Abstract: An instrument for a manipulator arm of an endoscopic robot is provided. The instrument has a treatment head for carrying out a medical measure in a patient, an instrument base carrying the treatment head, a coupling element that can be fastened to the manipulator arm, and a sterilizable sleeve enclosing the instrument and having at least one opening which can be sealingly placed on the instrument base. The coupling element protrudes from the opening.

Abstract: An instrument system is provided. The instrument system has an endoscopic instrument with a work head that is mounted on one end of a flexible support arm and can be inserted into a patient. The instrument system has a trocar that can be placed in the body surface of the patient and has a main body which can be fixed in position relative to the patient and which has a through-opening for the instrument, a guide body which, when the instrument is inserted, encloses and guides a longitudinal portion of the support arm with a guide channel in such a way that a spatial guiding direction of the support arm is defined at least thereon, with an adjustment element acting on the guide body and allowing a specific change of a relative position of the guiding direction with respect to the main body.

Abstract: A method for moving an instrument arm of a laparoscopy robot into a predeterminable position relative to a trocar placed in a patient is proposed. A spatial marker that can be localized from outside of the patient is applied to the trocar. The spatial position of the trocar is detected based on the spatial marker. The intended position of the instrument arm is established from the spatial position and the relative position. The actual position of the instrument arm is detected. The instrument arm is moved into the intended position based on the actual position, the intended position and an error minimization method.

Abstract: An instrument system is provided. The instrument system has an endoscopic instrument with a work head that is mounted on one end of a flexible support arm and can be inserted into a patient. The instrument system has a trocar that can be placed in the body surface of the patient and has a main body which can be fixed in position relative to the patient and which has a through-opening for the instrument, a guide body which, when the instrument is inserted, encloses and guides a longitudinal portion of the support arm with a guide channel in such a way that a spatial guiding direction of the support arm is defined at least thereon, with an adjustment element acting on the guide body and allowing a specific change of a relative position of the guiding direction with respect to the main body.

Abstract: An instrument for a manipulator arm of an endoscopic robot is provided. The instrument has a treatment head for carrying out a medical measure in a patient, an instrument base carrying the treatment head, a coupling element that can be fastened to the manipulator arm, and a sterilizable sleeve enclosing the instrument and having at least one opening which can be sealingly placed on the instrument base. The coupling element protrudes from the opening.

Abstract: A method for moving an instrument aim of a laparoscopy robot into a predeterminable position relative to a trocar placed in a patient is proposed. A spatial marker that can be localized from outside of the patient is applied to the trocar. The spatial position of the trocar is detected based on the spatial marker. The intended position of the instrument arm is established from the spatial position and the relative position. The actual position of the instrument arm is detected. The instrument arm is moved into the intended position based on the actual position, the intended position and an error minimization method.