Surgical robot system

Abstract

Sheath with a tube-like inner opening for routing through a hollow shaft a robot or a drive unit (2; 102) for an instrument arrangement, in particular detachable, to a robot of a surgical robot system, the drive unit (2; 102) comprising at least one rotary drive (7, 8, 9) with a drive shaft, in particular a hollow drive shaft (10, 13, 15; 106, 107, 108), with a coupling part (31, 32, 33; 200, 201, 202; 300, 301, 302) for coupling with a drive shaft of an instrument of the instrument arrangement, and through an outlet opening (507) of the casing, wherein the internal feedthrough has a blind plug (502) and a closing ring (503) for attachment to a circumferential area of ​​the internal feedthrough which is exposed by removing the blind plug (502).

Description

[0001] The present invention relates to a surgical robot system comprising a robot and an instrument arrangement attached thereto, such an instrument arrangement comprising a drive unit, an instrument and an instrument interface, as well as such an instrument interface, and a casing, in particular of such an instrument interface, and a method for its application.

[0002] Surgical instruments should be as sterile as possible. On the other hand, robots are difficult to sterilize due to factors such as lubricants, wear and tear, and the like.

[0003] From WO 2009 / 061915 A2, a robot with an adapter mount is known, to which an adapter of a sterile sheath is attached, enclosing the robot. On the sterile, robot-away side, an instrument is attached, the end effector of which is actuated by cables in the instrument shaft.

[0004] For this purpose, discs, which are rotatably mounted side-by-side in the sterile adapter, are coupled to counter-discs integrated into the robot arm. The rotary actuators for actuating the counter-discs are located in the robot base, and the drive torques are transmitted via cables in the robot arm, making the unpowered instrument easy to handle.

[0005] According to WO 2009 / 061 915 A2, a sterile adapter, a sterile sheet with the integrated sterile adapter and a telerobot-assisted surgical system comprising the sterile sheet are provided, wherein the adapter, the sterile sheet and the system enable the covering of parts of a telerobot-assisted surgical system to maintain a sterile barrier between the sterile surgical field and the non-sterile robotic system, while simultaneously providing an interface for the transmission of mechanical and electrical energy and signals between a robotic arm and a surgical instrument in the sterile field.

[0006] According to US 2007 / 0016174A1, a robot-assisted surgical instrument is provided for controlling the flow of one or more fluids into and out of a surgical site, which may include a housing, a flow control system, a hollow tube and one or more hose connections.

[0007] According to US 2010 / 0154578A1, actuating elements such as cables or pushrods in an instrument serve to manipulate an end effector or distal end of the instrument, wherein each actuator element extends within a tubular housing and either the tubular housing is rotated axially around the actuator element or the actuator element is rotated axially within the tubular housing to reduce at least one force opposing an axial force exerted by the actuator element or its movement.

[0008] US 2011 / 0295270A1 relates to a surgical instrument for use with a robotic system, comprising a control unit and a shaft section that includes an electrically conductive elongated element attached to a section of the robotic system, the elongated element being configured to transmit control movements from the robotic system to an end effector.

[0009] One object of the present invention is to provide an improved surgical robot system.

[0010] This problem is solved by a surgical robot system with the features of claim 10. Claim 5 provides protection for an instrument arrangement of such a surgical robot system, claim 3 for an instrument interface of such an instrument arrangement, and claims 1 and 2 for a housing, in particular for such an instrument interface, or a method for its use. The dependent claims relate to advantageous embodiments. Surgical robot system

[0011] A surgical robot system according to one aspect of the present invention comprises one or more robots. In one embodiment, a robot may have six or more joints, in particular rotary joints, wherein more than six joints may enable advantageous positioning of the redundant robot. In one embodiment, the robot(s) have a controller. Several robots may have a common central controller or individual controllers, which, for the sake of clarity, are collectively referred to as a controller of the robots. In one embodiment, a robot may be arranged on an operating table, in particular detachably mounted.

[0012] An instrument assembly according to one or more robots of the surgical robot system is attached to each of them, as described below. In one embodiment, an instrument assembly is detachably attached to a robot, in particular by positive locking, friction locking, and / or magnetically, especially electromagnetically. In another embodiment, the instrument assembly, in particular a drive unit of the instrument assembly, has a housing which is attached to an outer surface of the robot, in particular a robot (end or tool) flange, for example by screwing, snapping, or clamping. Additionally or alternatively, in particular an instrument interface and / or an instrument of the instrument assembly can be attached to the outer surface of the robot, in particular a robot (end or tool) flange. Instrument arrangement

[0013] An instrument arrangement according to one aspect of the present invention is configured for attachment to a robot or designed as a robot-guided instrument arrangement. It comprises a drive unit, an instrument, and an instrument interface according to one of the aspects of the present invention described below.

[0014] By having the instrument assembly, preferably designed to be portable as a whole, incorporate the drive unit itself, the transmission of drive forces from the robot to the instrument is advantageously eliminated, allowing the robot to be built smaller. This can particularly facilitate the cooperation of several slim robots in a limited operating area. Furthermore, the drive unit can advantageously be easily adapted to different instruments or even replaced. It is preferably designed as a self-contained module, independent of the robot.

[0015] In one embodiment, an instrument assembly comprises two or more different drive units and / or two or more different instruments, which can be selectively, and in particular modularly, connected to an instrument or drive unit to form an instrument assembly attached to the robot. Different drive units or instruments can differ, in particular, in the number and / or power of actuated degrees of freedom. For example, a drive unit with three actuated degrees of freedom can be selectively connected to an instrument with one or two actuated degrees of freedom and two or one unactuated, i.e., unused or blind, degrees of freedom, and to instruments with three actuated degrees of freedom that have different end effectors.

[0016] The instrument and drive unit are detachably connected, with an instrument interface arranged between the drive unit and the instrument. The instrument and drive unit can be attached to each other and / or to the intervening instrument interface by means of a form-fit, friction-fit, material-fit, and / or magnetic connection, preferably electromagnetically. In particular, the instrument interface can be screwed, snapped, clamped, or glued to the drive unit and / or the instrument, with the adhesive joint serving as a predetermined separation point. Additionally or alternatively, the drive unit can be screwed, snapped, or clamped to the instrument. In one embodiment, the instrument interface has a dimensionally stable flange for attaching the drive unit and / or the instrument. In one embodiment, the drive unit is arranged at a proximal or end-effector-remote end of the instrument. drive unit

[0017] A drive unit according to one aspect of the present invention comprises one or more, in particular three or four, rotary drives, each with at least one drive shaft. In one embodiment, one or more rotary drives of the drive unit each comprise one or more electric motors, in particular DC or AC motors, with a stator and a rotor. Additionally or alternatively, one or more rotary drives of the drive unit can each comprise one or more hydraulic motors and / or piezoelectric drives, which can drive the respective drive shaft(s) or apply a torque. The drive shaft can, in particular, be a rotor of an electric and / or hydraulic motor. In one embodiment, a rotary drive comprises a gearbox, preferably coaxial, in particular a planetary gearbox, preferably a harmonic drive gearbox, wherein the drive shaft can be an output shaft of the gearbox.In another embodiment, a rotary drive is designed as a direct drive. In this context, this means, in particular, that the drive shaft is directly acted upon by a drive torque, generated especially hydraulically, electrically, and / or (electro)magnetically, without an intermediate gearbox. In particular, such a direct drive can be designed to be self-locking. This allows the instrument with the attached drive unit to be advantageously removed from a patient. Additionally or alternatively, a rotary drive can have a sensor, especially a coaxial sensor, and in particular an input and / or output-side speed and / or torque sensor.

[0018] The drive shaft has a coupling element for coupling with a drive shaft of the instrument, which is rotationally fixed to the drive shaft. In one embodiment, it can be axially fixed to the drive shaft, in particular integrally with it. In another embodiment, the coupling element is arranged to be axially displaceable on the drive shaft, in particular by means of a positive locking connection, for example by means of a key, a splined connection, a toothed or polygonal shaft profile, or the like. In a further development, the coupling element is axially preloaded, in particular by a spring against the instrument interface attached to the drive unit or the instrument attached to the drive unit. This can in particular compensate for axial tolerances and / or provide a contact force for a friction-fit connection.

[0019] In one embodiment, one or more drive shafts are designed as hollow shafts. In another embodiment, the drive unit has one or more drive shafts, each arranged concentrically or coaxially within a surrounding hollow drive shaft, and in particular, mounted in this manner. For the sake of clarity, the drive shaft located within another drive shaft is referred to as the inner drive shaft, and the other drive shaft is referred to as the outer drive shaft. For example, if the drive unit has three drive shafts in one embodiment, the innermost drive shaft, which may also be designed as a hollow drive shaft, forms an inner drive shaft, the surrounding middle drive shaft forms an outer drive shaft and simultaneously another inner drive shaft, and the outermost drive shaft surrounding it forms another outer drive shaft.Similarly, the drive unit can also have four or more concentric drive hollow shafts.

[0020] In one embodiment, one or more rotary drives are arranged coaxially to their respective drive shafts, in particular to a common axis of rotation of coaxial drive shafts. In particular, one or more rotary drives can be arranged in a line, aligned one behind the other. Likewise, one or more rotary drives can be arranged parallel to their drive shafts, offset radially and / or circumferentially, in particular to a common axis of rotation of coaxial drive shafts, and coupled to them, in particular via a spur gear or friction drive. Likewise, one or more rotary drives can be arranged at an angle, in particular at right angles, to their respective drive shafts, in particular to a common axis of rotation of coaxial drive shafts, and coupled to them, in particular via a worm gear, screw gear, or crown gear drive.

[0021] The drive unit can be connected wirelessly or via a wired connection to a power source and / or the control system. In one embodiment, the instrument interface housing described below also encloses, at least partially, a power and / or signal line of the drive unit. instrument

[0022] An instrument according to one aspect of the present invention has an instrument shaft at the distal end of which, or at the end furthest from the drive unit, a one- or multi-part end effector may be arranged, in particular a scalpel, forceps or scissor arms or the like.

[0023] The instrument is, in one embodiment, an endo- or minimally invasive surgical instrument (“MIS”), in particular an endoscopic one, for example laparoscopic or thoracoscopic. In particular, the instrument shaft can be designed or configured to be inserted into the patient and actuated there through an opening, preferably corresponding substantially to the outer diameter of the instrument shaft, in particular through a trocar.

[0024] The end effector can have one or more degrees of freedom. In particular, one or more parts of the end effector can each have one or two degrees of rotational freedom about axes of rotation that are preferably perpendicular to the shaft axis. For example, a two-part end effector can represent pliers or scissors whose arms pivot in opposite directions about the same axis of rotation.

[0025] For actuating the end effector, the instrument has one or more drive shafts, in particular one drive shaft for actuating each degree of freedom, in one embodiment therefore in particular one, two or three drive shafts.

[0026] The drive shaft has a coupling element for coupling with a drive shaft of the drive unit, which is rotationally fixed to the drive shaft. In one embodiment, it can be axially fixed to the drive shaft, in particular integrally formed with it. In another embodiment, the coupling element is arranged to be axially displaceable on the drive shaft, in particular by means of a positive locking, for example by means of a key, a splined connection, a toothed or polygonal shaft profile, or the like. In a further development, the coupling element is axially preloaded, in particular by a spring element against the instrument interface attached to the instrument or the drive unit attached to the instrument.

[0027] In one embodiment, one or more drive shafts are designed as hollow shafts. In another embodiment, the drive unit has one or more drive shafts, each of which is arranged concentrically or coaxially within a surrounding hollow drive shaft, and in particular, supported in this manner.

[0028] By designing the (innermost) drive shaft of the instrument as a hollow drive shaft, one embodiment advantageously enables the insertion or passage of an additional instrument.

[0029] In one embodiment, the coupled drive shafts of the drive unit and the instrument are aligned. In another embodiment, the drive shaft(s) is / are arranged coaxially, in particular aligned or parallel to the instrument shaft. This allows for a radially compact design in one embodiment. In another embodiment, the drive shaft is / are arranged at an angle, in particular at a right angle, to the instrument shaft. This allows the drive unit to be arranged at an angle, in particular at a right angle, to the instrument shaft in one embodiment.

[0030] In one embodiment, the instrument has an instrument-side conversion mechanism for converting the rotation of one or more drive shafts into a corresponding translation of one or more traction and / or push elements. A traction element can, in particular, comprise one or more, especially counter-rotating, rope, belt, or tape strands; a traction and / or push element can comprise one or more, especially counter-rotating, pull and / or push rods.

[0031] In one embodiment, the transmission mechanism has a cam guide, in particular one for each of the drive shafts of the drive unit. According to one embodiment, a cam guide comprises a sliding sleeve that is mounted to be rotationally fixed and axially displaceable relative to the instrument shaft, in particular on the instrument shaft or a surrounding hollow drive shaft. A cam or groove, inclined in particular against the axial direction, is formed in a groove between the sliding sleeve and the drive shaft, in which a keyway, in particular a key, is positively guided by the other element between the sliding sleeve and the drive shaft. In this way, a rotation of the drive shaft is converted into an axial translation of the sliding sleeve, which can thus actuate a tension and / or thrust element.

[0032] In one embodiment, if a drive shaft is supported within a hollow drive shaft, in a further development, a sliding sleeve coupled to a drive shaft of a cam guide can simultaneously form a radial bearing, in particular a floating bearing, between this and an adjacent drive shaft. A fixed bearing of a drive shaft is preferably arranged at a drive-unit-facing or proximal end of the instrument shaft.

[0033] In one embodiment, the transmission mechanism is arranged in the proximal half of the instrument shaft, facing the drive unit. In another embodiment, the transmission mechanism is arranged in the distal half of the instrument shaft, facing away from the drive unit. This advantageously allows the actuation to be transmitted over a large area of ​​the instrument shaft by the traction and / or thrust elements or by the drive shafts. Additional instrument

[0034] According to one aspect of the present invention, an instrument arrangement comprises an additional instrument which is inserted, particularly detachably, through the instrument of the instrument arrangement, in particular a guide tube of the instrument, and in particular with radial play or a radial fit. For this purpose, the additional instrument can, in one embodiment, be tubular and rigid or flexible. The instrument can, accordingly, in one embodiment, have a guide tube, in particular a rigid one, which is arranged, in particular centrally, in the instrument shaft and / or can extend – at least substantially – over the entire inner length of the instrument shaft. In a further embodiment, an (innermost) hollow drive shaft of the instrument can function as or form a guide tube.

[0035] The additional instrument can be designed as a guide for gaseous and / or liquid media, in particular as a suction and / or supply passage, and / or as an electrical and / or optical waveguide, for example to supply or remove irrigation or water jet surgery media, especially under negative or positive pressure, to direct laser and / or illumination light and / or current into the patient and / or to transmit optical and / or electrical signals from him.

[0036] In one embodiment, the auxiliary instrument can be inserted through the instrument on the side of the instrument interface facing away from the drive unit, so that it advantageously does not need to be sterilely separated from the drive unit. In another embodiment, the auxiliary instrument is inserted through the drive unit, in particular an (innermost) hollow drive shaft of the drive unit.

[0037] In addition to or as an alternative to the auxiliary instrument, a drive element for actuating an end effector, particularly detachable, can be inserted through the instrument of the instrument assembly, in particular an (innermost) hollow drive shaft of the instrument, and in particular inserted with radial play or a radial fit. For this purpose, the drive element can be tubular and rigid or flexible. The drive element can, in particular, have one or more tension and / or push elements and / or one or more rotating shafts. Instrument interface

[0038] An instrument interface according to one aspect of the present invention comprises a casing that encloses the drive unit, in particular hermetically or sterilely. In one embodiment, the casing is flexible, in particular film-like. In another embodiment, the casing is sterile or sterilizable on the outer surface facing away from the drive unit.

[0039] In this way, the drive unit, which may be difficult to sterilize due to abrasion, lubricants, temperature and / or moisture-sensitive components, or the like, can be sterilely shielded from the operating environment, with the actuation being transferred through or via the interface to the instrument, which is advantageously easy to sterilize.

[0040] In one embodiment, coupling elements of one or more drive shafts of the drive unit and corresponding, in particular coaxial, drive shafts of the instrument are magnetically coupled to each other. Particularly in this case, the instrument interface can be formed by a simple film, preferably with an air gap between the magnetically coupled coupling elements.

[0041] In one embodiment, the instrument interface has one or more rotatable intermediate elements which are designed to be coupled, in particular by friction or positive locking, to a coupling part of a drive shaft of the drive unit and to a coupling part of a drive shaft of the instrument, when the interface is arranged between the drive unit and the instrument, in particular attached to the drive unit and / or the instrument.

[0042] The arrangement of the intermediate elements preferably corresponds to the arrangement of the drive shafts or their coupling parts. Thus, if in one embodiment the drive shafts of the drive unit and / or instrument are concentric, then the intermediate elements are also arranged concentrically to one another, preferably, as explained above, with each inner intermediate element, in particular annular, being arranged concentrically within an outer annular intermediate element, and in particular being mounted in a specific manner. In a further development, the intermediate elements are mounted in a sealed manner, for example by bearing rings having labyrinth seals or the like. In this context, "sealed" is understood in particular to mean sterile in the medical sense, specifically sealed in such a way that solid, preferably also liquid, and in particular also gaseous elements of a predetermined size may enter the seal only to a predetermined maximum extent.-rate, which can also be zero, can be overcome.

[0043] The instrument interface can have a dimensionally stable flange for mounting the drive unit and / or the instrument, in which the intermediate elements are rotatably mounted, in particular sealed.

[0044] For frictional coupling, intermediate elements and coupling parts of the drive unit and / or instrument can have contact surfaces that touch each other when the instrument interface is arranged between the drive unit and the instrument and the instrument and drive unit are connected directly and / or via the instrument interface. For positive-locking coupling, such contact surfaces can have interlocking projections and recesses or complementary shoulders. In particular, one or more projections or shoulders can be arranged on one of a coupling part and an intermediate element, which engage positively in recesses or complementary shoulders in the other of the coupling part and the intermediate element when the instrument interface, in particular a dimensionally stable flange of the instrument interface, is arranged on the drive unit or the instrument.Preferably, the coupling part and intermediate element can have meshing face teeth, in particular Hirth teeth.

[0045] The friction or positive locking contact surfaces can be conical in one embodiment. This advantageously allows for self-centering and / or, particularly in combination with axially displaceable, preferably pre-tensioned, coupling elements, compensation of axial tolerances.

[0046] In one embodiment, the casing has an internal feedthrough for an additional instrument inserted through the instrument and the drive unit of the instrument assembly. This internal feedthrough can be tubular and extend through an innermost hollow drive shaft of the drive unit. In a further embodiment, it is sealed, and in particular rotatably connected to an innermost intermediate element of the instrument interface coupled to the hollow drive shaft.

[0047] In this advanced design, the internal feedthrough features a blanking plug and a sealing ring. In its initial or assembled state, the blanking plug is attached to one end of the internal feedthrough, sealing it and covering a portion of its circumference. The blanking plug can then be pulled through the drive unit, exiting the casing through an opening and allowing it to be removed. The sealing ring can then be attached to the portion of the internal feedthrough exposed by removing the blanking plug, further sealing the casing's opening. This creates a torus-shaped casing with a sterile outer surface, within which the drive unit is positioned, thus isolating it from the surgical environment. The casing's opening allows for the insertion of the auxiliary instrument.

[0048] The further development described above is particularly suitable for the drive unit with a hollow drive shaft described above. It can also be used for the sterile encapsulation of a robot with a tool flange that has a hollow shaft. In this context, sterile encapsulation is understood to mean, in particular, partial or complete, or entirely closed, especially hermetic, covering or enclosure.

[0049] According to one aspect of the present invention, a casing, which may in particular have one or more features of the instrument interface casing described above, generally has a tube-like inner passage for passing through a hollow shaft of a robot or a drive unit described above and through an outlet opening of the casing. The inner passage has a blanking plug and a one- or multi-part end ring for attachment to the outlet opening and a circumferential or lateral surface area of ​​the inner passage, in particular an outer one, which is exposed by removing the blanking plug. The inner passage may in particular be rotatably mounted on the casing or be integrally formed with it. It may in particular be rigid or flexible. For the sake of simplicity, a rigid tubular inner passage is also generally referred to as tube-like.

[0050] To encase the robot or drive unit, the inner sleeve, fitted with a blanking plug, is first inserted through the hollow shaft and the sleeve's outlet opening. The blanking plug, which preferably has a closed outer end and / or a tubular outer surface, prevents contamination of the interior of the tube-like inner sleeve and the circumferential area it covers. Alternatively, the inner sleeve can initially be closed at the end, with the closure area subsequently cut off. To facilitate insertion, the blanking plug can incorporate a rigid or flexible insertion aid, particularly a cord or rod.

[0051] The blanking plug is then removed, and the sealing ring is attached to the circumferential area of ​​the internal feedthrough that has been exposed by removing the blanking plug. As described above, the sealing ring, which can be rigid or flexible, can, in a further development, be attached to the outlet opening of the casing and close it—except for the internal feedthrough. A portion of the sealing ring attached to the circumferential area of ​​the internal feedthrough can, in particular, be rotatably mounted on a portion of the sealing ring attached to the outlet opening of the casing, or be formed integrally or as a single piece with it.

[0052] The circumferential area of ​​the internal feedthrough, exposed by removing the blanking plug, was protected from contamination during insertion by the blanking plug. In this context, "attachment to the circumferential area" refers specifically to attachment such that the circumferential area, viewed longitudinally along the internal feedthrough, is wholly or partially covered by the sealing ring. The circumferential area exposed by removing the blanking plug may project beyond the sealing ring on one or both sides in the longitudinal direction. Likewise, the sealing ring may cover not only the circumferential area exposed by removing the blanking plug, or a portion thereof, but also a circumferential area of ​​the internal feedthrough that was not previously covered by the blanking plug. Further advantages and features will become apparent from the dependent claims and the exemplary embodiments. The following is shown, in part schematically: Fig. 1: a part of an instrument arrangement of a surgical robot system according to an embodiment of the invention in a perspective section; Fig. 2: an instrument-side conversion gear according to a further embodiment of the present invention; Fig. 3: the implementation gear of the Fig. 2 in a different perspective section; Fig. 4: a section of a conical coupling of an instrument assembly according to an embodiment of the present invention; Fig. 5: further versions of such a conical coupling; Fig. 6: a shaft coupling of an instrument arrangement according to an embodiment of the present invention; Fig. 7: a section of this shaft coupling of the Fig. 6; Fig. 8: a magnetic coupling of an instrument arrangement according to an embodiment of the present invention; Fig.9: the magnetic coupling of the Fig. 8 in one cut; Fig. 10: Two perspective views of a transfer gear according to an embodiment of the present invention; Fig. 11: an enlarged section of the conversion gear of the Fig. 10; Fig. 12: an instrument according to an embodiment of the present invention with a distal transfer mechanism in a perspective overall view (top) or an enlarged partial section (bottom); Fig. 13: an instrument interface according to an embodiment of the present invention; Fig. 14: the instrument interface of the Fig. 13 with attached blind plug; Fig. 15: the instrument interface of the Fig. 14 with blanking plug removed; Fig. 16: the instrument interface of Fig. 15 with connected end ring; Fig.17: the instrument interface of the Fig. 16 with coupling instrument; Fig. 18: an instrument arrangement with an inserted additional instrument according to an embodiment of the present invention; Fig. 19: a part of an instrument of an instrument arrangement according to a further embodiment of the present invention; Fig. 20: a part of an instrument of an instrument arrangement according to a further embodiment of the present invention; and Fig. 21A, Fig. 21B: an enclosing of a robot with a shell according to an embodiment of the present invention.

[0053] Fig. Figure 1 shows a part of an instrument arrangement of a surgical robot system according to an embodiment of the invention in a perspective section.

[0054] The instrument arrangement comprises an instrument 1, an associated drive unit 2 and an instrument interface with a sterile cover 5 arranged between the drive unit and the instrument.

[0055] In this embodiment, the axes of rotation of the drive unit coincide with a shaft axis of the instrument. This concept is particularly suitable for instruments that are actuated by push / pull rods.

[0056] The sterile surgical instrument 1 is on the in Fig. 1 left, the drive unit 2 on the in Fig. Figure 1 is shown on the right side. The instrument 1 is mechanically detachably connected to a housing 6 of the drive unit 2 via a connecting flange 4 at a proximal end of the instrument shaft 3. The drive unit 2 is surrounded by a sterile sheath 5 to prevent contamination of the surgical field.

[0057] In this embodiment, the housing 6 of the drive unit 2 contains three independent rotary drives, each with a drive shaft 10, 13, or 15 and an associated electric motor 7, 8, or 9. The drive shafts 10, 13, and 15 are designed as hollow shafts and arranged coaxially with each other. Drive shaft 10 is fully supported at a bearing point 11 in the housing 6. The inner drive shaft 13 is supported by a bearing 12 in drive shaft 10, and drive shaft 15 is supported by a bearing 14 in drive shaft 13. This concept advantageously allows for a very compact design of the detachable instrument interface, especially in the radial direction.

[0058] In a multi-robot application, the risk of collisions between individual robots can therefore be significantly reduced due to the lower permissible minimum distance between the instruments.

[0059] The symbolic representations of the electric motors 7, 8, 9 include further components required for controlled operation, such as gearboxes and / or sensors. Preferred embodiments are concentrically arranged motor units, which can be implemented either as direct drives or as motors with a downstream reduction gearbox, for example, planetary gearboxes or harmonic drive gearboxes.

[0060] In a variation not shown, the rotary drives can have radially offset electric motors, each driving the drive shafts with a spur gear or friction wheel drive, or orthogonally offset electric motors, each driving the drive shafts with a worm gear, screw gear, or crown gear drive.

[0061] The nested drive shafts 10, 13, and 15 continue on the instrument side as drive shafts 16, 17, and 18, respectively, which are also designed as hollow shafts and arranged coaxially with each other. The instrument-side drive shafts 16, 17, and 18 are mounted in a fixed-floating bearing arrangement, with fixed bearings 28, 29, and 30 located at the proximal end of the instrument shaft 3. Shaft 16 is radially and axially supported at bearing 28 in the instrument shaft 3. The inner drive shaft 17 is supported by bearing 29 in drive shaft 16, and drive shaft 18 is supported by bearing 30 in shaft 17. Sliding sleeves 23, 24 and 25 act as loose bearings and are also components of an instrument-side conversion gear 22 for converting the rotary drive movement into a translational movement of tension and / or push means 26, 39 and 40 respectively (see figure). Fig.10). These finally transmit the drive movement to the instrument or end effector degrees of freedom at the distal end of the instrument shaft 3.

[0062] Fig. Figure 1 shows only one traction and / or thrust element 26 as an example, although a separate transmission element is provided for each degree of freedom of the instrument.

[0063] Examples of such pulling and / or pushing devices are cable pulls, Bowden cables or pull / push rods.

[0064] A coupling mechanism is provided to connect the drive shafts 10, 13 and 15 of the drive unit to the instrument-side drive shafts 16, 17 and 18; this mechanism also forms a sterile barrier between the instrument and the non-sterile drive unit. The in Fig. One of the couplings shown as an example is a conical coupling that transmits the drive torques by friction or positive locking.

[0065] This design principle also allows the internal drive shafts 15 and 18 in the coaxial arrangement to be designed as hollow shafts. This leaves sufficient space in the center of the instrument shaft 3 to accommodate additional drive elements, such as a Bowden cable, a rotary shaft with a flexible section in the area of ​​a multi-joint for driving an end effector, and / or an auxiliary instrument, in particular an electrical cable, a hose, or the like. Another possible application of this design principle is the insertion of specialized surgical instruments through the center of the instrument shaft.

[0066] To ensure the sterility of the elements passing through the center of the instrument, even in the area of ​​the drive unit 2, the sterile barrier extends through the entire drive unit 2 with an internal passage in the form of a sterile guide tube 27, as described below.

[0067] Fig. Figure 2 shows an instrument-side transmission mechanism 100 according to a further embodiment of the present invention, in which the drive shaft and shaft axes are orthogonal. This arrangement is particularly suitable for instruments actuated by cables. However, it can also be used for instruments with push / pull rods, in that the instrument-side transmissions for converting the rotation of a drive shaft into a translation of a pull and / or push element can be implemented, for example, as a push-crank mechanism.

[0068] At the proximal end of the instrument 101 is a housing 104, which is permanently connected to the instrument shaft 103. The instrument 101 is connected at its proximal end to the drive unit 102 (whose housing is not shown) via a sterile barrier 105. The drive shafts 106, 107, and 108 are arranged coaxially within the drive unit 102 to achieve the most compact dimensions possible. On the instrument side, they continue as pulleys 109, 110, and 111, respectively. The shaft sections are connected by sterile coupling intermediate segments 116, 117, and 118, which are rotatable relative to each other.

[0069] A coupling intermediate element 118 of the outer drive shaft 106 is connected to the sterile barrier 105 and rotatably mounted therein. In the exemplary embodiment, the drive shafts of the drive unit and the instrument are positively coupled by means of a spur gear coupling, which with reference to Fig.6 is described in more detail.

[0070] The cables 112, 113, and 114, which actuate the instrument degrees of freedom, are wound around the instrument-side cable pulleys or drive shafts 109, 110, and 111, respectively, so that the force flow between the drive shafts 106, 107, and 108 and the instrument degrees of freedom is closed. Optionally, a tube feedthrough 115 can be provided, which can be used, for example, to guide an additional instrument, in particular media lines, to the distal end of the instrument shaft 103.

[0071] Detachable coupling with sterile barrier for at least one rotary drive train. A readily detachable coupling mechanism is provided for connecting the instrument to the drive unit, which also forms the sterile barrier between the instrument and the non-sterile drive unit.

[0072] Fig. Figure 4 shows a cross-section of the conical coupling of the exemplary embodiment of the Fig.1 with sterile barrier. The coupling assembly transmits the drive torques from the drive shafts 10, 13, and 15 to the instrument-side drive shafts 16, 17, and 18 by friction or positive engagement. Coupling elements in the form of external cones 34, 35, and 36 are arranged at the proximal ends of the instrument-side hollow shafts 16, 17, and 18 and are firmly connected to the respective hollow shaft. Coupling elements 31, 32, and 33 with internal cones are arranged at the distal ends of the drive shafts 10, 13, and 15. The shaft ends are connected via conical intermediate elements 19, 20, and 21, which function as sterile barriers. These elements are sealed together and also to the sterile barrier 5. These connections serve only to simplify handling during the installation of the sterile barrier, but otherwise allow all movements of the intermediate elements necessary for its function, in particular rotation with the drive shafts.At the same time, these intermediate elements 19, 20 and 21 represent a gap or labyrinth seal between the coupling parts.

[0073] The coupling elements 31, 32, 33 arranged on the drive shafts 10, 13 and 15 are each connected to a shaft in a rotationally fixed but axially displaceable manner, for example by a toothed or polygonal shaft profile. Thus, the axial preload force required for power transmission can be applied, for example, by springs acting on the drive-side coupling elements. At the same time, any axial misalignment between the drive-side and instrument-side shaft sections is compensated for.

[0074] Instead of combining drive-side inner cones and instrument-side outer cones, further arrangements are conceivable for each pairing of an inner and an outer drive shaft of drive unit and instrument, which are described in Fig. The following are outlined: Coupling part 31 / 32 / 33, 34 / 35 / 36 Fig. 5obenlinks Fig. 5 top right Fig. 5untenlinks Fig. 5 bottom right inner drive hollow shaft of the drive unit inner cone Outer cone inner cone Outer cone inner drive hollow shaft of the instrument inner cone Outer cone inner cone Outer cone outer drive hollow shaft of the drive unit Outer cone inner cone inner cone Outer cone outer Outer cone inner cone inner cone Outer cone Drive hollow shaft of the instrument

[0075] Fig.Figure 6 shows a shaft coupling with sterile barrier, which transmits the drive torques positively via face gears, for example a Hirth gear, from the drive shafts 10, 13 and 15 to the instrument-side drive shafts 16, 17 and 18, Fig. 7 a section of this shaft coupling. The shaft coupling can be used instead of the cone coupling of the Fig. 4, Fig. 5 especially in the case of an instrument arrangement according to Fig. 1 or Fig. 2, Fig. 3 are planned.

[0076] For this purpose, face teeth 203, 204, 205 are provided on the proximal coupling elements of the instrument-side hollow shafts 16, 17, and 18, and are firmly connected to the respective hollow shaft. Coupling elements in the form of sliding sleeves with face teeth 200, 201, 202 are arranged at the distal ends of the drive shafts 10, 13, and 15. The shaft ends are connected via sleeve-like intermediate elements 206, 207, and 208 with face teeth on both sides, which function as a sterile barrier. The intermediate sleeves 206, 207, and 208 are connected to each other and to the sterile barrier 5 by the retaining rings 209, 210, and 211. The inner feedthrough or sterile guide tube 27 is also connected to the innermost intermediate sleeve 208 in this way, so that the entire arrangement forms a sterile barrier with gap seals.The intermediate sleeves 206, 207, and 208 serve only to facilitate handling during the installation of the sterile barrier, but otherwise allow all movements necessary for its function. They act as gap or labyrinth seals.

[0077] The sliding sleeves 200, 201, 202 arranged on the drive shafts 10, 13 and 15 are each rotationally fixed to the shafts but axially displaceable, for example by a toothed or polygonal shaft profile. Thus, the axial preload force required for power transmission can be applied, for example, by springs acting on the sliding sleeves 200, 201, 202. At the same time, any axial misalignment between the drive and instrument-side shaft sections is compensated for.

[0078] Another variant of a shaft coupling with a sterile barrier is the one described in Fig. 8. Magnetic coupling shown. The shaft coupling can be used instead of the cone or shaft coupling of the Fig.4 to 7 especially in the case of an instrument arrangement according to Fig. 1 or Fig. 2, Fig. 3 are planned.

[0079] Coupling elements in the form of magnetic rings 200, 201, and 202, respectively, are fixed at the distal ends of the drive shafts 10, 13, and 15. Similarly, coupling elements in the form of magnetic rings 203, 204, and 205, respectively, are fixed on the instrument-side hollow shafts 16, 17, and 18. All magnetic rings 200 to 205 are sector-magnetized and aligned with a preferably small axial distance or air gap relative to each other in order to transmit the highest possible drive torques. The magnitude of the transmissible torque depends not only on the air gap but also on the magnetic field strength and the number of magnetic sectors.

[0080] Fig.Figure 9 shows a cross-sectional view of the magnetic coupling with sterile barrier. The magnetic rings are aligned with minimal axial spacing to enable the transmission of the highest possible drive torques. An advantageous feature of this coupling principle is the simple design of the sterile housing 5. Due to the small axial air gap of the magnetic coupling, a simple foil can be used and no special molded part is required.

[0081] Converting the Rotation-Translation Motion Type on the Instrument Side: In one embodiment of the present invention, only rotary drives are used. However, due to the limited space available in the instrument shaft, the drive trains in robot-guided surgical instruments predominantly use cables or push / pull rods to transmit the drive movements to the distal end of the instrument. Therefore, according to the separable instrument interface described above, an instrument-side conversion gear 22 is provided to convert the rotary drive movement into a translational movement of the cables or push / pull rods.

[0082] Fig.Figure 10 shows, in two perspective views, a transfer mechanism 22 according to an embodiment of the present invention, in which a separate sliding sleeve is provided for each drive shaft. In the case shown here, the three sliding sleeves 23, 24, and 25 convert the rotation of the drive shafts 16, 17, and 18 into a translation of the tensile and / or shearing elements 26, 39, and 40. The sliding sleeves 23, 24, and 25 also function as distal floating bearings for the hollow shafts 16, 17, and 18, respectively. The sliding sleeves themselves have only one translational degree of freedom, which allows displacement along the shaft axis. The restriction of the degrees of freedom of the sliding sleeves 23, 24, and 25 is achieved by nested groove guides 41, 42, and 43. The sliding sleeves 23, 24 and 25 are inserted into one another in such a way that an outer sleeve provides support for the inner sleeve. This results in a very compact design.

[0083] Accordingly, the outer sliding sleeve 23 is mounted in the instrument shaft 3. A transition fit between the sleeve 23 and the shaft 3 serves as a radial bearing. Rotation of the sleeve 23 is blocked by a key 41 fixed to the sleeve 23, which slides in a groove machined into the instrument shaft 3. The sliding sleeve 24 is mounted in the outer sliding sleeve 23. A transition fit between sleeve 24 and sleeve 25 serves as a radial bearing. Rotation of sleeve 24 is blocked by the groove guide 42. The inner sliding sleeve 25 is mounted in the sliding sleeve 24. A transition fit between sleeve 25 and sleeve 24 serves as a radial bearing. Rotation of sleeve 25 is blocked by the groove guide 43.

[0084] The drive shafts are coupled to the sliding sleeves by means of a groove guide, the function of which is exemplified with reference to the inner hollow shaft 18 and Fig.Figure 11, which shows an enlarged section, explains this. A helical groove 37 is provided at the distal end of the hollow shaft 18. A pin 38, which is fixed to the sliding sleeve 25, engages positively in the helical groove 37. Thus, a rotation of the hollow shaft 18 leads to a displacement of the sleeve 25 along the shaft axis and therefore also to an adjustment movement of the traction and / or thrust element 26. The traction and / or thrust elements 26, 39 and 40 are attached to the distal ends of the sliding sleeves 23, 24 and 25, and transmit the drive movement to the instrument degrees of freedom or an end effector at the distal end of the instrument shaft 3.

[0085] One advantage of this solution is that the drive movements, particularly the positioning angle and angular velocity, can be adapted to the specific requirements of each instrument, since the pitch of the cam track determines the gear ratio and the working range. This allows the drive unit to be used for a wide variety of instruments, increasing both efficiency and user-friendliness.

[0086] Instead of the in Fig. 10, Fig. In the proximal arrangement shown in Figure 11, the transfer mechanism can alternatively also be arranged at the distal end of the instrument, i.e. as close as possible to the instrument kinematics and the end effector. Fig. Figure 12 shows an instrument 400 according to an embodiment of the present invention with a distal transfer gear in a perspective overall view (top in Fig. 12) or an enlarged partial section (below in Fig.12).

[0087] The transfer mechanism is located at the distal end of the instrument 400, and thus close to the instrument kinematics 402 and the end effector 403. The actuation of the distal joint 402, which in the example shown is implemented as a parallel kinematic system, is effected by tension and / or push elements in the form of connecting rods 408 and 409, which are rotatably connected to the segment that carries the end effector. The other ends of the connecting rods 408 and 409 are rotatably connected to the sliding sleeves 406 and 407, which are moved along the shaft axis to adjust the joint angles. The sliding sleeves 406 and 407 are connected to the hollow shafts 404 and 405, respectively, whereby the conversion of the rotational drive movement into the translational feed movement of the sleeve is achieved with respect to Fig. 10, Fig.The cam mechanism described in section 11 is used. Sufficient space remains in the center of the inner hollow shaft 405 to accommodate drive elements, such as a Bowden cable or a rotary shaft with a flexible section in the area of ​​the multi-joint for driving the end effector 403 and / or an auxiliary instrument, in particular electrical leads, hoses or the like.

[0088] Unlike the cable drives used in conventional minimally invasive robotic surgery instruments, this design transmits drive power from the drive unit to the instrument tip via hollow shafts coaxial with the instrument shaft. This results in significantly higher load-bearing capacity and rigidity of the drive train compared to cable drives or thin solid shafts, thus advantageously enabling the transmission of higher drive forces. This design is therefore particularly recommended for instruments where higher process forces occur, such as stapling devices. Sterile barrier between drive unit and instrument

[0089] Some components of the drive unit cannot withstand the environmental conditions during a sterilization process. Therefore, the instrument interface features a sterile sleeve that covers the drive unit during operation. In addition to this sleeve, which securely encloses the drive unit housing and is typically a foil tube, the instrument interface between the drive unit and the instrument is designed to enable the transmission of mechanical power and electrical signals while simultaneously preventing contamination of the surgical field by the non-sterile drive unit.

[0090] Fig. Figure 13 shows an overview of the Instrument Interface 500 with various subcomponents, which are used, for example, in the instrument arrangement of the Fig. 1 may be provided.

[0091] The instrument interface 500 has a sterile foil cover 501 that encloses the housing of the drive unit 2, a dimensionally stable flange or instrument carrier 5, which is used to couple the drive trains, for example, with regard to Fig. The instrument interface 500 has four conical intermediate elements 19, 20, 21 as described above, and an internal passage in the form of the guide tube 27. A closing ring 503 connects the guide tube 27 to the foil sleeve 501. To maintain the sterility of the guide tube 27 when inserted into the drive unit 2, the guide tube 27 is initially closed at its proximal end with a blanking plug 502, which also covers part of the outer surface. The instrument interface 500 is designed as a complete assembly in which all individual parts are connected to form a single unit. This greatly simplifies handling. In the case of the Fig.As explained in section 8, a foil is sufficient as a sterile barrier or instrument interface between the shaft sections for the magnetic coupling.

[0092] The further Fig. Figures 14 to 17 illustrate the sterile packaging of the drive unit and the connection of a surgical instrument to it. As a first step (see Figure 14 to 17), the drive unit is then sterilely wrapped and a surgical instrument is connected to it. Fig. 14) The instrument carrier 5 is placed on the drive unit. At the same time, the sterile guide tube 27 is inserted into the hollow shaft, and the intermediate pieces 19, 20, 21 of the shaft couplings are inserted into the drive unit 2. The foil cover is then slipped over the drive unit 2. The blanking plug 502, which is non-sterile after the sterile guide tube 27 has been pushed through the hollow shaft of the drive unit 2, is then removed from the guide tube 27 by a non-sterile member of the surgical team and disposed of (see figure). Fig.15) Since the blanking plug 502 also covers part of the outer surface of the guide tube 27, the section of the guide tube 27 that protrudes from the drive unit 2 remains sterile. Finally, the sterile casing is closed off by fitting the end ring 503 onto the guide tube 27 (see Figure 15). Fig. 16). Fig. Figure 17 shows the docking of a surgical instrument 1 to the sterile packaged drive unit 2. Guiding additional drive cables and / or auxiliary instruments through the instrument shaft to the distal end of the instrument.

[0093] In addition to the simple mechanical design of the detachable instrument interface, the coaxial arrangement of all drive shafts offers the advantage that the center of the drive unit and instrument remains free to accommodate additional drive elements, such as cables, Bowden cables, and / or rotary shafts, for actuating the end effector. For example, a Bowden cable can be used for two purposes: the outer sheath transmits a first actuation force, and the inner core transmits a second. Electrical leads for monopolar or bipolar instruments, or suction and irrigation hoses, can also be routed through the center of the instrument shaft. Similarly, other auxiliary instruments can be guided through the robot, such as optical fibers for laser applications or flexible instruments for argon plasma coagulation, cryosurgery, or waterjet surgery, which are frequently used for tumor resections.

[0094] Fig.Figure 18 shows an instrument arrangement with an inserted or passed-through rigid or flexible auxiliary instrument.

[0095] For this purpose, the auxiliary instrument 504, after being fitted with the sterile sheath 501, is advanced through the guide tube 27 from the rear through the drive unit 2 to the distal end of the instrument 1 and fixed in this position. The auxiliary instrument 504 can then be used like a conventional robot-guided instrument and moved within the surgical field using the degrees of freedom provided by the instrument 1. In addition to its suitability for rigid and flexible auxiliary instruments, an advantage of this solution is that no additional installation space is required in the area of ​​the separable instrument interface to insert the auxiliary instrument 504 into the instrument shaft.

[0096] Fig.Figure 19 shows a part of an instrument of an instrument arrangement according to a further embodiment of the present invention, which is particularly suitable for flexible auxiliary instruments. Here, the auxiliary instrument 507 is not inserted through the drive unit 2, but through a curved tube section 506, which is arranged on the instrument shaft 505 immediately in front of the drive unit 2 or instrument interface. With this solution, the sterile sheath 501 can be designed more simply, since the auxiliary instrument 507 is not guided through the drive unit from behind.

[0097] Fig.Figure 20 shows a portion of an instrument of an instrument arrangement according to a further embodiment of the present invention, in which the drive and shaft axes are orthogonal. Both rigid and flexible auxiliary instruments can be inserted or passed through this arrangement. The auxiliary instrument 508 is advanced from the rear through the housing 104 to the distal end of the instrument shaft 103 via a guide tube 115 and fixed in place. The auxiliary instrument 508 can then be used like a conventional robot-guided instrument and moved within the surgical field using the degrees of freedom provided by the instrument 100. Again, no additional space is required at the proximal end of the instrument shaft to insert the auxiliary instrument 508.

[0098] The drive unit provides the mechanical power for all active degrees of freedom of the surgical instrument. It is located at the proximal end of the instrument and is designed as a self-contained module suitable for powering various instruments. To prevent contamination of the surgical field, the drive unit is hermetically sealed with a sterile protective cover.

[0099] The separable instrument interface is located between the drive unit and the surgical instrument. Its primary function is the mechanical connection of the surgical instrument to the drive unit. It establishes the power flow between the drive and instrument functional units and ensures precise and repeatable relative positioning and fixation of these units. To transmit the necessary mechanical power to the instrument, the separable instrument interface also includes detachable couplings that establish the power flow between the individual drives in the drive unit and the drive trains in the instrument. To guarantee the sterility of the surgical instrument under all circumstances, the separable instrument interface simultaneously acts as a sterile barrier between the non-sterile drive unit and a sterile instrument.

[0100] Advantageously, coupling a surgical instrument to an instrument assembly according to one embodiment of the present invention is simple and requires no in-depth knowledge of the robot system. The detachable instrument interface according to one embodiment advantageously allows for the repeatable and reliable coupling of the instrument, including all force transmission elements, without visual inspection. The interface can preferably transmit one or more drive movements from a drive unit to a surgical instrument, while maintaining sterility on the instrument side. The drive unit and / or detachable instrument interface advantageously require minimal installation space, particularly in a system with multiple robots, to minimize the risk of collision.To improve the performance of the robot-guided instrument from a control engineering perspective, the transmission of mechanical drive energy to the surgical instrument is designed to be as free of backlash and slippage as possible.

[0101] Fig. 21A, Fig. Figure 21B shows an enclosure of a robot with a shell according to an embodiment of the present invention. The robot, whose robot hand is in Fig. 21A, Fig. As partially indicated in 21B, a hollow shaft is present. A hose-like inner feedthrough 27 of a casing 501, which has an outlet opening 507, is guided through this shaft. The end of the inner feedthrough 27 is initially covered, for example by clamping, with a blind plug 502, which has a closed end face and a tubular outer surface to protect the interior and an end-face circumferential area of ​​the inner feedthrough 27 from contamination during insertion.

[0102] The blind plug 502 is passed through the hollow shaft and the outlet opening 507 ( Fig. 21A) and then removed. A sterile sealing ring 503A, 503B is attached, for example by clamping, to the circumferential area of ​​the inner feedthrough 27 that has thus been freed and to the edge of the outlet opening 507 ( Fig. 21 B). This allows for a simple representation of a sterile enclosure for the robot with a hollow shaft or, similarly, for the drive unit of an instrument arrangement.

[0103] In the exemplary embodiment, the internal feedthrough 27 is at its end opposite the blind plug 502 or closing ring 503 (below in Fig. 21A, Fig.21B) rotatably mounted on the casing 501, for example as described above with reference to the intermediate elements of the instrument interface. The end ring is formed in two parts, wherein a part 503A of the end ring, attached to the circumferential region of the inner feedthrough, is rotatably mounted on a part 503B of the end ring, which is attached to the outlet opening of the casing. In this way, the inner feedthrough 27 as a whole is rotatably mounted on the casing 501 and can, in particular, be rotated with an auxiliary instrument moved by the hollow shaft. In a (not shown) modification, the inner feedthrough can also be formed integrally or in one piece with the casing and / or connected by means of a one-piece end ring, whereby any rotation of the hollow shaft can be compensated, for example, by play in the inner feedthrough or casing. Reference symbol list 1, 100, 101, 400 instrument 2, 102 Drive unit 4 connection flange 3, 103, 505 Instrument set 5, 105, 501 (sterile) sheath 6, 104 cases 7, 8, 9 Electric motor 11, 12, 14, 28, 29, 30 Storage location 19, 20, 21, 206, 207, 208 Intermediate element 22 conversion gears 23, 24, 25, 37, 38, 200, 201, 202, 406, 407 Sliding sleeve (scroll guide) 26, 39, 40 Pulling / Pushing devices 31-36, 200-205, 300-305 Face gear (coupling part) 27, 115 (sterile) guide tube 37 helical groove 38 pens 41, 42, 43 Groove guide 10, 13, 15, 16, 17, 18, 106, 107, 108, 109, 110, 111, 404, 405, 406 Drive shaft 402 Instrument kinematics 403 End effector 408, 409 Stabilizer link 100 instrument-side conversion gear 112, 113, 114 pulleys 115 Guide tube 116, 117, 118 Coupling intermediate segment 209, 210, 211 Haltering 500 instrument interface 501 (sterile) foil sleeve 502 Blind plugs 503 End ring 504, 507, 508 Additional instrument 506 Pipe section 507 Exit opening

Claims

[1] Sheath with a tube-like inner opening for carrying through a hollow shaft a robot or a drive unit (2; 102) for an instrument arrangement, in particular detachable, to a robot of a surgical robot system, the drive unit (2; 102) comprising at least one rotary drive (7, 8, 9) with a drive shaft, in particular a hollow drive shaft (10, 13, 15; 106, 107, 108), with a coupling part (31, 32, 33; 200, 201, 202; 300, 301, 302) for coupling with a drive shaft of an instrument of the instrument arrangement, and through an outlet opening (507) of the casing, wherein the internal feedthrough has a blind plug (502) and a closing ring (503) for attachment to a circumferential area of ​​the internal feedthrough which is exposed by removing the blind plug (502). [2] Method for enclosing a robot or a drive unit (2; 102) for an instrument arrangement by means of a shell according to claim 1, characterized by , that the inner passage provided with the blind plug (502) is passed through a hollow shaft and the outlet opening of the casing, then removed and the closing ring (503) is attached to the circumferential area of ​​the inner passage which has been freed by the removal of the blind plug (502). [3] Instrument interface for an instrument arrangement for, in particular detachable, attachment to a robot of a surgical robot system, comprising the instrument arrangement: a drive unit (2; 102) with at least one rotary drive (7, 8, 9) with a drive shaft, in particular a hollow drive shaft (10, 13, 15; 106, 107, 108), with a coupling part (31, 32, 33; 200, 201, 202; 300, 301, 302) for coupling to a drive shaft of an instrument; and an instrument (1; 100; 400) with an instrument shaft (3) and at least one drive shaft, in particular a hollow drive shaft (16, 17, 18; 109, 110, 111; 404, 405, 406), with a coupling part (34, 35, 36; 203, 204, 205; 303, 304, 305) for coupling with a drive shaft of the drive unit (2; 102); wherein the instrument (1; 100; 400) is detachably connected to the drive unit (2; 102); wherein the instrument interface (5, 500) can be arranged between the drive unit (2; 102) and the instrument (1; 100; 400); wherein the instrument interface (5, 500) has a casing (5, 501) for enclosing the drive unit (2; 102) of the instrument arrangement, wherein this casing (5, 501) has an internal passage (27) for an additional instrument inserted through the instrument and the drive unit of the instrument arrangement and / or is a casing (5, 501) according to claim 1. [4] Instrument interface according to claim 3, characterized byat least one rotatable, in particular conical, intermediate element (19, 20, 21; 206, 207, 208) for friction- or form-fit coupling with the coupling part of a drive shaft of the drive unit and / or the instrument. [5] Instrument arrangement for attachment, in particular detachable attachment, to a robot of a surgical robot system, comprising: a drive unit (2; 102) with at least one rotary drive (7, 8, 9) with a drive shaft, in particular a hollow drive shaft (10, 13, 15; 106, 107, 108), with a coupling part (31, 32, 33; 200, 201, 202; 300, 301, 302) for coupling with a drive shaft (16, 17, 18; 109, 110, 111; 404, 405, 406) of an instrument (1; 100; 400); the instrument (1; 100; 400) with an instrument shaft (3) and the drive shaft of the instrument (1; 100; 400), in particular drive hollow shaft (16, 17, 18; 109, 110, 111; 404, 405, 406), with a coupling part (34, 35, 36; 203, 204, 205; 303, 304, 305) for coupling with the drive shaft of the drive unit, which is detachably connected to the drive unit (2; 102); and an instrument interface (5, 500) according to one of claims 3 to 4, which is arranged between drive unit (2; 102) and instrument (1; 100; 400). [6] Instrument arrangement according to claim 5, characterized by, that the instrument arrangement comprises an additional instrument (504) and / or a drive means for actuating an end effector, which is, in particular detachably, introduced through the instrument of the instrument arrangement; and / or that at least one drive shaft (10, 13, 15; 106, 107, 108) of the drive unit and a drive shaft (16, 17, 18; 109, 110, 111; 404, 405, 406) of the instrument are arranged coaxially, in particular in alignment; and / or that a coupling part (300, 301, 302) of a drive shaft of the drive unit and a coupling part (303, 304, 305) of a drive shaft of the instrument are magnetically coupled to each other. [7] Instrument arrangement according to one of claims 5 to 6, characterized by, that the drive unit has at least one inner drive shaft, in particular a hollow drive shaft, which is arranged concentrically in an outer hollow drive shaft, in particular is supported in a bearing arrangement; and / or that at least one rotary drive is arranged coaxially, in particular aligned or parallel offset, or at an angle, in particular at right angles, to its drive shaft; and / or that the coupling part of the drive unit is arranged axially displaceably, in particular preloaded, on the drive shaft. [8] Instrument arrangement according to any one of claims 5 to 7, characterized bythat the instrument has at least one inner drive shaft, in particular a hollow drive shaft, which is arranged concentrically in an outer hollow drive shaft, in particular supported in a hollow drive shaft; and / or that the drive shaft of the instrument is arranged coaxially, in particular aligned or parallel, or at an angle, in particular at right angles, to the instrument shaft; and / or that the instrument has a conversion gear for converting a rotation of a drive shaft into a translation of a traction and / or pushing element. [9] Instrument arrangement according to claim 8, characterized by , that the conversion gear has a cam guide (23, 24, 25, 37, 38) and / or is arranged in a half of the instrument shaft facing towards or away from the drive unit. [10] Surgical robot system with: a robot; and an instrument arrangement attached to the robot, in particular detachably, according to one of claims 5 to 9.

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