DEVICE FOR THE DELIVERY OF BONE CEMENT BY SURGERY ROBOT

Description

FIELD OF THE INVENTION

[0001] The present invention relates to the field of medical technology, in particular to devices for dispensing bone cement by surgical robots. These devices can be used in the implantation of medical implants, such as joint spacers. Such a device can be connected to surgical robots or be a component of a surgical robot. Furthermore, methods for mechanically applying PMMA bone cement are described. TECHNICAL BACKGROUND

[0002] PMMA bone cements are used in surgery and orthopedics to fix joint endoprostheses in bone tissue. PMMA bone cements typically consist of a liquid monomer component and a powder component. The monomer component typically contains the monomer methyl methacrylate and a dissolved activator (N,N-dimethyl-p-toluidine). The powder component, also referred to as bone cement powder, typically contains one or more polymers based on methyl methacrylate and comonomers such as styrene, methyl acrylate, or similar monomers produced by polymerization, preferably suspension polymerization, an X-ray opaque, and the initiator dibenzoyl peroxide. When the powder component is mixed with the monomer component, the swelling of the polymers of the powder component in the methyl methacrylate creates a plastically deformable dough, the actual bone cement.When the powder component is mixed with the monomer component, the activator N,N-dimethyl-p-toluidine reacts with dibenzoyl peroxide to form radicals. The resulting radicals initiate the radical polymerization of the methyl methacrylate. As the polymerization of the methyl methacrylate progresses, the viscosity of the cement paste increases until it solidifies. The starting components described above, the bone cement paste prepared from them, and the bone cement resulting from the curing of this bone cement paste are referred to herein, both individually and collectively, as "bone cement."

[0003] Polymethyl methacrylate bone cements can be mixed in suitable mixing cups using spatulas by mixing the cement powder with the monomer liquid. This can result in the inclusion of air bubbles in the bone cement paste, which can negatively affect the mechanical properties of the cured bone cement. The bone cement paste mixed in the mixing cups is usually applied with spatulas.

[0004] To avoid air inclusions in the bone cement dough, a variety of vacuum cementing systems have been described in which the cement components are mixed in cartridges using manually operated mixers, of which the following documents are cited as examples: US6,033,105A, US5,624,184A, US4,671,263A, US4,973,168A, US5,100,241A, WO99 / 67015A1, EP1020167A2, US5,586,821A, EP1016452A2, DE3640279A1, WO94 / 26403A1, EP1005901A2, US5,344,232A.

[0005] A further development in cementing technology is represented by cementing systems in which both the cement powder and the monomer liquid are already packaged in separate compartments of the cartridge systems and are only mixed together immediately before cement application in the cartridge system. Such closed "full prepack mixing systems" are described in patents EP0692229, DE102009031178, US5997544, US6709149, DE69812726, and US5588745.

[0006] A fully prepacked mixing system was described in the patents DE102016121606B4 and DE102016121607B4. In this mixing system, the cartridge is held vertically with the cartridge head pointing upwards, and the monomer liquid is pressed into compacted cement powder from below using a dispensing device. The cement powder is wetted by the monomer liquid, and the air between the cement powder particles is forced out upwards by the monomer liquid. A bubble-free cement paste is created without the action of mechanical mixing devices. As explained in more detail below, such fully prepacked mixing systems can be used particularly advantageously in conjunction with the devices described herein.

[0007] US2019021796A1 describes methods and systems for robot-assisted surgery. A robotic system disclosed therein includes a locator, a surgical robot manipulator, an end effector configured to be removably connected to the manipulator, and a controller. The controller is configured to receive signals from the locator, determine a final position of a tool used to penetrate a portion of a patient's anatomy to create a cavity based on the signals received from the locator, and determine an implant insertion path for an implant to be inserted into a final implant position within the portion of the patient's anatomy, wherein the final implant position corresponds to the final position of the cavity creation tool.The controller is also configured to move the end effector with the implant coupled to it so that the implant moves along the implant insertion path and to stop the movement of the end effector when the implant reaches the final implant position. PREFERRED EMBODIMENTS

[0008] In the vacuum mixing systems and prepacked mixing systems known to date, the PMMA cement paste is often applied by connecting a cartridge filled with PMMA cement paste to a manually operated dispensing device, and then manually dispensing the cement paste from the cartridge using this dispensing device. This can be done, for example, during the implantation of a knee joint prosthesis. During the cement dispensing process, the medical practitioner can move the dispensing tube over the surfaces of the knee joint prosthesis to be cemented and, if applicable, over the bony implant bed of the tibia and femur. This allows the cement paste to be evenly distributed, and the tibial and femoral components of the knee joint prosthesis can then be pressed onto the previously prepared tibia and femur.This allows for even cement distribution and a homogeneous bond between the bone tissue and the joint components. Excess cement paste can be removed manually. When cementing hip joint prostheses, the acetabular cup can be cemented in a similar manner. The stem of hip joint prostheses is cemented by retrogradely filling the previously prepared canal in the proximal femur with cement paste. The cement paste is then pressed into the cancellous bone using a pressurizer. The stem of the hip prosthesis is then inserted into the bone cement paste-filled canal in the femur, displacing the excess bone cement paste.

[0009] Surgical robots are increasingly being used in surgery and orthopedics. These play a particularly important role in the implantation of cementless knee joint replacements. It would be desirable if cemented prostheses, such as knee and hip joint replacements, could also be implanted using surgical robots.

[0010] The object of the invention is to provide a device for the mechanical application of bone cement, for example PMMA bone cement, which can be connected or is connected to a surgical robot. The device can enable the mechanical application of bone cement volumes previously defined by the surgeon from cartridges within a predetermined period of time. During the cementing process, the device can preferably be moved by a robot arm. The device can preferably be capable of precisely dosing the cement volumes to be extruded. This dosing can preferably be time-controllable so that a surgical robot can position the bone cement dough precisely on the implant and on the bone tissue through defined movement in the directions of the x-axis, the y-axis, and the z-axis.For this purpose, the device can be designed such that it can be connected to cartridges containing pre-mixed PMMA cement dough. This means that the medical user mixes the cement components in a cartridge to form a PMMA bone cement dough and then connects the cartridge to the device, which is already located on the robot arm or can be connected to the robot arm. In some embodiments, the device can be connected to a cartridge containing the unmixed cement components, for example, a monomer liquid and a cement powder. In this case, a device described herein can mix the cement components by moving the dispensing piston toward the cartridge head according to patents DE102016121606B4 and DE102016121607B4 and then press them out of the cartridge after the bone cement dough has been formed.In one variant, the device described herein can be designed such that the use of electric motors and complex gears for extruding the bone cement dough is unnecessary. Pneumatic or hydraulic drives, for example, can be provided for this purpose. The source of the pneumatic or hydraulic pressure can preferably be arranged outside the device described herein and outside the connected robot. This can limit the weight load on the robot arms and enable cost-effective production of the device. In some embodiments, the device described herein can be configured to perform the extrusion process of the bone cement using electric motors and gears. Furthermore, in some embodiments, readily controllable energy sources already available in the operating room can be used to drive the device described herein.

[0011] The object of the present invention is to solve one or more of the above-described and other problems of the prior art. The invention enables the mechanical dispensing of bone cement using a surgical robot.

[0012] This object is achieved by the devices described herein, which are described in the patent claims.

[0013] Preferred embodiments of the invention are described below.

[0014] A first embodiment describes a device for mechanically dispensing bone cement, comprising a connecting unit configured for connection to a surgical robot, a dispensing unit configured for dispensing bone cement, a receiving unit configured for receiving a container with bone cement, and an interface configured for connection to a control unit in order to dispense a predetermined amount of bone cement from the container by means of the dispensing unit, wherein the device further comprises a sensor operatively connected to the interface in order to determine the amount of bone cement dispensed by means of the dispensing unit.

[0015] A second embodiment describes a device according to the first embodiment, wherein the interface is configured to transmit the amount of bone cement dispensed by means of the dispensing unit and to stop further dispensing of the bone cement when the predetermined amount is reached.

[0016] A fourth embodiment describes a device according to one of the preceding embodiments, wherein the sensor is an optical sensor, a mechanical sensor or a magnetic sensor.

[0017] A fifth embodiment describes a device according to the third or fourth embodiment, wherein the sensor is configured to detect a spatial position of a marking in order to thereby determine the amount of bone cement dispensed by means of the dispensing unit, wherein the marking is preferably a colored component of the dispensing unit, particularly preferably a sealing ring of a piston.

[0018] A sixth embodiment describes a device according to one of the third to fifth embodiments, wherein the sensor and / or the interface is / are configured to determine an internal volume of the squeezing unit and / or the container.

[0019] A seventh embodiment describes a device according to one of the third to sixth embodiments, wherein the sensor is arranged on a sensor strip which extends on an outer side of the device along the receiving unit.

[0020] An eighth embodiment describes a device according to one of the preceding embodiments, wherein the connecting unit has an electrical connection which is configured to supply energy to the device and / or to receive a control signal.

[0021] A ninth embodiment describes a device according to one of the preceding embodiments, wherein the connecting unit has a connection for connection to a pressurized medium, wherein the pressurized medium is preferably compressed air, a vacuum source or a hydraulic medium.

[0022] A tenth embodiment describes a device according to one of the preceding embodiments, wherein the squeezing unit has a drive which is configured to dispense bone cement with the aid of the squeezing unit.

[0023] An eleventh embodiment describes a device according to the tenth embodiment, wherein the drive is a hydraulic, pneumatic or electric drive.

[0024] A twelfth embodiment describes a device according to the tenth or eleventh embodiment, wherein the interface is configured to control the drive.

[0025] A thirteenth embodiment describes a device according to any one of the preceding embodiments, wherein the device is further configured for mechanically mixing bone cement in the container.

[0026] Furthermore, the invention relates to a computer program for controlling the device according to one of the preceding embodiments, wherein the computer program is configured to operate the squeezing unit and / or the sensor.

[0027] Furthermore, the invention relates to a kit comprising a device according to one of the first to thirteenth embodiments, and a container with bone cement, wherein the container is preferably designed for mixing bone cement. DETAILED DESCRIPTION

[0028] For the embodiments described herein, whose elements "have" or "comprise" a specific feature (e.g., a material), a further embodiment is always contemplated in which the element in question consists solely of the feature, i.e., does not comprise any further components. The word "comprise" or "comprising" is used herein synonymously with the word "have" or "having."

[0029] When an embodiment refers to an element in the singular, an embodiment in which multiple elements are present is also contemplated. The use of a plural term for an element generally encompasses an embodiment in which only a single corresponding element is included.

[0030] In a first embodiment, the invention relates to a device for the mechanical dispensing of bone cement, comprising a connecting unit which is configured for connection to a surgical robot, a dispensing unit which is configured for dispensing bone cement, a receiving unit which is configured for receiving a container with bone cement, and an interface which is configured for connection to a control unit in order to dispense a predetermined amount of bone cement from the container with the aid of the dispensing unit, wherein the device further comprises a sensor which is operatively connected to the interface in order to determine the amount of bone cement dispensed by means of the dispensing unit.

[0031] The devices described herein are intended for the mechanical dispensing of bone cement. Accordingly, these devices are preferably configured to dispense bone cement using an electronically controlled drive. The devices can advantageously be used in conjunction with surgical robots, which are also referred to herein as operating room robots. An example of a surgical robot is described in EP3743004A1. Such robots preferably comprise a drive unit and a control unit to enable operation of the robot. The devices described herein comprise an interface configured to be connected to such a control unit of a robot. As a result, the device according to the invention can operatively interact with the control unit of the robot.For example, the robot's control unit can control the dispensing of bone cement from the device according to the invention using the interface. For this purpose, the interface can be operatively connected to a dispensing unit of the device. In some embodiments, the interface is configured to transmit a control signal from the robot's control unit to the dispensing unit. In some embodiments, the interface can be configured to process such a control signal from the control unit and deliver the processed control signal to the dispensing unit.

[0032] In some embodiments, the device can be attached to a robot arm of a surgical robot. This makes it possible to control the spatial positioning of the bone cement dispensed from the device through the interaction of the robot arm with the device. Preferably, this allows for a three-dimensionally controllable dispensing of bone cement.

[0033] The starting components of a bone cement described herein, for example, a powder component and a liquid component, the bone cement dough produced therefrom, and the bone cement resulting from the hardening of this bone cement dough, are referred to herein both individually and collectively as "bone cement." A preferred example of a bone cement is a PMMA bone cement. The device can be configured either to receive a container containing premixed bone cement or to receive a container containing several separate components of a bone cement. The device can be configured to mix these components. This mixing process can preferably be controlled by a surgical robot.

[0034] The device according to the invention comprises a receiving unit configured to receive a container containing bone cement. In some embodiments, the receiving unit is configured to receive commercially available dispensing devices or mixing devices for bone cement. In some embodiments, the receiving unit is configured to receive a container containing the components required for producing bone cement in separate compartments. In one embodiment, the receiving unit is configured to receive a container in which bone cement can be mixed and subsequently dispensed. In some embodiments, the device is configured to mix bone cement in a container to be received using a robot and to dispense it using the dispensing unit.Particularly preferred containers with which the device according to the invention can be used are described in DE102016121606B4 and DE102016121607B4, which are hereby incorporated in their entirety by reference. DE102016121606B4 describes a bone cement applicator for mixing and applying a bone cement, in which the starting components of the bone cement can be mixed in a closed cartridge to form a bone cement dough, wherein the cartridge has a multi-part closure system comprising a discharge opening, wherein at least two parts of the closure system are movable relative to one another, driven by a movement of the mixed bone cement dough, and this movement of the at least two parts of the closure system relative to one another opens the discharge opening, and wherein the movement of the mixed bone cement dough is driven by pressure on the bone cement dough.

[0035] To accommodate a container of bone cement, the dispensing unit can be provided with a suitable connecting element, which is designed, for example, for a positive connection with the container. Such a connecting element can be a bayonet lock or a snap lock, for example. The connecting element can have hooks, tabs, or threads that enable a positive connection with the container.

[0036] The device comprises a dispensing unit configured to dispense bone cement. The dispensing unit may, for example, comprise a piston configured to exert pressure on a received container of bone cement. The dispensing unit may comprise a movable plate configured to exert pressure on a received container of bone cement. The piston or plate may be arranged to move axially into a received container of bone cement.

[0037] The device may comprise a housing, which may, for example, have a substantially cylindrical basic shape. The dispensing unit may be arranged within this housing. An abutment for the dispensing unit may be arranged and secured to the housing. The abutment may be secured to the housing, for example, by means of a screw or rivet.

[0038] In one embodiment, the device is configured to determine the amount of bone cement dispensed by the dispensing unit. This can be done, for example, by determining the position of an element of the dispensing unit, such as the position of a piston or plate that exerts pressure on the container of bone cement to dispense bone cement from the container. For this purpose, the element of the dispensing unit can have a marking whose position can be determined using a sensor.

[0039] In one embodiment, the interface is configured to transmit the amount of bone cement dispensed by means of the dispensing unit to the robot and to stop further dispensing of the bone cement when the predetermined amount is reached.

[0040] According to the invention, the device comprises a sensor. The sensor is operatively connected to the interface to determine the amount of bone cement dispensed by the dispensing unit and, if necessary, transmit it to the robot.

[0041] The sensor can be an optical sensor, a mechanical sensor, or a magnetic sensor. The optical sensor can, for example, be a camera or a photodiode. The device can further comprise a light source, for example a light-emitting diode or a laser. The sensor can, for example, be a time-of-flight sensor, a phase-modulated sensor, a triangulation sensor, or an interferometric sensor. The magnetic sensor can, for example, be configured to determine a relative position of a movable part of the squeezing unit according to the functional principle of magnetostriction. Such a sensor can, for example, contain a measuring base arranged immovably within the device, a waveguide, a movable magnet, and a signal converter. A magnetic force can generate a mechanical oscillation in the waveguide.By determining the travel time of this oscillation, distances between two defined points can be measured. The signal converter can be configured to convert a mechanical oscillation of the sensor into a measurement signal.

[0042] The sensor can be configured to detect the travel path of an element of the dispensing unit. For example, this can be achieved through operative interaction of the sensor with a drive of the dispensing unit.

[0043] In one embodiment, the sensor is configured to detect a spatial position of a marker to thereby determine the amount of bone cement dispensed by the dispensing unit. The marker can preferably be a colored component of the dispensing unit, for example, a sealing ring of a piston or plate. The marker can be color-coded to distinguish it from the surrounding elements of the device.

[0044] In one embodiment, the sensor is configured to determine an internal volume of the dispensing unit. In one embodiment, the sensor is configured to determine an internal volume of the container containing bone cement. In one embodiment, the interface is configured to determine an internal volume of the dispensing unit. In one embodiment, the interface is configured to determine an internal volume of the container containing bone cement.

[0045] In this way, the amount of bone cement delivered by the device can be determined.

[0046] The sensor can be arranged on a sensor bar. The sensor bar can be conveniently attached to the device to determine the amount of bone cement dispensed by the dispensing unit. In one embodiment, the sensor bar extends on an outer side of the device along the receiving unit or along the dispensing unit. The sensor bar can extend in an axial or longitudinal direction along the device. If necessary, multiple sensors can be provided. The sensors can, for example, be arranged circumferentially along the outer side of the housing of the device.

[0047] In a further embodiment, the connecting unit has an electrical connection. The electrical connection can be configured to supply power to the device. In particular, the electrical connection can be configured to supply power to the squeezing unit and / or the sensor. The electrical connection can alternatively or additionally be configured to receive a control signal. Such control signals can, for example, be used to externally control the various parts of the device by a surgical robot or by another external control device. For example, the sensor and / or the squeezing unit can be externally controlled and / or monitored in this way.

[0048] In one embodiment, the connecting unit has a connection for connection to a pressurized medium. The pressurized medium can be, for example, compressed air, a vacuum source, or a hydraulic medium. The pressurized medium has a pressure that is significantly higher or significantly lower than the usual ambient pressure of approximately 1000 hPa. The pressurized medium can serve to drive the squeezing unit. Accordingly, in one embodiment, the squeezing unit is configured to be driven by a pressurized medium.

[0049] In one embodiment, the dispensing unit comprises a drive configured to dispense bone cement with the aid of the dispensing unit. For this purpose, the drive can be operatively connected to the dispensing unit, so that the dispensing unit can cause the dispensing of bone cement by acting on a container containing bone cement.

[0050] In one embodiment, the drive is a hydraulic, pneumatic, or electric drive. A hydraulic or pneumatic drive can be fluidically connected to a connection described above for connection to a pressurized medium. The device can therefore have an inlet and an outlet for a pressurized medium. The inlet and / or the outlet can comprise a mechanical or electrical control. The inlet and / or the outlet can each comprise a valve. In particular, if the device comprises a pneumatic drive, the outlet can further comprise a filter to clean the discharged fluid medium, for example, compressed air. Filters that can prevent contamination of the ambient air with germs are particularly advantageous. Such filters are also referred to in the art as sterile filters.Such filters can, for example, have a pore size of 50 to 500 nm, where the pore size refers to the nominal volume of the particles retained.

[0051] In one embodiment, the interface is configured to control the drive. For example, the interface can forward an external control signal to the device to control an electric motor or a control valve of a hydraulic or pneumatic drive to dispense a predetermined amount of bone cement using the device.

[0052] The device comprises a receiving unit configured to receive a container with bone cement. The container can either contain ready-mixed bone cement or can contain individual components of a bone cement separately. In one embodiment, the device is configured for mechanical mixing of bone cement in the container. In this case, the bone cement does not have to be mixed by the operating room staff; instead, the device takes over the mixing process, optionally controlled by a operating room robot, which controls the device accordingly. Thus, according to such an embodiment, the bone cement can be both mixed and dispensed by a operating room robot using the device. In one embodiment, the device is configured to dispense the bone cement in a targeted manner to one or more predetermined spatial positions using a operating room robot.This eliminates the need for the treating surgeon to manually guide a bone cement dispensing device, as this task is performed by the surgical robot using the device described here.

[0053] The invention also relates to a computer program for controlling the device described herein. The computer program can be configured, in particular, to operate the squeezing unit. The computer program can be configured, alternatively or additionally, to operate the sensor. The computer program can be stored on a data carrier. Accordingly, one embodiment also includes a data carrier on which such a computer program is stored. The computer program can, for example, comprise one or more or all of the following steps, or be configured to perform these steps: 1) Activating the dispensing unit, whereby activating the dispensing unit causes bone cement to be dispensed by the device; 2) Calculating the amount of bone cement dispensed by the device based on a measurement value from a sensor of the device; 3) Comparing this amount with a predetermined value; 4) Deactivating the dispensing unit when the amount reaches or exceeds the predetermined value.

[0054] The invention also relates to a kit comprising a device as described herein and a container with bone cement, wherein the container is preferably configured for mixing and / or dispensing bone cement.

[0055] The container can be a full prepack mixing system. Full prepack mixing systems are cementing systems in which both the cement powder and the monomer liquid are packaged in separate compartments of the cartridge systems, only to be mixed together to form bone cement immediately before cement application in the cartridge system. Examples of full prepack mixing systems are described in DE102016121606B4 and DE102016121607B4. In such a mixing system, the cartridge can be held vertically with the cartridge bowl pointing upwards, and the monomer liquid can be pressed into the compacted cement powder from below using a squeezing device. The cement powder can be wetted by the monomer liquid, and the air between the cement powder particles can be forced out upwards by the monomer liquid.

[0056] The container preferably contains a connecting element, for example, a positive-locking connecting element, which is configured for connection to a device described herein. The container may further comprise a mixing rod. The kit may further comprise a snorkel for dispensing bone cement from the container. The bone cement may comprise an antibiotic.

[0057] Furthermore, a surgical robot is described (not claimed) which is configured to dispense bone cement using a device described herein, a computer program described herein, and / or a kit described herein. The surgical robot can contain a device described herein as an integral component, or can be configured merely for connection to such a device. For example, the surgical robot can have connections for the connecting element of the device. The robot can be configured to monitor the sensor of the device and / or to control the dispensing device of the device. The robot can be configured for operative connection to an electrical connection of the device described herein. The robot can further have connections for supplying the device with a pressurized medium, which can be used to drive the dispensing device.The surgical robot may be designed and configured to mix bone cement and / or dispense bone cement using a device described herein.

[0058] The surgical robot may further include a computer program for controlling a device described herein, as described in the patent claims. Reference is made to the preceding statements herein.

[0059] Furthermore, a therapeutic treatment method is described (not claimed) which comprises the delivery of bone cement using a device described herein, a computer program described herein, a surgical robot described herein and / or a kit described herein. EXAMPLES

[0060] The invention is further illustrated below by examples. FIGURES

[0061] Fig. 1shows an example of an embodiment of a device according to the invention 100. The device 100 has a connecting unit 101 which can be connected to a surgical robot 200 In the example shown here, the connection unit includes 101 also an entrance 110 and an exit 111, which are each used to connect to an external pressurized medium. 110 For example, a compressed air source can be connected to drive the squeezing unit 102 The compressed air used is then fed through the outlet 111 out of the device again. The output 111 may have a filter to clean the outgoing air. The connecting unit 101 also includes an interface 105, which controls the squeezing unit 102For example, a surgical robot connected via the connection unit 101 operatively with the device 100 is connected via the interface 105 the amount of the squeezing unit 102 The device further comprises a sensor 106, to determine the amount of juice using the squeezing unit 102 The sensor 106 is via the interface 105 connected to an external control system, which is part of a surgical robot 200 can be. The squeezing unit 102 is driven by a drive 109 moved to remove bone cement from the device 100 Furthermore, the device contains a receiving unit 103, which can accommodate a container 104with bone cement. The receiving unit can have a positive connection element, such as a bayonet lock or a thread. Fig. 2 shows a cross-sectional view of a device according to the invention, which has the receiving unit 103 with a container 104 with bone cement. The bone cement is contained in an inner volume 108 of the container 104 The squeezing unit 102 points to a plate 112 which is inside the container 104 is arranged movably and is designed to remove the bone cement from the inner volume 108 The position of the plate 112 is determined using a sensor 106 monitored, which allows the amount of bone cement applied to be determined. Fig. 3 shows a further embodiment of a device according to the invention 100. A standard cartridge104 with bone cement is attached to the receiving unit 103 The device comprises a sensor 106, which in this example is designed as a sensor strip comprising several individual sensor elements arranged in series. Fig. 4 shows a device according to the invention 100 according to Figure 3 , which has a connecting unit 101 with a robot 200 The sensor 106 can be done via the robot 200 can be read out, since the sensor is connected to the connection unit 101 is operatively connected to the robot. Fig. 5 shows a further embodiment of a device according to the invention 100, which in this example is driven by an electric motor. The device 100 is equipped with a bone cement cartridge 104which in this example also has a removable mixing rod, which allows manual mixing of multi-component bone cement. The bone cement is contained in an inner volume 108 The device comprises a pressing unit 102 with a plate 112 for applying the bone cement. Fig. 6 shows a further embodiment of a device according to the invention 100, which in this example has a compressed air connection as a drive, which has an input 110 and an exit 111 With the help of the drive, the squeezing unit 102 the bone cement from the inner volume 108 of the container 104 to the outside, whereby the container also has a snorkel for dispensing the bone cement. Fig. 7 shows a further embodiment of a device according to the invention 100,which is designed for the mechanical mixing of a liquid and a solid component of a multi-component bone cement. The device 100 is here with a container 104 connected to a chamber 113 for holding a liquid component and a chamber 115 for holding a powder component. In this example, the liquid component is contained in several foil bags 114 in the chamber 113 Such a container is also referred to herein as a "fully prepacked mixing system." Fig. 8 shows the mixing process of the two bone cement components in one device 100 according to Figure 7 . The squeezing unit has several mandrels to press the film bags 114, which contain the liquid component. By applying pressure to the chamber 113 First, the foil bags are pierced and the escaping liquid is removed from the chamber113 into the chamber 115 for the powder component, allowing the two components of the bone cement to mix and bond with each other. The mixing process described here can be controlled by a surgical robot. In the embodiment shown here, the drive unit comprises an electric motor. Fig. 9 shows a further embodiment of a device according to the invention 100, which is designed for the mechanical mixing of a liquid and a solid component of a multi-component bone cement. In this example, the device is equipped with a connection for a pressurized medium, e.g., compressed air. The bone cement mechanically mixed with the device can be drawn from the internal volume 108 The amount of bone cement applied is monitored using a sensor bar. A 100 operatively connected robot200 controls based on a signal from the sensor 106 the squeezing unit 102, to deliver a predetermined amount of bone cement. Fig. 10 shows components of a kit which comprise a device according to the invention 100 with a connecting unit 101, a recording unit 103 and a sensor. The kit also includes a container 104 with bone cement, which is applied via the receiving unit 103 with the device 100 The kit also includes an optional snorkel 116 bum application of bone cement, which is attached to the container 104 can be attached. Fig. 11 shows a cross section through an embodiment of a device according to the invention 100, in which the squeezing unit 102 a mark 107which, in the version shown here, is designed as a color-contrasting sealing ring. The position of the sealing ring can be determined using a rod-shaped optical sensor strip 106, which is arranged on the outside of the device. LIST OF REFERENCE SYMBOLS

[0062] 100Device 101Connection unit 102Extrusion unit 103Receiving unit 104Container 105Interface 106Sensor 107Marking 108Internal volume 109Drive 110Input 111Output 112Plate 113Chamber for liquid component 114Bag 115Chamber for powder component 116Snorkel 117Handle 200Surgical robot

Claims

1. A device (100) for dispensing bone cement by means of a machine, comprising a connection unit (101) configured for connection to a surgical robot, a press-out unit (102) configured for dispensing bone cement, a receiving unit (103) configured for receiving a container (104) containing bone cement, and an interface (105) configured for connection to a control unit, in order to dispense a predefined amount of bone cement from the container (104) by means of the press-out unit (102), characterized in that the device comprises a sensor (106) which is operatively connected to the interface (105) in order to determine the amount of bone cement dispensed by means of the press-out unit (102).

2. The device according to claim 1, wherein the interface (105) is configured to convey the amount of bone cement dispensed by means of the press-out unit (102) and to stop further dispensing of the bone cement when the predefined amount is reached.

3. The device according to claim 1 or claim 2, wherein the sensor (106) is an optical sensor, a mechanical sensor or a magnetic sensor.

4. The device according to any of the preceding claims, wherein the sensor (106) is configured to detect a spatial position of a marking (107) in order to thereby determine the amount of bone cement dispensed by means of the press-out unit (102), wherein the marking is preferably a colored component of the press-out unit (102), particularly preferably a sealing ring of a plunger.

5. The device according to any of the preceding claims, wherein the sensor (106) and / or the interface (105) is / are configured to ascertain an inner volume (108) of the press-out unit (102) and / or of the container (104).

6. The device according to any of the preceding claims, wherein the sensor (106) is arranged on a sensor strip (109) which extends along the receiving unit (103) on the outside of the device.

7. The device according to any of the preceding claims, wherein the connection unit (101) comprises an electrical connection point which is configured to supply power to the device and / or to receive a control signal.

8. The device according to any of the preceding claims, wherein the connection unit (101) comprises a connection point for connection to a pressurized medium, wherein the pressurized medium is preferably compressed air, a vacuum source or a hydraulic medium.

9. The device according to any of the preceding claims, wherein the press-out unit (102) comprises a drive (109) which is configured for dispensing bone cement by means of the press-out unit.

10. The device according to claim 9, wherein the drive (109) is a hydraulic, pneumatic or electrical drive.

11. The device according to claim 9 or claim 10, wherein the interface (105) is configured to control the drive (109).

12. The device according to any of the preceding claims, wherein the device is also configured for mixing bone cement by means of a machine in the container (104).

13. A computer program for controlling the device according to any of the preceding claims, wherein the computer program is configured to operate the press-out unit (102) and / or the sensor (106), wherein the computer program is configured to carry out the following steps: 1) activating the press-out unit, wherein the dispensing of bone cement by means of the device occurs as a result of activating the press-out unit; 2) calculating the amount of bone cement dispensed by means of the device, on the basis of a measured value from a sensor of the device; 3) comparing this amount with a predefined value; 4) deactivating the press-out unit if the amount reaches or exceeds the predefined value.

14. A kit comprising a device according to any of claims 1 to 12 and a container (104) containing bone cement, wherein the container is preferably configured for mixing bone cement.