution, and an electric servomotor are provided on the wheel axle for both wheels of a set. The electrical servomotor acts on the differential such that the torque generated by the single electric drive motor is distributed within the wheel axle individually to the wheels.

Abstract: In a method and a restraint system for the controlled paying-out of a seatbelt (16) of a seatbelt system (1) for a vehicle (100) in the event of a crash, a vehicle occupant who is secured by the seatbelt system (1) is additionally restrained by an airbag (110), wherein the paying-out of the seat belt is controlled in such a way that the vehicle occupant (102) is braked, in particular over a predefined time period (txid) in accordance with a characteristic curve (13) to be predefined, the braking operation being such that the vehicle occupant (102) impacts against an airbag which is unfolded in an ideal fashion at the end of this time period.

Abstract: A seat belt system for a motor vehicle with a belt roller (14) and a belt strap (16) wound on the belt roller (14) further has a braking arrangement (17) that can be actuated by an actuator (32) for braking movement of the belt strap (16), the braking arrangement (17) being equipped with an arrangement (20, 38, 40) for automatically increasing an actuating force generated by the actuator (32), the actuator (32) being connected to an electronic control unit (35). The electronic control unit (35) controls the actuator (32) as a function of at least one occupant-specific and/or situation-specific parameter in order to effect braking of the movement of the belt strap (16) that is adapted thereto.

Abstract: A force-moment sensor (1) is used as a switch, with which, depending on the introduction of forces and moments onto an operating part (5) of the force-moment sensor (1), software or hardware functions of a device (2, 2?) to be controlled are triggered. For this purpose, the output signals of the force-moment sensor (1) are analysed by comparisons with threshold values. The selection of a device or a function thereof does not have to be chosen in advance, but takes place while introducing a force or a moment into the sensor. The introduced forces or moments in each degree of freedom of the sensor are analysed. The selection of the device or function coincides with the driving. The device can thus be simplified since no special facilities for selecting devices or functions must be provided. Additionally, the selection and driving are accelerated by this temporal coincidence.