Abstract: The invention relates to a mobile robot having running gear and at least one robot arm mounted on the running gear, a sensor system for sensing obstacles in the surroundings of the robot and a navigation unit for laying down a route along which the running gear can be moved while avoiding the obstacles, and a control unit for the robot arm which is adapted to lay down a permissible position for the robot arm by reference to the obstacles sensed and the route.

Abstract: A manual robot control by which a reference point of the robot is moved continually in space or positioned on an adjacent snap point depending on the control input.

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 concerns a robotic arm (1) with at least two arm modules (41, 42) which are moveable relative to one another and at least one manually operable input module (11) for generating control signals for the control of the robotic arm (1) on the basis of a user input. Both arm modules (41, 42) have a first interface (38, 40) onto which the input module (11) can be selectively mounted.

Abstract: The invention relates to a proximity sensor arrangement (1) comprising a substrate (2), a circuit board (4) carrying contact surfaces (35, 37) which is mounted on a surface (3) of the substrate (2) and at least one support (5) which carries contact surfaces (36, 38) complementary to the contact surfaces (35, 37) of the circuit board (4) and at least one proximity sensor (7) with a measuring electrode (8) and a shield electrode (9) extending between measuring electrode (8) and surface (3). In order to bring the contact surfaces (35, 36, 37, 38) of the circuit board (4) and of the support (5) into contact, the substrate (2) and support (5) are plug-connected in a plugging direction (R, L) running parallel to the surface (3) of the substrate (2).

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: 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 proximity sensor arrangement (1) comprising a substrate (2), a circuit board (4) carrying contact surfaces (35, 37) which is mounted on a surface (3) of the substrate (2) and at least one support (5) which carries contact surfaces (36, 38) complementary to the contact surfaces (35, 37) of the circuit board (4) and at least one proximity sensor (7) with a measuring electrode (8) and a shield electrode (9) extending between measuring electrode (8) and surface (3). In order to bring the contact surfaces (35, 36, 37, 38) of the circuit board (4) and of the support (5) into contact, the substrate (2) and support (5) are plug-connected in a plugging direction (R, L) running parallel to the surface (3) of the substrate (2).

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 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 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 mobile robot having running gear and at least one robot arm mounted on the running gear, a sensor system for sensing obstacles in the surroundings of the robot and a navigation unit for laying down a route along which the running gear can be moved while avoiding the obstacles, and a control unit for the robot arm which is adapted to lay down a permissible position for the robot arm by reference to the obstacles sensed and the route.

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: The invention concerns a robotic arm (1) with at least two arm modules (41, 42) which are moveable relative to one another and at least one manually operable input module (11) for generating control signals for the control of the robotic arm (1) on the basis of a user input. Both arm modules (41, 42) have a first interface (38, 40) onto which the input module (11) can be selectively mounted.

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 manual robot control. By means of the control, a reference point of the robot is moved continually in space or positioned on an adjacent snap point depending on the control input.

Abstract: A drive unit (8) for driving a tool. The drive unit (8) has at least one first drive module (18) comprising a motor (12) and a wheel (32) driven in a rotary manner around an axis (16) by the drive module (18). The drive module (18) comprises a magnetic ring (22) surrounding the wheel (32), with which the wheel (32) is connected in a magnetically force-transmitting manner and with which the motor (12) is connected in a mechanically force-transmitting manner.

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 (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: The invention relates to an end effector (7) for a surgical instrument (1), said end effector (7) comprises a drive unit (6) comprising an electric motor (12) which rotationally drives a shaft (14, 18). According to the invention, the end effector (7) also comprises a rotation-translation-transmission (29) which is connected to the shaft (14, 18) and which translates a rotating movement of the shaft (14, 18) into a translatory movement, and at least one working element (8) which is coupled to the rotation-translation-transmission (29) and is only driven thereby in a translatory manner.