Abstract: A robot structure, in particular for minimally invasive surgery, is provided with a first robot element and a second robot element that can be moved relative to the first robot element, said second robot element having two grasping and/or cutting elements which can be uniformly moved with respect to each other and which are connected to the first robot element via a hinge axis. The robot structure further has a force transmitting device for moving the grasping and/or cutting elements of the movable robot element and at least one sensor element comprising a sensitive end for receiving forces and/or torques that occur on the movable robot element and includes a base element that is fixed to the first robot element.

Abstract: The input apparatus (1) for medical minimally invasive robots or medical simulators consists of at least one handheld device (10) having a first operating part (12) and a second operating part (14), wherein the first and second operating parts (12,14) are connected to one another via a pivot joint (16), a measuring system (20) having one or more sensors for determining an angle between the first and second operating parts (12,14), for contactlessly detecting the spatial position of the handheld device and for contactlessly detecting the orientation of the handheld device, and a computer unit (22) which can be connected to the handheld device (10) via a data link.

Abstract: An anthropomorphic medical robot arm includes a base end, a first arm element, a base joint coupling the base end to the first arm element, a second arm element, a middle joint coupling the second arm element to the first arm element, a distal functional end, a distal joint coupling the distal functional end to the second arm element, and at least one selectively operable movement inhibitor operable on the base joint, middle joint and/or distal joint so as to restrict the functionally possible range of movement of the robot arm to the range of movement of a human arm.

Abstract: The sterile cover system for sterilely covering a medical technical robot arm with a connecting element, having a receiving bore with an inner wall, for endoscopic devices, is provided with a sack-shaped drape for enclosing the connecting element. The drape comprises a film tube which is adapted to the receiving bore for covering the inner wall, and a guiding element which is removably attached to a first end of the film tube, adapted to the receiving bore and extends into the film tube in an initial state of the sterile cover system. The film tube can be inserted into and guided through the receiving bore by means of the guiding element such that a surface of the film tube, facing inward in an initial state of the sterile cover system, faces the inner wall of the receiving bore in a state in which the film tube is guided through the receiving bore.

Abstract: The invention relates to an industrial robot (10) having a robot base (20) and a manipulator (12) movably mounted thereon having a plurality of motion axes (13-18), each being associated with an actuator (33-38) and at least one axis sensor (43-48, 73-78), wherein a multi-axis redundant sensor arrangement (26) is provided that comprises a plurality of redundant sensors (22-24).

Abstract: In a method for controlling a robot arm, which is particularly suitable for use in medical applications, a robot arm (10) with a redundant number of joints is used. A torque acting in at least one joint (12a, 12b) is sensed. By means of a control device, the torque acting in this joint (12a, 12b) is controlled to become substantially 0.

Abstract: An anthropomorphic medical robot arm includes a base end, a first arm element, a base joint coupling the base end to the first arm element, a second arm element, a middle joint coupling the second arm element to the first arm element, a distal functional end, a distal joint coupling the distal functional end to the second arm element, and at least one selectively operable movement inhibitor operable on the base joint, middle joint and/or distal joint so as to restrict the functionally possible range of movement of the robot arm to the range of movement of a human arm.

Abstract: In a method for controlling a robot arm, which is particularly suitable for use in medical applications, a robot arm (10) with a redundant number of joints is used. A torque acing in at least one joint (12a, 12b) is sensed. By means of a control device, the torque acting in this joint (12a, 12b) is controlled to become substantially 0.

Abstract: A robot arm comprises a plurality of joints (10) which are connected to each other by connection elements (12). The connection elements (12) carry heat-generating components (14), particularly electronic components comprising thermally critical parts. For cooling these components, at least one connection element (12) comprises a heat-dissipating element made from a ceramic material. Preferably, the whole connection element (12) is made from a ceramic material. Due to their low thermal expansion coefficient and their good thermal conductivity, ceramic materials offer considerable advantages in comparison with support structures made of aluminum.

Abstract: To connect conventional or laparoscopic instruments to a robot that can be used for medical applications, there can be a device that has a first and a second circular cylinder segment having a continuous center bore is connected with the angled first segment affixed to the free end of a robot arm. This connection can be by way of an articulated joint that can be rotated by 180°. On one end surface of the second segment, there can be a third segment in the form of a flange, having a bore that is coaxial with the continuous center bore in the second segment. There is also a rolling joint which can be used to allow the device to rotate. Around the bore of the flange, there can be supply technology and data technology connection elements and a locking mechanism for coupling end effectors on and off.

Abstract: For actuating a variety of interchangeable surgical instruments, more particularly for hollow organ anastomosis, an apparatus comprises at the proximal end of a shank part a handle part (2) secured releasably and correctly positioned thereto. A pivotable toggle mechanism is fitted to the handle part, the pivotable toggle mechanism cooperating releasably with the proximal end of a flexible, force-transmitting reciprocating part guidingly accommodated in the shank part. The proximal end of the reciprocating part is connected to an adjusting mechanism in the handle part. At the distal end of the reciprocating part a connector for connecting a surgical instrument is provided. At the distal end of the shank part a connector is provided for connecting a housing of the surgical instrument. Fitted to the distal end of the flexible reciprocating part is a pusher transmitting an axial compression force to the body of the surgical instrument.

Abstract: For connecting a variety of surgical instruments for both minimally invasive surgery and for application in open surgery a push-button fastener is provided at the proximal end of the instrument to be connected in each case at the distal end of a shank part of an operating control device. Furthermore, for connecting and actuating the function elements of the instrument connected in each case a mandrel assembly is provided at the proximal end of the instrument, the mandrel assembly being in turn mounted on and latched to a receiving part at the distal end of an adjuster mechanism actuatable by the operating control means. Preferably, the mandrel assembly is tubular pin body slotted at its proximal end, having splined portions which is mounted on and latched to a contact pin guided and positioned in the shank part.