DE102015003137A1 - Medical robotic system - Google Patents

Abstract

A medical robot system according to the invention comprises a robot arrangement which has at least one mobile base (5, 5 ') and a multi-articulated robot arm (3, 3') which is connected proximally to the base and has a distal adapter flange (7) for connecting a medical device ( 6, 6 '); and an input device arrangement which has at least one input device (8, 8 ') for, in particular manual, input of control commands for the robot arrangement and / or at least one medical device (6, 6') guided by the robot arrangement, said input device being articulated and / or or detachably connectable to the robot assembly.

Description

The present invention relates to a medical robot system and a method for configuring the medical robot system.

From the US 2008/0154389 A1 For example, a robotic robot comprising a mobile base, a multi-articulated robotic arm connected to the base, a robotic arm-guided surgical instrument and a computer is known which may be located in the robotic robot or in or outside an operating room and has user input as not further explained.

The object of the present invention is to provide an improved medical robot system.

This object is achieved by a medical robot system having the features of claim 1. 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, (robotic) guidance of one or more medical devices and an input device arrangement with one or more input devices for, in particular manual, inputting control commands for the robot arrangement and / or at least a medical device guided by the robot arrangement, wherein said input device (s) is articulated and / or detachably connectable, in particular connected, to the robot arrangement, in particular the mobile base and / or the robot arm, in particular by signal technology, in particular electrically, and / or kinematically, in particular magnetically and / or mechanically, in particular by positive and / or frictional engagement.

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 thus adapted to different positions of the robot arrangement, environmental conditions and / or users.

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, medical devices which can be guided, in particular guided, by the robot arrangement. 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 clutches for releasably attaching a medical device directly to a distal end of a robotic arm of the robotic assembly, each having the distal adapter flange of the respective robotic arm and fixed to the respective medical device having connected counter flange.

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 friction-locked, connectable, in particular are connected or become. In a further development, an intermediate flange can be sterilized or designed as a sterile disposable article.

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 to different distal adapter flanges and / or on the same distal adapter flange optionally 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 arrangement and / or one or more, in particular alternatively or jointly, guided, in particular guided, medical devices of the medical robot system, in particular alternatively or jointly, can be guided by the robot arrangement the same input device of the input device arrangement controllable and this signal-connected in one embodiment with this, in particular signal-connected.

In particular, in one embodiment, the same input device of the input device arrangement may be configured with hardware and / or software technology to alternatively be connected to different bases and / or robot arms and / or medical devices and / or be controlled. 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 robotic arms and / or medical devices signaling interfaces and at least one input device on two complementary signaling interfaces.

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 by the Robot arrangement guided 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, a modular medical robot system is 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 clutch, various input devices kinematically, in particular magnetically and or mechanically, be connected, 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 connected alternatively or alternatively to different distal adapter flanges can be or be robotic to be or, and / or in which with the same medical device optionally or alternatively different input devices are signal connected or can be to control this, and / or in which the same input device optionally or alternatively be signal connected with different medical devices or ., to control this.

A medical device is provided in one embodiment for intra- or extracorporeal mechanical, hydraulic, pneumatic and / or electromagnetic admission to a patient and, in one embodiment, has one, in particular minimally invasive, surgical, imaging, fluid and / or gas - And / or -abführenden and / or electrical and / or magnetic end effector, in particular a forceps, clamp, a scalpel, an ultrasonic 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 articulating arm for articulating an input device or a plurality of articulated arms for 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 one development, one or more, in particular all, joints of the articulated arm can be fixed, in particular frictionally and / or positively, in particular by locking. 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. As a result, for example, a set pose of the articulated arm can be stored and approached by a motor if necessary. 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, the medical robot system in one embodiment, a, in particular manually and / or electrically releasable coupling for, in particular magnetic and / or positive and / or frictional, attachment of at least one input device of the input device arrangement either on the robot assembly or a robot arrangement foreign, especially 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 has a device control for controlling one or more medical devices guided by the robot arrangement, which are integrated in a robot control arranged to control the robot arrangement, in particular in a mobile base of the robot arrangement, or separately or in particular, in particular spaced apart , is. 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 device controller separate or external from the robot controller can be signal-connected to the robot controller, in particular wired or wireless. In one embodiment, the external device controller is separate from the mobile base, in particular spaced apart, or grounded to the mobile base.

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 Bases of the robot assembly each one, in particular manually and / or, in particular motor and / or hydraulic and / or pneumatic actuated retractable support. As a result, a position of the base can advantageously be 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 have one or more, in particular single or multi-axis and / or touch-sensitive, input means for 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, touchpads or the like.

In one embodiment, the medical robotic system comprises a, in particular one-piece and / or film-like, sterile sheath for completely or partially enveloping one or more robot arms and / or one or more mobile bases of the robot assembly 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 robot arm and / or at least one, in particular hose-like, 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 one another or fixable, in particular fastened or fixed, and / or are not exclusively connectable or connected by one or more pliable connecting elements, in particular cables, lines or the like.

According to one aspect of the present invention, for configuration of a medical robotic system described herein optionally one of a plurality of input devices of the input device arrangement is kinematically connected to the same mobile base or the same multi-articulated robot arm of the robot arrangement; 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 the input device arrangement is optionally kinematically connected to different mobile bases or multi-jointed robot arms of the robot arrangement; 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 robot arm and / or at least one robot arm and / or at least one mobile base of the robot arrangement and / or at least one input device of the input device arrangement and / or an associated articulated arm are at least partially enveloped with a, in particular one-piece, sterile enclosure, in particular a, in particular tubular, 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 transmits externally generated commands for controlling the robot arrangement to the robot controller in a further development and / or status information, in particular for an operating state, from the robot control Pose the robot arms or the like receives or for this purpose, in particular soff- and / or hardware technology, is set up. In particular, such an additional external controller may include the external input device described above, in which case the externally generated commands may be based on a, in particular manual, operation of this external input device.

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 connected thereto or by him guided medical device, a force and / or torque sensors 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 for, in particular manual, inputting control commands for the robot arrangement and / or the medical device, applies reaction forces, in particular to the input device manually operated user, from, which are determined on the basis of the sensed by the sensors forces or torques, in particular these correspond, or is for this purpose, in particular soff- and / or hardware technology, set up, in particular, to advantageously a feedback from the sensor to realize detected forces or torques. Accordingly, in one embodiment, a feedback of forces and / or torques detected by the sensor system is implemented or provided on an input device of the input device arrangement.

The robotic arm of the medical robotic system, in one embodiment, is pivotable relative to the mobile base between an operative position and a rest position via a robot mount having a base and a carrier mounted thereon. In particular, the mobile base of the medical robot system may be the movable rack, in particular the cart, a robot arrangement with a robot storage according to the parallel German patent application relating to a robot storage filed on the same day, the robot arm of the medical robot system corresponding to the robot of the robot arrangement. Accordingly, reference is additionally made to this parallel German patent application and their content expressly incorporated in full in the present disclosure.

Further advantages and features emerge from the subclaims and the exemplary embodiments. This shows, partially schematized:

1 Fig. 3: a medical robot system according to an embodiment of the present invention in a side view;

2 : the medical robot system in a top view;

3 : the medical robot system in another configuration in 2 corresponding representation;

4 : the medical robot system in another configuration in 2 corresponding representation;

5 : the medical robot system in another configuration in 2 corresponding representation;

6a : the medical robot system in another configuration in 1 corresponding representation; and

6b : the medical robot system in another configuration in 1 corresponding representation.

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

The medical device 6 can over the adapter flange 7 be supplied with energy and is signal technology to the robot controller 4 tethered. 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 on the adapter flange 7 on. In the exemplary embodiment, the counterflange is a sterile intermediate flange 6.2 trained with the sterile medical device 6 detachably connected and designed as a preparable component or as a disposable item. In a modification, not shown, the mating flange is fixed to the medical device 6 connected, in particular integrally formed therewith.

The medical robot system has an input device arrangement. This has an input device 8th for manual entry of control commands for the robot arm 3 and the medical device guided by it 6 on, with this input device 8th detachable on an articulated arm 9 and over this articulated and with the base 5 connected is. Signaling is the input device 8th with the robot controller 4 connected to allow an operator the movement of the robot arm 3 can control.

This is indicated by the input device 8th one or more single or multi-axis and / or one or more touch-sensitive input means for 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 motion sequences of the robot arm 3 and / or medical device 6 ,

In one embodiment, the robotic arm points 3 and / or the medical device 6 a force and / or torque sensor for detecting forces or torques. In one embodiment, a haptic and / or actuated input device, in particular a haptic hand controller, can exert or impose reaction forces (in particular on the surgeon) which are determined on the basis of the forces or torques detected by the sensor system. In this way it is advantageously possible to carry out a feedback of the forces or torques detected by the sensor system.

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 on, the alternative to the input device 8th 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 additional to the input device 8th one with the robot controller 4 only cable-connected further input device 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 modes of operation and / or an action of the medical device 6 trigger. Additionally or alternatively, the further input device 10 an actuating element of an enabling device, with which an unintentional movement of the robot arm 3 is prevented. An operation of the input device 8th Therefore, only in a corresponding movement of the robot arm 3 implemented when the operator at the same time the consent device on the other input device 10 actuated. Analog can be the other input device 10 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 the articulated connection of the input device 8th with the mobile base 5 The robot assembly comprises two serially arranged joints, in particular at least one rotary joint with at least one rotary 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 positively lockable with a locking mechanism in discrete positions. 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 optional sensors on. The operator can use the input device 8th by means of the articulated articulated arm 9 align ergonomically in his work environment.

One at the mobile base 5 rigid or hinged display 11 , which can optionally also have a touchscreen functionality, is used to display operating parameters and / or the system state.

The device control of the medical device 6 can in the robot control 4 be integrated. 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, the medical robot system in the exemplary embodiment optionally and shown in dashed lines an external device control 12 for controlling the medical device guided by the robot assembly 6 on top of that by the robot controller 4 separately and with the medical device 6 , in particular wired or wireless, is signal-connected. The external device control 12 can from the robot controller 4 and the mobile base 5 spaced or at the mobile base 5 be arranged or basefest. The external device control 12 can additionally with the robot control 4 be connected. In this case is robot control 4 configured based on signals from the input device 8th and / or the further input device 10 and / or in the controller 4 stored prefabricated program sequences suitable control signals for controlling the medical device 6 and to the external device control 12 to convey.

Optionally and shown in dashed lines, the input device arrangement has a kinematically not connected to the robot assembly external input device 13 for remote control of the robot arm 3 and / or the medical device guided by it 6 on. 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.

Likewise 13 also represent a, in particular optional, external control, the externally generated commands for controlling the robot assembly to the robot controller 4 transmitted and / or from the robot controller 4 Status information, in particular to an operating state, a pose of the robot arm or the like receives. In particular, such an external controller may include the above-described external input device, in which case the externally generated commands may be based on an operation of this external input device.

Optional and shown in dashed lines is an external monitor 14 provided on the operator endoscope images and / or recordings of an external imaging and / or navigation system can be displayed. Furthermore optional, the robot controller 4 be configured to configuration and / or status information of the robot system on the external monitor 14 display. The display 14 preferably has no direct mechanical or signaling connection to the robot arrangement, the representation of configuration and / or status information of the robot system can in particular indirectly, in particular via the external control 13 , respectively.

Thus the working space of the robot arm 3 to different types of intervention on the patient 1 , different types of storage of the patient 1 and / or different heights of the operating table 2 can be adjusted is the robot arm 3 in the 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.

Furthermore, the mobile base 5 one or more supports 16 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 with analogue functionality fixed to the mobile base 5 connected and their wheels are retractable.

2 shows the medical robot system in a top view. The robot system is so at the table by the medical staff 2 placed that the intervention or examination site on the patient 1 with the medical device 6 with simultaneously high manipulability of the robot arm 3 is achieved and the patient 1 continue for one operator 17 and additional medical staff is sufficiently accessible. After the joint fixations of the articulated arm 9 are solved, the input device 8th aligned in an ergonomic position for the operator and the joints of the articulated arm 9 fixed again. If available, also other external input devices 10 so at the table 2 arranged that they are for the operator 2 are easily accessible. This makes it possible for the operator to control the medical robot system in his usual working posture directly on the patient, at the same time as another optional medical instrument 19 lead and the likewise optional external monitor 14 can keep an eye on.

In the figures, mutually corresponding features are identified by identical reference numerals, possibly differentiated by an apostrophe ('), so that reference is made to the remainder of the description for the individual figures and only differences are discussed below.

3 shows the medical robot system in a different configuration in 2 corresponding representation. This configuration is different from the one previously described with respect to 2 described configuration only in that the input device 8th of articulated arm 9 removed by loosening this connecting coupling and by means of a corresponding coupling on the table 2 was attached. The input device 8th For example, at one side of the table 2 attached standard rail to be clamped. The articulated arm 9 is folded away to save space.

4 shows the medical robot system in another configuration in 2 . 3 corresponding representation. In this configuration, the robot assembly has two mobile bases 5 . 5 ' around the table 2 are arranged, and two associated mehrgelenkige robot arms 3 . 3 ' The medical robotic system has two medical devices which are jointly guided by this robot arrangement 6 . 6 ' ,

As with respect to 2 described, became the input device 8th with the help of the articulated arm 9 relative to the operator 17 aligned. The input device 8th' is how related to 3 described, right at the table 2 appropriate. Optional are additional external input devices 10 . 10 ' with the respective robot controller 4 . 4 ' signal connected, as with respect to 1 described.

5 shows the medical robot system in another configuration in 2 - 4 corresponding representation. As with respect to 4 This configuration also has two mobile bases 5 . 5 ' , multi-jointed robot arms 3 . 3 ' and two medical devices guided together by this robot assembly 6 . 6 ' on. Both robot arms 3 . 3 ' and both medical devices 6 . 6 ' are in this configuration the 5 but together through the same input device 8th and the same external input device 10 from operator 17 controllable, with the robot controls 4 . 4 ' is signal-connected.

The assignment of the input device 8th and if needed, one or more functions of the external input device 10 between the robot arm 3 and the robot arm 3 ' done by the operator 17 For example, by a designated switch of the external input device 10 , Here is the robot controller 4 configured to be that of input device 8th and external input device 10 generated control signals according to the operator 17 Assigned assignment either directly to the control of the robot arm 3 processed or to the robot controller 4 ' of the robot arm 3 ' forwards.

6b shows the medical robot system in another configuration in 1 corresponding representation.

In this configuration it has a one piece sterile enclosure 18 ' on, which is made of a film material and the robot arm 3 , the mobile base 5 and the input device 8th and the associated articulated arm 9 as well as and the display 11 envelops.

6a shows the medical robot system in another configuration in 6b corresponding representation.

The sterile serving 18 points in this configuration or execution in the area of the robot arm 3 a tubular bulge that is designed so that the robot arm 3 within his workspace can move freely. Analog has the sterile enclosure 18 in the range of input device 8th and articulated arm 9 a second tubular bulge on. This allows input device 8th and articulated arm 9 be moved by an operator without significant restrictions.

The sterile serving 18 respectively. 18 ' encloses the non-sterile adapter flange 7 Completely. After the robotic arm 3 was sterile packed, which is advantageously designed as a separate component intermediate flange 6.2 on the adapter flange 7 distal and mechanically or magnetically fixed. At the same time, the electrical contacting takes place by fitting between flange-side contact pins and adapter flange-side sockets and thereby the sterile cover 18 pierced punctually. In an alternative embodiment (not shown), the intermediate flange 6.2 also in the sterile envelope 18 respectively. 18 ' be integrated.

Also with others, with respect to 1 - 5 described embodiments or configurations, such a sterile sheath 18 respectively. 18 ' be present, this is not shown there for a better overview.

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

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 holding guide aids for setting pedicle screws, interventional radiology, in particular injectors for local therapy, RF and RF ablators, neurosurgery, in particular the placement of stimulation electrodes and the maxillofacial surgery, in particular the placement of cochlear implants.

In one embodiment, the system is mobile due to its comparatively compact dimensions and can be moved between operating theaters and / or other rooms simply and without great effort.

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 the exemplary embodiments are merely examples that are not intended to limit the scope, applications and construction in any way. Rather, the expert is given by the preceding description, a guide for the implementation of at least one exemplary embodiment, with various changes, in particular with regard to the function and arrangement of the components described, can be made without departing from the scope, as it turns out according to the claims and these equivalent combinations of features.

LIST OF REFERENCE NUMBERS

1

patient

2

table

3; 3 '

robot arm

4; 4 '

robot control

5; 5 '

Cart (mobile base)

6; 6 '

medical device

6.2

Wafer

7

distal adapter flange

8th; 8th'

input device

9; 9 '

articulated arm

10; 10 '

another input device

11

display

12

external device control

13

external input device / external control

14

display

15

Lifting column

16

support

17

Operator (user)

18

sterile serving

19

medical instrument

QUOTES INCLUDE IN THE DESCRIPTION

This list of the documents listed by the applicant has been generated automatically and is included solely for the better information of the reader. The list is not part of the German patent or utility model application. The DPMA assumes no liability for any errors or omissions.

Cited patent literature

• US 2008/0154389 A1 [0002]

Claims (14)

A medical robotic system comprising: a robot assembly having at least one mobile base ( 5 . 5 ' ); and a multi-joint robot arm ( 3 . 3 ' ) which is connected proximally to the base and a distal adapter flange ( 7 ) for connecting a medical device ( 6 . 6 ' ) having; and an input device arrangement comprising at least one input device ( 8th . 8th' ) for, in particular manual, input of control commands for the robot arrangement and / or for at least one medical device guided by the robot arrangement ( 6 . 6 ' ), wherein this input device is articulated and / or detachably connectable to the robot assembly. The medical robotic system of claim 1, wherein the robotic assembly comprises 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 alternatively, by the robot arrangement feasible medical devices ( 6 . 6 ' ) having. A medical robotic 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 arrangement and / or at least two, in particular alternatively or jointly, medical devices which can be guided by the robot arrangement ( 6 . 6 ' ) of the medical robot system, in particular alternatively or jointly, by the same input device ( 8th . 8th' ) of the input device arrangement are controllable. Medical robot system according to one of the preceding claims, wherein the input device arrangement at least two, in particular alternatively connectable with the robot assembly, input devices ( 8th . 8th' . 10 . 10 ' . 13 ) for inputting control commands for the robot arrangement and / or at least one medical device ( 6 . 6 ' ) having. A medical robot system according to the preceding claim, wherein the input device arrangement at least one input device (not connected to the robot arrangement) ( 13 ) for remotely controlling the robot arrangement and / or at least one medical device guided by the robot arrangement ( 6 . 6 ' ) and / or at least one with the robot assembly, in particular only, cable-connected input device ( 10 . 10 ' ) for inputting control commands for the robot arrangement and / or at least one medical device ( 6 . 6 ' ) having. A medical robotic system according to any one of the preceding claims, wherein the input device arrangement comprises at least one articulated arm ( 9 . 9 ' ) for the articulated connection of an input device ( 6 . 6 ' ) with the robot assembly having 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. A medical robotic system according to any one of the preceding claims, comprising a medical device assembly having at least one mating flange ( 6.2 ) for the 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, with a device control ( 12 ) for controlling at least one medical device guided by the robot arrangement ( 6 ), in particular in a mobile base ( 5 . 5 ' ) of the robot arrangement, robot control ( 4 . 4 ' ) is integrated with or separate from the robot assembly for controlling the robot assembly and that with the medical device ( 6 ), in particular wired or wireless, is signal-connected. A medical robotic system according to any one of the preceding claims, wherein at least one robotic arm ( 3 ) of the robot assembly with a base ( 5 ) is connected to the robot assembly articulated, in particular linearly movable and / or fixable and / or actuatable ( 15 ). Medical robot system according to one of the preceding claims, wherein at least one base of the robot assembly comprises a chassis with at least one, in particular retractable, passive or drive wheel, and / or a, in particular manually and / or actuated, extendable support ( 16 ) having. Medical robot system according to one of the preceding claims, wherein at least one input device ( 8th . 8th' . 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. 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 arrangement and / or at least one input device ( 8th ) of the input device arrangement. Medical robotic system according to the preceding claim, wherein the sterile sheath 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 ) having. A method of configuring a medical robotic system according to any one of the preceding claims, wherein: optionally one of a plurality of input devices of the input device assembly is connected to the same mobile base or articulated robotic arm of the robotic assembly; and / or the same input device 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 a plurality of medical devices is connected to the same adapter flange of the robot assembly; and / or the same medical device is optionally connected to different adapter flanges of the robot assembly; and / or at least one robot arm and / or at least one mobile base of the robot arrangement and / or at least one input device of the input device arrangement and / or an associated articulated arm is at least partially enveloped with a, in particular one-piece, sterile sheath.

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