Abstract: A method for controlling, by means of an input unit, at least one manipulator arm of a robotic surgery system and an instrument held by the at least one manipulator arm. The input unit features a multi-linkage kinematic chain with active and/or passive joints and an open end. The open end is configured as a handpiece with at least one first passive joint. An operator controls movements of the instrument via moving the handpiece. The first passive joint features a first position sensor creating position signals which are used to control the movements of the instrument. A first measured value is calculated from a chronological succession of position signals of the first position sensor, and compared with a specified first threshold value. Control of the movement of the instrument is interrupted when the first measured value is smaller than the first threshold value.

Abstract: A robotic surgical system comprising a supporting column, a plurality of manipulator arms, a control device and a boom. The boom is connected at one end to the supporting column and at the other end includes a plurality of coupling devices for coupling the manipulator arms to the booms Depending on the position of the respective manipulator arm on the boom, some manipulator arms may be connected via first coupling devices with first coupling mechanisms to the boom, and other arms may be connected via second coupling devices to the boom. The first coupling mechanism comprises a first pivot joint. The second coupling mechanism comprises a second pivot joint, a third pivot joint and a linkage part connecting the pivot joints. The axes of rotation of the second and third pivot joints are spaced apart by the linkage part and lie parallel to each other.

Abstract: A robotic surgical system comprising a supporting column, a plurality of manipulator arms, a control device and a boom. The boom is connected at one end to the supporting column and at the other end includes a plurality of coupling devices for coupling the manipulator arms to the booms Depending on the position of the respective manipulator arm on the boom, some manipulator arms may be connected via first coupling devices with first coupling mechanisms to the boom, and other arms may be connected via second coupling devices to the boom. The first coupling mechanism comprises a first pivot joint. The second coupling mechanism comprises a second pivot joint, a third pivot joint and a linkage part connecting the pivot joints. The axes of rotation of the second and third pivot joints are spaced apart by the linkage part and lie parallel to each other.