Abstract: The invention relates to a torque sensor having a base body which extends in a radial direction of the base body from an annular inner flange having first force application points, via a mechanically weakened sensor portion equipped with measurement transducers which generate output signals, to an annular outer flange having second force application points, wherein the second force application points are connected to the sensor portion by a radially elastic material portion.

Abstract: The invention relates to a retaining device for an instrument, comprising at least one joint having at least two parts that can be moved relative to each other and at least one drive unit associated with the joint. The drive unit is designed to move the joint by driving at least one of the parts of the joint that can be moved relative to each other. The retaining device also comprises a securing device, which has a locking mechanism associated with the joint and a release unit that can be activated, wherein the locking mechanism interacts with the release unit in such a way that the locking mechanism holds the joint in a locked position as long as the release unit is not activated. The securing device is designed to permit a motion of the joint out of the particular locked position within a specified range of motion even if the release unit is not activated. The invention further relates to a corresponding securing device for a retaining device and to an operating method for said securing device.

Abstract: A retaining device is provided for an instrument, including at least one joint having at least two parts, and at least one drive unit associated with the joint designed to move the joint by driving at least one of the parts. The retaining device includes a securing device, which has a locking mechanism associated with the joint and a release unit that can be activated, wherein the locking mechanism interacts with the release unit such that the locking mechanism holds the joint in a locked position as long as the release unit is not activated. The securing device permits motion of the joint out of the particular locked position within a specified range of motion even if the release unit is not activated. A corresponding securing device for a retaining device and to an operating method for the securing device are also provided.

Abstract: The present disclosure relates to a retaining device for an instrument, including at least one joint having at least two parts, and at least one drive unit associated with the joint designed to move the joint by driving at least one of the parts. The retaining device includes a securing device, which has a locking mechanism associated with the joint and a release unit that can be activated, wherein the locking mechanism interacts with the release unit such that the locking mechanism holds the joint in a locked position as long as the release unit is not activated. The securing device permits motion of the joint out of the particular locked position within a specified range of motion even if the release unit is not activated. The present disclosure further relates to a corresponding securing device for a retaining device and to an operating method for the securing device.