HOLDING DEVICE FOR A SURGICAL INSTRUMENT AND A SHEATH AND METHOD AND CONTROL DEVICE FOR OPERATING A ROBOT WITH SUCH A HOLDING DEVICE
First Claim
1. A device for holding a surgical instrument having a shaft which extends in a longitudinal direction and a sheath, comprising a first holder for the surgical instrument and a second holder for the sheath, and a first drive unit, by which the second holder is displaceable in the longitudinal direction of the surgical instrument, relative to the first holder, wherein a guide is provided which is fixed in relation to the first holder and which connects the first holder and the second holder mechanically with one another, and wherein the second holder can slide on the guide such that it is displaceable in the longitudinal direction of the surgical instrument.
3 Assignments
0 Petitions
Accused Products
Abstract
The invention relates to a device (10) for holding a surgical instrument (11), which is designed to be introduced through a sheath (12) into the body of a patient (2), and a sheath (12). The holding device according to the invention comprises a first holder (26) for the surgical instrument and a second holder (18) for the sheath. Furthermore, a drive unit (27) is provided by means of which said second holder (18) can be moved relative to said first holder in the longitudinal direction (15) and/or the direction of rotation of the surgical instrument (11).
66 Citations
19 Claims
- 1. A device for holding a surgical instrument having a shaft which extends in a longitudinal direction and a sheath, comprising a first holder for the surgical instrument and a second holder for the sheath, and a first drive unit, by which the second holder is displaceable in the longitudinal direction of the surgical instrument, relative to the first holder, wherein a guide is provided which is fixed in relation to the first holder and which connects the first holder and the second holder mechanically with one another, and wherein the second holder can slide on the guide such that it is displaceable in the longitudinal direction of the surgical instrument.
- 10. (canceled)
-
11. A device for holding a surgical instrument having a shaft which extends in a longitudinal direction and a sheath, comprising a first holder for the surgical instrument, a second holder for the sheath and a first drive unit, by which the second holder is displaceable in the longitudinal direction of the surgical instrument relative to the first holder, wherein an arm is provided which mechanically connects the first holder and the second holder with one another, the second holder is fixed on the arm, and wherein the arm is movably arranged relative to the first holder such that the arm together with the second holder is displaceable in the longitudinal direction of the surgical instrument relative to the first holder.
-
12. A method for operating a robot having a robotic head to which a holding device for holding at least one surgical instrument or tool and a sheath is attached, wherein the surgical instrument has a shaft extending in a longitudinal direction, with the following steps:
-
Displacement of the robotic head and/or a patient treated by the robot and/or the instruments guided by the robot and; Simultaneous execution of a counter-movement by the sheath, wherein the sheath is displaced in the longitudinal direction of the surgical instrument and/or rotated about its longitudinal axis so that the relative motion of the sheath at the point of incision of the patient caused by motion of the robotic head and/or of the patient and/or of the instrument can be compensated as much as possible. - View Dependent Claims (13, 14, 15, 16, 17)
-
Specification