Abstract: A surgical instrument for minimally invasive surgery has an instrument shaft with a distal end and a proximal end. The proximal end is connectable to a signal generator. The surgical instrument has an instrument head which is pivotably connected to the distal end of the instrument shaft via a joint, and an end effector which is mounted rotatably about its longitudinal axis in the instrument head. The instrument further comprises a mechanical coupling element which is arranged at least partially in the instrument shaft and is configured to transmit and/or convert mechanical actuating signals of the signal generator for pivoting and rotating the instrument head, as well as a coil spring which bypasses the joint and connects the end effector to the coupling element to rotate the end effector. The coil spring has portions with different spring constants.

Abstract: A device for robot-assisted surgery comprises at least one manipulator arm with a non-sterile coupling unit comprising at least one first drive element. Further, the device comprises a sterile instrument unit arranged in a sterile area and comprising at least one second drive element arranged rotatably around an axis of rotation. The first drive element and the second drive element are configured and arranged in a coupled state such that by the first drive element a force can be exerted on the second drive element, for rotation of the second drive element about the axis of rotation, and in the coupled state the first drive element and the second drive element are arranged side by side in a plane of rotation orthogonally to the axis of rotation. Further, the device comprises a sterile barrier which is arranged at least between the first drive element and the second drive element.

Abstract: A trocar holder for a manipulator of a robotic surgical system. The trocar holder includes a base element for securing the trocar holder to the manipulator and a clamp element which is replaceably connected to the base element via a coupling mechanism. Two limbs movable relative to each other in a clamp plane are formed on the clamp element. The limbs are connected via a spine and have free tips. The trocar holder also has a clamp mechanism for opening and closing the limbs and a receiving element for a trocar.

Abstract: A surgical instrument for minimally invasive surgery has an instrument shaft with a distal end and a proximal end. The proximal end is connectable to a signal generator. The surgical instrument has an instrument head which is pivotably connected to the distal end of the instrument shaft via a joint, and an end effector which is mounted rotatably about its longitudinal axis in the instrument head. The instrument further comprises a mechanical coupling element which is arranged at least partially in the instrument shaft and is configured to transmit and/or convert mechanical actuating signals of the signal generator for pivoting and rotating the instrument head, as well as a coil spring which bypasses the joint and connects the end effector to the coupling element to rotate the end effector. The coil spring has portions with different spring constants.

Abstract: A trocar holder for a manipulator of a robotic surgical system. The trocar holder comprises a base element for securing the trocar holder to the manipulator and a clamp element which is replaceably connected to the base element via a coupling mechanism. Two limbs movable relative to each other in a clamp plane are formed on the clamp element. The limbs are connected via a spine and have free tips. The trocar holder also has a clamp mechanism for opening and closing the limbs and a receiving element for a trocar.