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 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 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.

Abstract: A brake application device for a disk brake system includes an arm-shaped reference element for detecting any deformation caused to the brake application device when braking. The novel brake application device allows braking torque to be determined with a comparatively small degree of expenditure and in a simple manner. The brake application device of the invention therefore has a flexible zone which is bent during braking as a function of the braking torque. Adjacent to the flexible zone a braking torque sensor having an arm-shaped reference element and a sensor element which is shifted by the bending are provided. A particularly preferred embodiment refers to the system being supplemented by a brake application force sensing device.

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 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 yarn brake (1) according to the invention comprises individually adjustable biasing means (21, 22) which cooperate with plates (8, 9). By adjusting both biasing means (21, 22), desired positions of the brake plates (8, 9) may be deliberately set in a manner other than in conventional yarn brakes. For example, a desired centered position may be preserved for any yarn tension. It is also feasible to shift the desired centered position on purpose by deliberately adjusting both biasing means. The setting of the yarn tension is thus independent from the setting of the centered position.