WO2016142050A1

WO2016142050A1 - Medical robot system

Info

Publication number: WO2016142050A1
Application number: PCT/EP2016/000398
Authority: WO
Inventors: Sebastian LOHMEIER; Cyrill VON TIESSENHAUSEN
Original assignee: Kuka Roboter Gmbh
Priority date: 2015-03-11
Filing date: 2016-03-07
Publication date: 2016-09-15
Also published as: DE102015003137A1; WO2016142050A8

Abstract

The invention relates to a medical robot system comprising: a robotic arrangement that has at least one mobile base (5, 5') and one multi-jointed robotic arm (3, 3') which is proximally connected to said base and has a distal adapter flange (7) for the connection of a medical device (6, 6'); and an input device arrangement that comprises at least one input device (8, 8') for the, particularly manual, input of control commands for said robotic arrangement and/or for at least one medical device (6, 6') guided by the robotic arrangement, said input device being able to be connected to the robotic arrangement in an articulated and/or detachable manner.

Description

description

Medical robotic system

The present invention relates to a medical robot system and a method for configuring the medical robot system. US 2008/0154389 A1 discloses a surgical robot with a mobile base, a multi-jointed robot arm connected to the base, a gripper arm

Robot arm guided surgical instrument and a computer known, which may be located in the surgery robot or in or outside an operating room and having an unspecified user input. The object of the present invention is to provide an improved medical robot system.

This task is accomplished by a medical robot system with the characteristics of the

Claim 1 solved. Claim 14 provides a method of configuring a medical robotic system described herein under protection. The subclaims relate to advantageous developments.

According to one aspect of the present invention, a medical robot system has a robot arrangement for, in particular alternative or common,

(Robot) Management of one or more medical devices and one

Input device arrangement with one or more input devices for, in particular manual, input of control commands for the robot assembly and / or at least one guided by the robot assembly medical device, said input device (s) articulated and / or detachable with the robot assembly, in particular mobile base and / or the robot arm, connectable, in particular connected, is or are, in particular signal technology, in particular electrically, and / or kinematic, in particular magnetic and / or mechanical, in particular positive and / or frictional.

An input device connected in an articulated manner to the robot arrangement can advantageously be adjusted in its position and / or orientation relative to the (mobile) robot arrangement and so on different positions of the robot assembly,

Environmental conditions and / or users are adjusted.

An input device which can be connected detachably to the robot arrangement, in particular connected, can advantageously be provided either with different mobile bases and / or robot arms of the robot arrangement and / or with a robot arrangement external, in particular stationary, base, in particular an examination and / or treatment, in particular operating table or chair , connected and / or optionally replaced by another input device. As a result, the same input device can advantageously be arranged or used on or with different bases and / or arms of the robot arrangement and / or at different locations and / or alternatively different input devices can be arranged or used on or with the same elements of the robot arrangement.

The robot arrangement has at least one mobile base, in particular at least two mobile bases, to which (or in each case) a robot arm can be mechanically proximally connected, in particular connected, which has several, in particular at least six, in particular at least seven, in particular motor-actuated or actuated, joints, in particular rotary joints, and a distal adapter flange for, in particular mechanical and / or electrical and / or signaling and / or fluidic connection of a medical device.

In one embodiment, the medical robot system has a medical device arrangement with at least two, in particular alternatively or alternatively, through the

Robot arrangement of feasible, in particular guided, medical devices. Additionally or alternatively, in one embodiment, the medical device arrangement has at least one mating flange for kinematic, in particular magnetic and / or mechanical, in particular positive and / or frictional, and / or electrical and / or signaling and / or fluidic, in particular hydraulic and / or pneumatic, Connection of a medical device to an adapter flange of a robot arm of the robot assembly.

At least one counterflange is in one embodiment firmly connected to a medical device, in particular integrally formed therewith. In other words In one embodiment, the medical robotic system includes one or more couplings for releasably attaching a medical device to a distal end of a robotic arm of the robotic assembly, each having the distal adapter flange of the respective robotic arm and the mating flange fixedly attached to the respective medical device ,

Additionally or alternatively, in one embodiment, at least one counter flange is detachable, in particular magnetic, positive and / or frictional, connectable to a medical device, in particular connected. In other words, in one embodiment, the medical robotic system has one or more intermediate flanges for releasably indirectly attaching a medical device to a distal end of a robotic arm of the robotic assembly detachable, in particular magnetic, form with the distal adapter flange and with the medical device - and / or frictionally engaged, connectable, in particular connected or are. In a further development, an intermediate flange can be sterilized or as a sterile

Disposable article formed.

In one embodiment, one or more distal adapter flanges and one or more mating flanges form complementary kinematic, in particular mechanical and / or magnetic, and / or electrical and / or signaling and / or fluidic, in particular hydraulic and / or pneumatic, interfaces, so that in one Execution of the same medical device optionally or alternatively on different distal adapter flanges and / or on the same distal

Adapter flange alternatively or alternatively different medical devices can be connected or can be.

In one embodiment, one or more mobile bases and / or one or more multi-jointed robot arms of the robot assembly and / or one or more, in particular alternatively or jointly, guided by the robot assembly, in particular guided, medical devices of the medical robot system,

in particular alternatively or jointly, by the same input device of

Input device arrangement controllable and for this purpose in one embodiment with this signal connectable, in particular signal-connected. In particular, in one embodiment, the same input device of

Input device arrangement hardware and / or software technology to be set up, alternatively with different bases and / or robot arms and / or

medical devices to be connected by signal technology or his and to control them. For this purpose, in one embodiment, at least two different bases and / or robotic arms and / or medical devices have corresponding signal-technical interfaces and at least one input device has a signal-technical interface complementary thereto.

Additionally or alternatively, in one embodiment, the same input device of the input device arrangement hardware and / or software technology to be set to be connected with multiple bases and / or robotic arms and / or medical devices at the same time signal technology or be and control them together. For this purpose, in one embodiment, at least two different bases and / or robot arms and / or medical devices have signal-technical interfaces and at least one input device has two signal-technical features that are complementary thereto

Interfaces on.

Additionally or alternatively, the input device arrangement in one embodiment, at least two, in particular alternatively, in particular at the same location, with the robot assembly, kinematically, in particular mechanically and / or magnetically, connectable, input devices for inputting control commands for the

Robot assembly and / or at least one guided by the robot assembly medical device. Accordingly, in one embodiment, the medical robot system has couplings for the alternative kinematic connection of various input devices to the robot arrangement, in particular at the same location.

In other words, according to one aspect of the present invention

modular medical robotic system provided, in which with the same base and / or the same robot arm optionally or alternatively, in particular at the same location and / or by a coupling, various input devices kinematically, in particular magnetically and / or mechanically connected, or may be, and / or in which the same input device optionally or alternatively with different bases and / or robot arms, kinematically, in particular

mechanically and / or magnetically, can be connected, and / or at optionally or alternatively, in particular at the same location, different medical devices can be attached to the same distal adapter flange in order to be robotically guided and / or in which the same medical device is optionally or alternatively connected to different distal ones

Adapter flanges can be tethered to be or be robotically guided, and / or in which with the same medical device or

Alternatively, various input devices can be signal-connected or to be able to control this, and / or in which the same input device or alternatively

Alternatively, it may be signal connected to various medical devices to control this.

A medical device is in an embodiment for intra- or extracorporeal mechanical, hydraulic, pneumatic and / or electromagnetic

Provided a patient or provided and has in one embodiment a, in particular minimally invasive, surgical, imaging, fluid and / or gas-to-and / or -abführenden and / or electrical and / or magnetic end effector, in particular a pair of pliers, clamp , a scalpel, an ultrasound or endoscope head, a cannula or electrode or the like. In one embodiment, a medical device has one or more kinematic passive and / or, in particular motor, hydraulic and / or pneumatic, actuatable, degrees of freedom.

In one embodiment, the input device assembly includes an articulated arm

articulated connection of an input device or more articulated arms to

optional or alternative, articulated connection of the same input device or for articulated connection of various input devices with the robot assembly, in particular the same or different bases and / or robot arms on.

In one embodiment, an articulated arm has one or more hinges and / or one or more thrust joints. As a result, advantageously different poses of the articulated arm and thus different positions and / or orientations of the input device can be represented. In a further development, one or more, in particular all, joints of the

Articulated arm fixable, in particular frictionally and / or positively, in particular by Rest. In this way, advantageously, a pose of the articulated arm and thus a position and / or orientation of the input device can be fixed. In one embodiment, one or more, in particular all, joints of the articulated arm by brakes manually, pneumatically, hydraulically and / or electrically actuated or aktuierte be fixed. This allows the joints advantageously simple, reliable, quickly, with little effort and / or fixed centrally. Additionally or alternatively, in one embodiment, one or more, in particular all, joints of the articulated arm are motorized, actuated or actuated. As a result, the joints can advantageously be moved, adjusted or adjusted precisely, quickly, with little effort and / or centrally. In one embodiment, an articulated arm has one or more sensors for detecting a joint position of one or more, in particular all, joints of the

Articulated arm on. As a result, for example, a set pose of

Articulated arm stored and approached as needed motor. Additionally or alternatively, a controller may be adapted to the detected pose. In one embodiment, the medical robot system has a, in particular manually and / or electrically releasable coupling for, in particular magnetic and / or positive and / or frictional, attachment of the articulated arm to one or, in particular alternatively or alternatively, a plurality of input devices and / or a , In particular, manually and / or electrically releasable coupling for, in particular magnetic and / or positive and / or frictional, attachment of the articulated arm to the robot assembly. In this way, advantageously, the input device separated from the articulated arm and replaced by another or optionally attached elsewhere and / or the articulated arm of the robot assembly separated and replaced by another or optionally attached elsewhere.

Accordingly, in one embodiment, the medical robot system has a

in particular manually and / or electrically, detachable coupling for, in particular magnetic and / or positive and / or frictional, fastening at least one input device of the input device arrangement optionally on the

Robot arrangement or a robot arrangement foreign, in particular stationary, base, in particular a treatment, in particular examination or operating table of the chair on. In one embodiment, the input device arrangement has one or more input devices, which are not kinematically connected to the robot arrangement, for remote control of the robot arrangement and / or at least one medical device guided by the robot arrangement and / or one or more input devices for the, in particular manual, with the robot arrangement, in particular only cable-connected input devices , Input of control commands for the robot assembly and / or at least one guided by the robot assembly medical device. Such an input device has at least one footswitch or pushbutton in one embodiment.

In one embodiment, the medical robot system includes a device controller

Controlling one or more guided by the robot assembly medical devices, which is integrated in a, in particular in a mobile base of the robot assembly, arranged robot controller for controlling the robot assembly or separately from this, or in particular, spaced. In one embodiment, the device control is or is signal-connected to the medical device or devices, in particular wired or wireless. Additionally or alternatively, the separate from the robot controller or external device control with the robot controller, in particular wired or wireless,

be connected or be. In one embodiment, the external one

Device control separated from the mobile base, in particular spaced, or arranged on the mobile base or basefest.

In one embodiment, one or more robot arms of the robot assembly with the respective base of the robot assembly are articulated, in particular linearly movable and / or, in particular manually, fixable and / or, in particular motor and / or hydraulic and / or pneumatic, actuatable or aktuiert connected , As a result, the robot arm can advantageously be adapted to different positions of the base and / or different environmental conditions.

In one embodiment, one or more bases of the robot assembly each have a chassis with one or more wheels. In one development, one or more wheels, in particular manually and / or actuated retractable. Additionally or alternatively, one or more of the bases of the robot assembly each have one, in particular manually and / or, in particular motor and / or hydraulic and / or pneumatic, actuated retractable support. This can Advantageously, a position of the base are determined. One or more, in particular all, wheels of a chassis are passive or driven wheels in one embodiment. Additionally or alternatively, the chassis may have one or more drive wheels or with a, in particular motor, drive, coupled wheels.

In one embodiment, one or more input devices of the

Input device arrangement each one or more, in particular on or

multi-axis and / or touch-sensitive, input means for the manual input of control commands, in particular one or more uniaxial switches and / or buttons, one or more multi-axis joysticks, one or more, in particular capacitive, touch pads or the like.

In one embodiment, the medical robotic system has a, in particular one-piece and / or foil-like, sterile sheath for completely or partially enveloping one or more robot arms and / or one or more mobile bases of the robot arrangement and / or one or more, in particular with the arm or the base connected, input devices of the input device arrangement. As a result, advantageous mechanical and electrical components of the robot and / or input device arrangement need not be sterilized, which are not regularly sterile in particular due to their mobility.

In a further development, the sterile sheath has at least one, in particular hose-like, bulge for receiving a wrapped robotic arm and / or at least one, in particular tubular, bulge for receiving an enclosed input device and / or an associated articulated arm.

In this way, advantageously, the handling of the at least partially sterile wrapped medical robotic system can be improved.

In one embodiment, two elements which can be kinematically connected to one another, in particular connected elements, in particular an input device and a kinematically connectable or connected mobile base, robotic arm or articulated arm, are provided directly or by one or more, in particular rigidly or hingedly interconnected, rigid bodies fastened to each other or fixable, in particular fixed or fixed, and / or are not exclusively by one or more limp Connecting elements, in particular cables, lines or the like connectable or connected.

According to one aspect of the present invention, for configuration of a medical robotic system described herein, one of a plurality of input devices of the input device arrangement having the same mobile base or the like is optionally selected

multi-articulated robotic arm of the robot assembly kinematically connected; and / or the same input device of the input device arrangement optionally with the

Robot assembly or a robot arrangement foreign, in particular stationary, base kinematically connected; and / or the same input device of

Input device arrangement optionally with different mobile bases or

multi-jointed robot arms of the robot assembly kinematically connected;

and / or optionally one of a plurality of medical devices connected to the same adapter flange of the robot assembly; and / or the same medical device optionally connected to different adapter flanges of the robot assembly; and / or at least one robotic arm and / or at least one

Robot arm and / or at least one mobile base of the robot assembly and / or at least one input device of the input device assembly and / or an associated articulated arm with a, in particular one-piece, sterile sheath at least partially enveloped, especially in a, especially hose-like, bulge of the sterile sheath added.

In one embodiment, the robot arrangement has a robot controller for, in particular automatic, controlling the robot arrangement, in particular the robot arm, in particular its drives. This can be arranged in a development, as explained above, in the mobile base. In one embodiment, the medical robot system additionally has an external control, in particular not arranged on the mobile base, which in a further development generates externally generated commands for controlling the robot arrangement at the latter

Robot controller transmitted and / or from the robot controller

Status information, in particular to an operating state, a pose of the robot arms or the like receives or for this purpose, in particular soft and / or hardware technology, is set up. In particular, such additional external control may include the above-described external input device, wherein then the externally generated commands based on a, in particular manual, operation of this external input device can come about.

In the present case, manual operation is understood to mean, in particular, an actuation by a body part, in particular by hand and / or foot.

In one embodiment, the medical robot system, in particular the robot arm and / or the medical device connected to it or guided by it, has a force and / or torque sensor system for detecting forces or

Torques acting on the system, in particular the robot arm and / or the medical device. In a further development, a haptic and / or, in particular, electrically, actuatable, in particular actuated, input device of the input device arrangement, in particular an input device, exercises, in particular

manual, input of control commands for the robot assembly and / or the medical device, reaction forces, in particular to the input device manually operated user from, which are determined on the basis of the sensors detected forces or torques, in particular these correspond or is For this purpose, in particular soft and / or hardware technology, set up, in particular, in order to advantageously provide feedback of the forces detected by the sensor system or

To realize torques. Accordingly, in one embodiment, one

Feedback implemented by the sensors detected forces and / or torques on an input device of the input device arrangement or provided.

The robotic arm of the medical robot system is in one embodiment via a

Robot bearing having a base and a carrier mounted thereon, pivotable relative to the mobile base between an operating position and a Bergestellung. In particular, the mobile base of the medical robot system, the movable frame, in particular the car, a robot assembly with a robot storage according to the parallel German patent application

concerning a robot bearing filed on the same day, the robotic arm of the medical robot system corresponding to the robot of the robot

Robotic assembly. Accordingly, reference is additionally made to this parallel own German patent application and their contents expressly

fully incorporated into the present disclosure. Further advantages and features emerge from the subclaims and the exemplary embodiments. This shows, partially schematized:

1 shows a medical robot system according to an embodiment of the present invention

Invention in a side view; 2: the medical robot system in a plan view;

3 shows the medical robot system in another configuration in FIG. 2

corresponding representation;

4 shows the medical robot system in a further configuration in FIG. 2

corresponding representation; 5: the medical robot system in a further configuration in FIG. 2

corresponding representation;

6a: the medical robot system in a further configuration in FIG. 1

corresponding representation; and

FIG. 6b shows the medical robot system in a further configuration in FIG. 1. FIG

corresponding representation.

1 shows in a side view a patient 1 lying on an examination or operating table 2 and a medical robot system according to an embodiment of the present invention with a robot arrangement comprising a mobile base in the form of a carriage 5 and a multi-articulated robot arm 3, which is connected proximally to the base and has a distal adapter flange 7 to which a medical device 6 guided by the robot assembly is connected. In the mobile base, a robot controller 4 for controlling the robot arm is arranged.

The medical device 6 can be supplied with energy via the adapter flange 7 and is signal-wise connected to the robot controller 4. Examples of the medical device 6 are endoscopes, ultrasound heads, instruments for open or minimally invasive surgery, puncture needles or biopsy needles. The medical robot system has a counterflange for the mechanical and / or electrical and / or signaling and / or fluidic connection of the medical device 6 to the adapter flange 7. In the exemplary embodiment, the counterflange is designed as a sterile intermediate flange 6.2, which is detachably connected to the sterile medical device 6 and designed as a preparable component or as a disposable item. In a modification, not shown is the

Counter flange firmly connected to the medical device 6, in particular integrally formed therewith.

The medical robot system has an input device arrangement. This has an input device 8 for manual input of control commands for the robot arm 3 and guided by this medical device 6, said input device 8 is releasably connected to an articulated arm 9 and connected thereto articulated and with the base 5. Signaling the input device 8 is connected to the robot controller 4, so that an operator can control the movement of the robot arm 3. For this purpose, the input device 8 has one or more single- or multi-axis and / or one or more touch-sensitive input means for the manual input of control commands. Examples of such input means are haptic hand controllers, joysticks, 3-D motion controllers ("space mouse"), capacitive touch pads or switches for triggering special functions and / or preprogrammed

Movement sequences of the robot arm 3 and / or medical device 6.

In one embodiment, the robot arm 3 and / or the medical device 6 has a force and / or torque sensor for detecting forces or

Torques on. A haptic and / or actuated input device, in particular a haptic hand controller, can in one embodiment reaction forces

Exercise or impose (in particular on the surgeon), which are determined on the basis of the forces or torques detected by the sensor. In this way, advantageously, a feedback of the forces detected by the sensors or

Torques are performed.

The input device arrangement also has further, not shown, input devices for inputting control commands for the robot arm 3 and / or the medical device 6, which, as an alternative to the input device 8, kinematically with the articulated arm 9 and signal technology can be connected to the robot controller, for example, simpler and / or more complex input devices for inputting control commands for other medical devices. For example, it may be advantageous to control an actuated surgical instrument with a haptic hand controller to enable ergonomic and intuitive operation. On the other hand, for example, an endoscopy and / or biopsy system can be equipped with a simpler and thus more cost-effective input device.

The input device arrangement has, in addition to the input device 8, a further input device connected to the robot controller 4 for inputting control commands for the robot arm and / or the medical device 6 in the form of a footswitch 10, for example to switch between different operating modes and / or an action of the medical device 6 trigger.

Additionally or alternatively, the further input device 10 may have an actuating element of an enabling device, with which an unintentional movement of the robot arm 3 is prevented. An actuation of the input device 8 is therefore converted into a corresponding movement of the robot arm 3 only when the operator simultaneously actuates the enabling device via the further input device 10. Similarly, the further input device 10 may include an actuator of an emergency stop device, with which the operator can shut down the system, for example in the event of malfunction.

The articulated arm 9 for articulated connection of the input device 8 with the mobile base 5 of the robot assembly has two serially arranged joints, in particular at least one rotary joint with at least one rotational degree of freedom and / or a sliding joint with at least one translational degree of freedom. The joints are frictionally lockable with a brake and / or with a brake

Locking mechanism in discrete positions form-fitting fixable. The operation of the brake is done manually or automatically, for example, controlled by the user via a switch. For detecting the joint positions, the articulated arm 9 optionally has sensors. The operator can align the input device 8 by means of the articulated articulated arm 9 ergonomically in his work environment. A rigidly or hingedly mounted display 1 1 on the mobile base 5, which optionally may also have touchscreen functionality, serves to display operating parameters and / or the system status.

The device control of the medical device 6 may be integrated in the robot controller 4. This is advantageous, for example, in medical devices with an actuated end effector in order to ensure simple operability. Some medical devices additionally or alternatively require a separate control device, for example an HF generator of a cautery instrument, a camera controller of an endoscope or the like. For this purpose, in the exemplary embodiment, the medical robot system optionally and in dashed lines has an external device control 12 for controlling the medical device 6 guided by the robot arrangement, which is controlled by the

Robot controller 4 separately and with the medical device 6, in particular wired or wireless, signal-connected. The external device controller 12 may be spaced apart from the robot controller 4 and the mobile base 5, or may be grounded to the mobile base 5 as well. The external device controller 12 may additionally be signal-connected to the robot controller 4. In this case, robot controller 4 is arranged to be based on signals of the

Input device 8 and / or the further input device 10 and / or stored in the controller 4 pre-programmed program sequences to generate suitable control signals for controlling the medical device 6 and to the external

Device controller 12 to transmit.

Optionally and shown in dashed lines, the input device arrangement has an external input device 13 which is kinematically not connected to the robot arrangement

Remote control of the robot arm 3 and / or guided by this medical device 6. The external input device 13 is particularly advantageous in a medical device, for example, for imaging, in particular angiography, computed tomography, sonography, or the like, or for navigation.

Similarly, 13 may also represent an external control, in particular optional, which transmits externally generated commands for controlling the robot arrangement to its robot controller 4 and / or from the robot controller 4 Status information, in particular about an operating state, a pose of

Robotic arm or the like receives. In particular, such an external

Control include the above-described external input device, in which case the externally generated commands based on an operation of this external input device can come about.

Optionally and shown in dashed lines, an external monitor 14 is provided on which endoscopic images and / or images of an external imaging and / or navigation system can be displayed to the operator. Further optionally, the robot controller 4 may be configured to configure and / or

Status information of the robot system on the external monitor 14 represent. The monitor 1 preferably has no direct mechanical or signal-technical connection to the robot arrangement; the representation of configuration and / or status information of the robot system can be effected, in particular indirectly, in particular via the external controller 13. Thus, the working space of the robot arm 3 to different types of intervention on

Patients 1, different types of storage of the patient 1 and / or different heights of the operating table 2 can be adjusted, the robot arm 3 in

Embodiment via a lifting column 15 and thus linearly movable and fixable with the mobile base 5, which is adjustable in a substantially vertical direction, connected. The adjustment of the lifting column can be done manually or via a

in particular electrical or hydraulic, drive or, for example, for patient recovery, a combination of both variants done.

Furthermore, the mobile base 5 has one or more supports 16 in order to increase the stability during operation. The supports are adjustable or extendable manually or by a, in particular electrical or hydraulic, drive. Alternatively, the supports 16 can be firmly connected to the mobile base 5 with analogous functionality and their wheels can be retracted.

FIG. 2 shows the medical robot system in a top view. The robot system is placed by the medical staff at the table 2 in such a way that the intervention or examination location on the patient 1 with the medical device 6 is achieved while the robot arm 3 is manipulatable at the same time, and the patient 1 continues is sufficiently accessible to an operator 17 and additional medical personnel. After the joint fixations of the articulated arm 9 are released, the input device 8 is aligned in an ergonomic position for the operator and the joints of the articulated arm 9 are fixed again. If available, other external input devices 10 are arranged on the table 2, that they for the

Operator 2 are easily accessible. This makes it possible for the operator to control the medical robotic system directly in the patient's usual working posture, at the same time to guide another optional medical instrument 19 and to keep an eye on the also optional external monitor 14. In the figures, corresponding features are represented by identical,

optionally differentiated by an apostrophe ('), identified reference numerals so that reference is made to the individual figures to the rest of the description and will be discussed below only differences.

FIG. 3 shows the medical robot system in another configuration in a representation corresponding to FIG. This configuration differs from the configuration previously described with reference to FIG. 2 only in that the

Input device 8 of articulated arm 9 removed by loosening a coupling connecting them and was fixed by means of a corresponding coupling to the table 2. The input device 8 can be clamped, for example, on a side rail mounted on the table 2 standard rail. The articulated arm 9 is folded away to save space.

FIG. 4 shows the medical robot system in a further configuration in a representation corresponding to that in FIGS. In this configuration, the robot assembly comprises two mobile bases 5, 5 'arranged around the table 2 and two multi-jointed robot arms 3, 3' connected thereto, the medical robot system two medical devices 6, 6 'jointly guided by this robot arrangement.

As described with reference to FIG. 2, the input device 8 was used with the aid of

Articulated 9 aligned relative to the operator 17. The input device 8 'is attached directly to table 2 as described with reference to FIG. Optionally, additional external input devices 10, 10 'with the respective robot controller 4,

4 'signal connected as described with reference to FIG. FIG. 5 shows the medical robot system in a further configuration in a representation corresponding to that in FIGS. As described with reference to FIG. 4, this configuration also has two mobile bases 5, 5 ', multi-jointed robot arms 3, 3' and two medical devices 6, 6 'guided together by this robot arrangement. Both robot arms 3, 3 'and both medical devices 6, 6' are in this

However, the configuration of FIG. 5 can be controlled jointly by the same input device 8 and the same external input device 10 by operator 17, which is signal-connected to the robot controls 4, 4 'for this purpose.

The assignment of the input device 8 and, if required, one or more functions of the external input device 10 between the robot arm 3 and the robot arm 3 'is performed by the operator 17, for example by a dedicated switch of the external input device 10. Here, the robot controller 4 is configured to that it processes the control signals generated by input device 8 and external input device 10 according to the assignment set by the operator 17 either directly to the control of the robot arm 3 or to the

Robot controller 4 'of the robot arm 3' forwards.

FIG. 6b shows the medical robot system in a further configuration in a representation corresponding to FIG.

In this configuration, it has a one-piece sterile sheath 18 'made of a film material and enclosing the robotic arm 3, the mobile base 5 and the input device 8 and the associated articulated arm 9, and the display 11.

Fig. 6a shows the medical robot system in a further configuration in Fig. 6b corresponding representation. In this configuration, the sterile sheath 18 has a tubular bulge in the region of the robot arm 3, which is designed so that the robot arm 3 can move freely within its working space. Analogously, the sterile sheath 18 in the region of input device 8 and articulated arm 9 has a second tubular bulge. This allows input device 8 and Articulated arm 9 to be moved by an operator without significant restrictions.

The sterile sheath 18 or 18 'surrounds the non-sterile adapter flange 7 completely. After the robot arm 3 has been packaged in a sterile manner, the intermediate flange 6.2, which is advantageously designed as a separate component, is placed on the adapter flange 7 in the distal direction and fixed mechanically or magnetically. At the same time the electrical contacting takes place by zwischenflanschseitige pins and

adapter flange side sockets are joined while piercing the sterile sheath 18 punctually. In an alternative embodiment (not shown), the intermediate flange 6.2 can also be integrated into the sterile sheath 18 or 18 '.

Also in other embodiments described with reference to FIGS.

Configurations, such a sterile sheath 18 or 18 'may be present, this is not shown there for clarity.

Alternatively, the input device 8 may be designed such that it can be sterilized and thus attached and operated without sterile sheath in the vicinity of the patient 1.

The proposed modular medical robotic system may allow a physician in one embodiment to begin an open or conventional laparoscopic procedure. Thereafter, he can decide intraoperatively whether robotic support is required at least in sections.

The invention, in one embodiment, allows robotic use of a variety of instruments. The various applications extend in particular to the areas of laparoscopic surgery, in particular laparoscopic

Instruments such as grippers, cautery, needle holders, spinal surgery, in particular the holding of guide aids for setting pedicle screws, the

interventional radiology, in particular injectors for local therapy, RF and RF ablators, neurosurgery, in particular the setting of stimulation Electrodes and MKG surgery, especially the placement of cochlear implants.

The system is in one embodiment by its comparatively compact

Dimensions mobile and can be moved easily and without much effort between operating theaters and / or other rooms.

Although exemplary embodiments have been explained in the foregoing description, it should be understood that a variety of modifications are possible. It should also be noted that it is the exemplary

The explanations are merely examples of the scope of protection

Applications and the structure should in no way limit. Rather, the expert is by the preceding description a guide for the

Implementation of at least one exemplary embodiment given, wherein various changes, in particular with regard to the function and arrangement of the described components, can be made without departing from the scope, as it is apparent from the claims and these equivalent

Feature combinations results.

LIST OF REFERENCES

1 patient

2 table

3; 3 'robot arm

4; 4 'robot control

5; 5 'trolley (mobile base)

6; 6 'medical device

6.2 Intermediate flange

7 distal adapter flange

8th; 8 'input device

9; 9 'articulated arm

10; 10'other input device

1 1 display

12 external device control

13 external input device / external control

14 display

15 lifting column

16 support

17 surgeon (user)

18 sterile serving

19 medical instrument

Claims

claims

1. Medical robot system with:

a robot assembly, the

at least one mobile base (5, 5 '); and

a multi-articulated robot arm (3, 3 ') connected proximally to the base and having a distal adapter flange (7) for connecting a medical device (6, 6'); and an input device arrangement, the

at least one input device (8, 8 ') for, in particular manual, input of control commands for the robot assembly and / or for at least one guided by the robot assembly medical device (6, 6'), said input device hinged and / or detachable with the Robot assembly is connectable.

2. The medical robot system according to claim 1, wherein the robot arrangement has at least two mobile bases (5, 5 ') and / or multi-jointed robot arms (3, 3') and / or the medical robot system at least two, in particular, medical devices that can be guided by the robot arrangement (6 , 6 ').

3. A medical robot system according to the preceding claim, wherein at least two mobile bases (5, 5 ') and / or multi-jointed robot arms (3, 3') of the robot assembly and / or at least two, in particular alternatively or jointly, by the robot assembly feasible medical devices ( 6, 6 ') of the medical robot system, in particular alternatively or jointly, can be controlled by the same input device (8, 8') of the input device arrangement.

4. Medical robot system according to one of the preceding claims, wherein the input device arrangement at least two, in particular alternatively with the

Robot device connectable, input devices (8, 8 ', 10, 10', 13) for inputting control commands for the robot assembly and / or at least one guided by the robot assembly medical device (6, 6 ').

5. medical robot system according to the preceding claim, wherein the

Input device arrangement least one not with the robot assembly connected input device (13) for remotely controlling the robot arrangement and / or at least one guided by the robot assembly medical device (6, 6 ') and / or at least one with the robot assembly, in particular only, cable-connected input device (10, 10') for input of control commands for the robot assembly and / or at least one guided by the robot assembly medical device (6, 6 ').

Medical robot system according to one of the preceding claims, wherein the input device arrangement at least one articulated arm (9, 9 ') for articulated connection of an input device (6, 6') with the robot assembly with at least one, in particular fixable and / or aktuierbaren joint and / or at least one Sensor for detecting a joint position and / or a releasable coupling for attachment of the articulated arm to the input device and / or the robot assembly has.

Medical robot system according to one of the preceding claims, comprising a medical device arrangement, which has at least one counterflange (6.2) for

mechanical and / or electrical and / or signaling and / or fluidic connection of a medical device (6) on an adapter flange (7) of a robot arm of the robot assembly.

Medical robot system according to one of the preceding claims, having a device controller (12) for controlling at least one medical device (6) guided by the robot arrangement, which is arranged in a robot controller (4, in particular in a mobile base (5, 5 ') of the robot arrangement). 4 ') is integrated for controlling the robot arrangement or is separate from it, and which is signal-connected to the medical device (6), in particular wired or wireless.

Medical robot system according to one of the preceding claims, wherein at least one robot arm (3) of the robot assembly with a base (5) of the robot assembly is articulated, in particular linearly movable and / or fixable and / or actuatable connected (15).

10. A medical robot system according to one of the preceding claims, wherein at least one base of the robot arrangement comprises a chassis with at least one, in particular retractable, passive or drive wheel, and / or one,

in particular manually and / or actuated, extendable support (16). 1 1. A medical robotic system according to any one of the preceding claims, wherein

at least one input device (8, 8 ', 10, 10') of the input device arrangement at least one, in particular one or more multi-axis and / or

touch-sensitive, input means for manual input of control commands. 12. A medical robot system according to one of the preceding claims, with a, in particular one-piece, sterile sheath (18, 18 ') for at least partially enveloping at least one robot arm (3) and / or at least one mobile base (5) of the robot assembly and / or at least one

Input device (8) of the input device arrangement. 13. A medical robotic system according to the preceding claim, wherein the sterile

Enclosure a, in particular hose-like, bulge for receiving the robot arm and / or a, in particular hose-like, bulge for receiving the input device and / or an associated articulated arm (9). 14. A method for configuring a medical robot system according to one of

preceding claims, wherein:

optionally one of a plurality of input devices of the input device arrangement with the same mobile base or the same multi-articulated robot arm of

Robot assembly is connected; and or

the same input devices of the input device arrangement optionally with the

Robot arrangement or a robot arrangement foreign, in particular

stationary, base (2) is connected; and or

the same input device of the input device assembly is selectively connected to different mobile bases or multi-articulated robot arms of the robot assembly; and or optionally one of several medical devices on the same

Adapter flange of the robot assembly is connected; and or

the same medical device is optionally connected to different adapter flanges of the robot assembly; and or

at least one robotic arm and / or at least one mobile base of the

Robot arrangement and / or at least one input device of

Input device assembly and / or an associated articulated arm with a, in particular one-piece, sterile sheath is at least partially enveloped.