Medical holding arm device

Abstract

The invention relates to a medical holding arm device for a medical, in particular surgical, holding arm (4), said device comprising: at least one holding arm segment (10); a further holding arm segment (12) that is connected at least indirectly to the holding arm segment (10); a joint (14) which connects the holding arm segment (10) and the further holding arm segment (12) at least indirectly to one another; a locking mechanism (16) which is associated with the joint (14) and which locks the joint (14) in a first operating state and releases it in a second operating state, and which comprises a locking element for locking the joint and a transmission element for transmitting a force to the locking element; and an actuator (18) which actuates the locking mechanism (16) using a force in order to transfer the locking mechanism from one operating state to the other operating state. According to the invention, the medical holding arm device comprises a force sensor (24) which at least indirectly detects a force of the actuator (18) on the locking mechanism (16) in order to detect an operating state of the locking mechanism (16).

Description

[0001] Medical holding arm device

[0002] State of the art

[0003] The invention relates to a medical holding arm device, a holding arm with such a holding arm device, a holding arm system with such a holding arm and an end effector.

[0004] DE 10 2018 112 682 A1 proposes a medical holding arm device for a medical holding arm, comprising at least one holding arm segment, a further holding arm segment connected at least indirectly to the holding arm segment, a joint which connects the holding arm segment and the further holding arm segment to one another, a locking mechanism assigned to the joint which locks the joint in a first operating state and releases it in a second operating state, and which comprises a locking element for locking the joint and a transmission element for transmitting a force to the locking element, and an actuator which actuates the locking mechanism by applying a force in order to transfer the locking mechanism from one operating state to the other.

[0005] The published patent application US 2020 / 0352676 A1 teaches a medical holding system with joints that can be motor-locked and released.

[0006] The patent application DE 10 2021 114 151 A1 discloses a device for driving medical instruments with at least two motors.

[0007] From the published patent application US 2019 / 0176334 A1 a surgical robot system is known which comprises several joints.

[0008] The object of the present invention is, in particular, to provide a generic device with improved properties regarding operational reliability. This object is achieved according to the invention by the features of patent claim 1, while advantageous embodiments and further developments of the invention can be found in the subclaims.

[0009] Advantages of the invention

[0010] The invention is based on a holding arm device for a medical, in particular surgical, holding arm, with at least one holding arm segment, with a further holding arm segment connected at least indirectly to the holding arm segment, with a joint which at least indirectly connects the holding arm segment and the further holding arm segment to one another, with a locking device assigned to the joint which locks the joint in a first operating state and releases it in a second operating state, and which comprises a locking element for locking the joint and a transmission element for transmitting a force to the locking element, and with an actuator which actuates the locking device by applying a force in order to transfer the locking from one operating state to the other,

[0011] It is proposed that the holding arm device comprise a force sensor that detects an at least indirect force exerted by the actuator on the locking mechanism in order to detect an operating state of the locking mechanism. This can advantageously improve operational reliability. A check of the operating state can be performed particularly advantageously. Furthermore, a user can be alerted to the operating state during operation or even to any operating errors.

[0012] “Configured” should be understood in particular to mean specially programmed, provided, adapted, designed and / or equipped. The fact that an object is intended for a specific function should be understood in particular to mean that the object fulfills and / or performs this specific function in at least one application and / or operating state. A “holding arm device” should be understood in particular to mean a functional component of a holding arm. The holding arm device can form the holding arm at least partially, preferably at least to a large extent. “At least to a large extent” should be understood in particular to mean at least more than 50%, preferably more than 70% and particularly preferably more than 90%, in particular with reference to a weight and / or a volume. Alternatively, the holding arm device can also completely form the holding arm.The holding arm is particularly designed for use in a medical and in particular surgical procedure. For example, the holding arm can carry a medical end effector. The end effector is, for example, an endoscope, exoscope or an endoscopic instrument, such as a clamp, forceps or the like. The end effector can be arranged on a distal holding arm segment of the holding arm device. “Distal” is to be understood in particular as facing towards a patient. The opposite of distal can be understood as proximal. “Proximal” is to be understood in particular as facing away from a patient. The holding arm device has at least two, preferably three and particularly preferably a plurality of holding arm segments which are at least indirectly connected to one another. “At least indirectly” is to be understood in particular as indirectly but preferably directly.For example, one holding arm segment can be connected to another holding arm segment indirectly via an additional holding arm segment. Furthermore, two holding arm segments can be connected directly to one another. Two holding arm segments are advantageously each connected to one another by a joint. The joint is in particular a ball joint, a hinge joint or the like. The joint is in particular formed at least partially, preferably at least to a large extent and particularly preferably completely by the two holding arm segments to be connected. The joint has at least one joint element which is connected to the holding segment or at least partially formed integrally with it.The term “at least partially connected and / or formed in one piece” should be understood in particular to mean that at least one component of at least one object, in particular the object itself, is connected and / or formed in one piece with at least one component of at least one further object, in particular with the further object itself. The term “in one piece” should be understood in particular to mean at least materially connected, for example by a welding process, an adhesive process, an injection molding process and / or another process that appears appropriate to a person skilled in the art. Advantageously, the term “in one piece” should also be understood to mean one-piece. The term “in one piece” should be understood in particular to mean formed in one piece. This one piece is preferably produced from a single blank, a mass and / or a casting, particularly preferably using an injection molding process, in particular a single and / or multi-component injection molding process.Furthermore, the joint in particular has at least one further joint element which is connected to the further holding arm segment and is preferably formed at least partially in one piece with it. The further joint element is advantageously designed to correspond to the joint element. The joint element is in particular designed as a joint head, while the further joint element is designed as a counterpart to this as a joint socket. The term “a locking device is assigned to a joint” should be understood in particular to mean that a respective locking device is designed to determine the operating states of a respective assigned joint. The locking device is in particular a clamping lock in which the joint elements are clamped together so that they can no longer move freely relative to one another. It is therefore in particular a mechanical brake.Alternatively, other locking types are also conceivable, such as a magnetic brake, a hydraulic brake, or the like. The locking element applies a force, in particular, to at least the joint element and / or the further joint element in order to lock them together and preferably to clamp them. The locking element can, for example, be designed as a cone tapering towards the distal side. In particular, the locking element is arranged within the holding arm segment and / or the joint. The holding arm device preferably has a locking element for each joint. The transmission element can, in particular, be formed at least partially in one piece with the locking element. The transmission element is preferably arranged within the holding arm segment and / or the joint. The transmission element is designed in particular as a transmission strand and advantageously as a transmission rod.Alternatively, the transmission element could also be a flexible wire or the like. Furthermore, the transmission element could also be designed for hydraulic power transmission in the form of a fluid line. The number of joints is in particular smaller than the number of holding arm segments, preferably by one. The holding arm device preferably has a transmission element and / or a locking element for each joint.

[0013] The force sensor can be arranged on the joint, in particular on the joint element and / or the further joint element of the joint. To further improve the sensitivity of the measurement using the force sensor, it is proposed that the force sensor be arranged on the locking mechanism, in particular on the transmission element of the locking mechanism. In particular, the force sensor is configured to measure the force by detecting an applied pressure or strain.

[0014] It is further proposed that the holding arm device comprise an end segment, a further joint, which at least indirectly connects the end segment and the further holding arm segment to one another, and a further locking mechanism associated with the further joint, which locks the further joint in a first operating state and releases it in a second operating state. A locking effect can advantageously be achieved up to an end segment of the holding arm device. An end segment can be, in particular, a distal and / or a proximal-side holding arm segment, i.e., in particular, a last or a first holding arm segment.

[0015] It is proposed that the locking mechanism and the additional locking mechanism be connected in series with one another, so that at least part of the force exerted by the actuator on the locking mechanism can be transferred from the locking mechanism to the additional locking mechanism. These form a kinematic chain, so that the locking mechanisms can always be switched together from one operating state to the other. This advantageously simplifies control. In particular, the locking elements and the transmission elements are arranged one behind the other in series, so that the movement of a transmission element can be transferred to a locking element and from the locking element to a further transmission element and a further locking element.

[0016] To reduce complexity and / or reduce sensor costs, it is further proposed that the force sensor be arranged on the additional locking device in order to detect the operating state of all locking devices. In particular, the entire holding arm device comprises only this one force sensor, which is arranged on the additional locking device and, in particular, on the additional transmission element of the additional locking device. In other words, all additional locking devices are preferably free of force sensors.

[0017] In an advantageous embodiment of the invention, the force sensor can be designed as a strain gauge. This can advantageously reduce component costs. Alternatively, the force sensor could also be a piezoresistive pressure sensor; this is particularly useful when the locking element and / or the transmission element are pneumatically or hydraulically operated.

[0018] It is also proposed that the holding arm device comprise a control unit which is configured to read the force sensor in order to infer an operating state of at least one locking mechanism. The monitoring of the operating states of the locking mechanism can advantageously be automated. The control unit comprises, in particular, at least one processor. Furthermore, the control unit can comprise a memory. In particular, an operating program is stored in the memory. The operating program can be executable, in particular, by the processor. In order to read the force sensor, the control unit is electrically and / or electronically connected to the force sensor. For example, the control unit can be connected to the force sensor via a cable. Alternatively, however, it is also conceivable for the control unit and the force sensor to be connected wirelessly, for example via WLAN, RFID, Bluetooth or the like.

[0019] It is proposed that the control unit be configured to emit a visual and / or acoustic signal when at least one locking mechanism is in the first operating state. This can advantageously further improve safety, as the signal can alert a user to the operating state of the locking mechanism. In particular, the visual and / or acoustic signal can be forwarded and / or output to an external device, such as a display, a loudspeaker, a screen, a handheld device, such as a smartphone, a tablet, a smartwatch, or the like.

[0020] It is proposed that a force sensor be arranged on each locking mechanism and / or each transmission element in order to individually determine the operating states of all locking mechanisms. This can advantageously increase safety, as each operating state of each locking mechanism can be individually checked. The force sensors are connected to the control unit for individual readout. The control unit can output a visual and / or acoustic signal depending on the respective force sensor and the operating state of each locking mechanism determined by it.

[0021] A medical holding arm, in particular a surgical holding arm, is proposed, comprising at least one holding arm device. This advantageously allows a medical holding arm to be equipped with the advantages of the holding arm device. The holding arm can in particular comprise at least two, preferably at least three, and particularly preferably several holding arm devices.

[0022] A holding arm system, in particular a robotic holding arm system, is proposed, comprising one or more holding arms and one or more end effectors arranged on the holding arm. This advantageously allows a medical holding arm system to be equipped with the advantages of the holding arm device. The holding arm system can in particular comprise at least two, preferably at least three, and particularly preferably a plurality of holding arms.

[0023] Drawings

[0024] Further advantages will become apparent from the following description of the drawings. The drawings illustrate an exemplary embodiment of the invention. The drawings, the description, and the claims contain numerous features in combination. Those skilled in the art will also expediently consider the features individually and combine them into useful further combinations.

[0025] Shown are: Fig. 1 a schematic representation of a medical holding arm system with several holding arms in a perspective view,

[0026] Fig. 2 is a schematic representation of a holding arm device of one of the holding arms of the holding arm system in a sectional view,

[0027] Fig. 3 is a schematic representation of a locking mechanism of the holding arm device in a first operating state in a sectional view,

[0028] Fig. 4 is a schematic representation of a locking mechanism of the holding arm device in a second operating state in a sectional view,

[0029] Fig. 5 is a schematic flow chart of a method for operating a holding arm device and

[0030] Fig. 6 is a schematic representation of a further embodiment of a holding arm device in a perspective view.

[0031] Description of the embodiments

[0032] Fig. 1 shows a schematic representation of an exemplary medical support arm system 42. In the present case, the medical support arm system 42 is designed as a manually operable medical support arm system 42. Alternatively, however, it could also be a robotic medical support arm system, which can be used, for example, for telesurgery.

[0033] In the present case, the medical holding arm system 42 comprises, by way of example, a medical holding arm 40. Furthermore, the medical holding arm system 42 comprises an end effector 44. The end effector 44 is arranged on the holding arm 40. For this purpose, the end effector 44 is attached to a distal end of the holding arm 8. The end effector 44 is configured to treat a patient. For this purpose, the end effector 44 can comprise an instrument, an endoscope, or the like. It is conceivable that such a holding arm system can have several such medical holding arms and end effectors, depending on the design and application.

[0034] In the present case, the medical holding arm 40 is configured for surgical use. The medical holding arm 40 comprises a medical holding arm device. In the present case, the holding arm device completely forms the holding arm 40. Alternatively, however, the holding arm device can also represent only a part of the holding arm. Fig. 2 shows a schematic representation of part of the holding arm device in a sectional view. The holding arm device comprises at least one holding arm segment 10 (cf. Fig. 1). The holding segment 10 is arranged at the proximal end of the holding arm 40. The holding arm segment 10 comprises a transmission element 20. The transmission element 20 is configured for force transmission. In the present case, the transmission element 20 is configured for mechanical force transmission. The transmission element 20 is designed as a transmission rod. The transmission element 20 is rigid.Alternatively, a transmission element could be configured for pneumatic or hydraulic power transmission. For example, such a transmission element could be designed as a fluid line. Furthermore, it is conceivable that such a transmission element could be flexible.

[0035] The support arm segment 10 has a support element 32. The support element 32 is configured to withstand an external force acting on the support arm 40, for example, gravitational force, which is caused by the end effector 44 and / or the inherent weight of the support arm 40. Furthermore, the support element 32 serves to support other components, such as the transmission element 20, during a force transmission along the support arm 40.

[0036] In the present case, the support element 32 is formed as a tube. The support element 32 has a recess 46. The recess 46 extends along a longitudinal direction of the support element 32. The recess 46 is a longitudinal recess. The recess 46 is formed as a bore. The support element 32 accommodates the transmission element 20. The transmission element 20 is arranged in the recess 46 of the support element 32.

[0037] Furthermore, the holding arm device comprises a further holding arm segment 12. The further holding arm segment 12 is at least substantially identical to the holding arm segment 10. The further holding arm segment 12 and the holding arm segment 10 are at least indirectly connected to one another. In the present case, the further holding arm segment 12 and the holding arm segment 10 are even directly connected to one another. Accordingly, the further holding arm segment 12 also comprises a further transmission element 58.

[0038] The holding arm device comprises a joint 14. The joint 14 connects the holding arm segment 10 and the further holding arm segment 12 to each other. The joint 14 comprises a joint element 48. The joint element 48 is arranged on the support element 32 of the holding arm segment 10. The joint element 48 is arranged at the distal end of the support element 32. In the present case, the joint element 48 is integrally connected to the support element 32.

[0039] The joint 14 comprises a further joint element 50. The further joint element 50 is arranged on a further support element 52 of the further holding arm segment 12. The further joint element 50 is arranged at the proximal end of the further support element 52. In the present case, the further joint element 50 is integrally connected to the further support element 52.

[0040] The joint element 48 and the further joint element 50 engage with each other. The joint element 48 and the further joint element 50 are designed to correspond to each other. The joint element 48 is designed as a joint head. The further joint element 50 is designed as a joint head.

[0041] The holding arm device has at least one locking mechanism 16. The locking mechanism 16 is associated with the joint 14. The locking mechanism 16 has a first operating state. In the first operating state, the locking mechanism 16 locks the joint 14. Furthermore, the locking mechanism 16 has a second operating state. In the second operating state, the locking mechanism 16 releases the joint 14.

[0042] The locking mechanism 16 is arranged within the joint 14. The locking mechanism 16 has a locking element 22. The locking element 22 is arranged within the joint element 48. The locking element 22 is connected to the transmission element 20. The locking element 22 is trapezoidal in shape. The joint element 48 has a locking recess 54 corresponding to the locking element 22, in which the locking element 22 is arranged. In the first operating state of the locking mechanism 16, the locking element 22 is arranged with play in the locking recess 54. The locking element 22 is displaceable along the holding segment 10. In order to transfer the locking mechanism 16 to the first operating state, the locking element 22 can be displaced in the distal direction along the holding segment 10 into a locking position. In the locking position, the locking element 22 spreads the joint element 48, whereby it is pressed against the further joint element 50.The joint elements 48, 50 are spread apart, creating a frictional connection between these two components. This first operating state is shown in Fig. 3 using a schematic representation of a portion of the holding arm device in a sectional view. To transfer the locking mechanism 16 to the second operating state, the locking element 22 can be displaced in the proximal direction along the holding segment 10 into a release position. In the release position, the spreading of the joint element 48 is canceled, which in turn cancels the frictional connection between the joint element 48 and the further joint element 50.

[0043] Furthermore, the holding arm device comprises an additional holding arm segment 26 (see Fig. 1). In this case, the additional holding arm segment 26 is an end segment located at the distal end of the medical holding arm 40. The end effector 44 is arranged on the additional holding arm segment 40. However, such an end effector can also be connected to such an additional holding arm segment via a joint, as described above.

[0044] In the present example, the additional support arm segment 26 and the further support arm segment 12 are directly connected to one another. However, it is conceivable that one or more support arm segments and joints, along with associated locking mechanisms, are arranged between them.

[0045] Furthermore, the holding arm device has a further joint 28 for connecting the additional holding arm segment 26 and the further holding arm segment 12. The further joint 28 is designed at least substantially identically to the joint 14.

[0046] Furthermore, the holding arm device for locking the further joint 28 has a further locking mechanism 30, which is assigned to the further joint 28. The further locking mechanism 30 is designed at least substantially identically to the locking mechanism 16. A locking element 56 of the further locking mechanism 30 is connected to the further transmission element 58 of the further holding arm segment 12. The further locking element 56 is formed integrally with the further transmission element 58. The further transmission element 58, in turn, rests against the locking element 22 of the locking mechanism 16. In this way, the transmission elements 20, 58 and the locking elements 22, 56 form a kinetic chain that can be moved uniformly. In other words, if a transmission element 20 of the holding arm segment 10 is moved, this movement is transferred to the locking element 22 and from there to the further transmission element 58 and in turn to the further locking element 56.The holding arm device has at least one force sensor 24. The force sensor 24 detects a force acting on the additional locking device 30 in order to infer an operating state of at least the locking device 16. In the present case, the holding arm device has a force sensor 24, 60 for each locking device 16, 30. However, only a single force sensor can be used to infer the operating states of all locking devices, as long as the force sensor is assigned to the last locking device. In other words, this is possible if this single force sensor is located at the end of the kinetic chain.

[0047] In the present case, the force sensor 24 is arranged, for example, on the locking element 22. More precisely, the force sensor 24 is arranged between the locking element 22 and the joint element 48. Alternatively, it could also be arranged on another joint element or another transmission element.

[0048] To actuate the locking devices 16, 30, the holding arm device has an actuator 16. The actuator 16 is arranged on the transmission element 20. The actuator 16 is designed, for example, as a linear motor.

[0049] For control purposes, the holding arm device has a control unit 36. The control unit 36 ​​is configured to read the force sensors 24, 60 in order to infer an operating state of at least one of the locking devices 16, 30. Furthermore, the control unit 36 ​​controls the actuator 18. The control unit 36 ​​comprises a memory (not shown). An operating program is stored in the memory. The operating program comprises a method for operating the holding arm device. The control unit 36 ​​comprises a processor (not shown). The operating program can be executed by the processor.

[0050] The control unit 36 ​​is configured to output a visual and / or acoustic signal when one or all of the locking devices 16, 30 are in the first operating state. For this purpose, the holding arm device has an output device 62. In the present case, the output device 62 is designed as a screen with loudspeakers. Both visual and acoustic signals can thus be output by means of this output device 62. For this purpose, the control unit 32 is electrically and / or electronically connected to the output device 62. Fig. 5 shows a schematic flowchart of an exemplary method for operating the holding arm device. The method is part of the operating program of the control unit 36.

[0051] The method comprises a method step 64. In method step 64, the actuator 18 displaces the transmission element in the distal direction. Thus, the entire kinetic chain along the support arm segments 10, 12 is displaced in the distal direction. This brings the locking devices 16, 30 into the first operating state. The joints 14, 28 are locked. The first operating state of the locking devices 16, 30 is detected using the force sensors 24, 60. To indicate that the first operating state has been reached, the control unit 36 ​​emits a visual and / or acoustic signal.

[0052] The holding arm device is thus protected against movement and can be used safely.

[0053] The method comprises a further method step 66. In the further method step 66, the actuator 18 displaces the transmission element 20 and thus, in particular, the entire kinetic chain along the support arm segments 10, 12 in the proximal direction. The locking devices 16, 30 are brought into the second operating state. The joints 14, 28 are released. The second operating state of the locking device is detected using the force sensors 24, 60. To indicate that the second operating state has been reached, the control unit 36 ​​emits a visual and / or acoustic signal.

[0054] The holding arm device is thus made movable and can be transferred to any position, which can then be secured by returning to the first operating state according to the process step

[0055] Fig. 6 shows a further embodiment of the holding arm device. The present embodiment differs from the previous one in that a single force sensor 60 is used to determine the operating states of all locking mechanisms. The force sensor 60 is arranged between an additional holding arm segment 26, which is a distal end segment, and another holding arm segment 12 of the holding arm device. Due to force transmission across all locking mechanisms 16, 30 and joints 14, 28, the operating states of all locking mechanisms 16, 30 can be determined using the single force sensor 60. Those skilled in the art will expediently consider the features individually and combine them into further meaningful combinations.

[0056] The invention is based on a medical holding arm device for a medical, in particular surgical, holding arm 40, with at least one holding arm segment 10, with a further holding arm segment 12 connected at least indirectly to the holding arm segment 10, with a joint 14 which at least indirectly connects the holding arm segment 10 and the further holding arm segment 12 to one another, with a locking mechanism 16 assigned to the joint 14, which locks the joint 14 in a first operating state and releases it in a second operating state, and which comprises a locking element for locking the joint and a transmission element for transmitting a force to the locking element, and with an actuator 18 which actuates the locking mechanism 16 by applying a force in order to transfer the locking mechanism from one operating state to the other.It is proposed that the medical holding arm device comprises a force sensor 24 which at least indirectly detects a force effect of the actuator 18 on the locking device 16 in order to detect an operating state of the locking device 16.

[0057] List of reference symbols

[0058] 10 holding arm segment

[0059] 12 Additional holding arm segment

[0060] 14 joint

[0061] 16 Locking mechanism

[0062] 18 Actuator

[0063] 20 transmission element

[0064] 22 Locking element

[0065] 24 force sensor

[0066] 26 Additional holding arm segment

[0067] 28 Additional joint

[0068] 30 Further locking

[0069] 32 support element

[0070] 36 Control unit

[0071] 40 Medical holding arm

[0072] 42 Medical holding arm system

[0073] 44 End effector

[0074] 46 recess

[0075] 48 Joint element

[0076] 50 additional joint element

[0077] 52 additional support element

[0078] 54 locking recess

[0079] 56 Additional locking element

[0080] 58 Additional transmission element

[0081] 60 force sensor

[0082] 62 Output device

[0083] 64 process steps

[0084] 66 Further procedural step

Claims

Claims 1. Medical holding arm device for a medical, in particular surgical, holding arm (40), comprising at least one holding arm segment (10), a further holding arm segment (12) connected at least indirectly to the holding arm segment (10), a joint (14) which connects the holding arm segment (10) and the further holding arm segment (12) at least indirectly to each other, a locking device (16) associated with the joint (14) which locks the joint (14) in a first operating state and releases it in a second operating state, and which comprises a locking element for locking the joint and a transmission element for transmitting a force to the locking element, and an actuator (18) which actuates the locking device (16) by applying a force in order to transfer the locking device from one operating state to the other, characterized by a force sensor (24).which at least indirectly detects a force exerted by the actuator (18) on the locking mechanism (16) in order to recognize an operating state of the locking mechanism (16).

2. Medical holding arm device according to claim 1, characterized in that the force sensor (24) is arranged on the locking device (16), in particular on the locking element (22) of the locking device.

3. Medical holding arm device according to claim 1 or 2, characterized by an additional holding arm segment (26) designed as an end segment, a further joint (28) which at least indirectly connects the additional holding arm segment (26) and the further holding arm segment (12) to each other, and a further locking device (30) associated with the further joint (28) which blocks the further joint (28) in a first operating state and releases it in a second operating state. Medical holding arm device according to claim 3, characterized in that the locking mechanism (16) and the further locking mechanism (30) are connected in series, such that at least part of a force applied by the actuator (20) to the locking mechanism (16) can be transferred from the locking mechanism (16) to the further locking mechanism (30), these forming a kinetic chain, so that the locking mechanisms (16, 30) can always be switched together from one operating state to the other. Medical holding arm device according to claim 3 or 4, characterized in that the force sensor (24) is arranged on the further locking mechanism (30) in order to detect an operating state of all locking mechanisms (16, 30). Medical holding arm device according to any of the preceding claims, characterized in that the force sensor (24) is designed as a strain gauge.Medical holding arm device according to one of the preceding claims, characterized by a control unit (36) configured to read the force sensor (24) in order to infer at least one operating state of at least one locking mechanism (16, 30). Medical holding arm device according to claim 7, characterized in that the control unit (36) is configured to output an optical and / or acoustic signal when at least one locking mechanism (16, 30) is in the first operating state. Medical holding arm device at least according to claim 3, characterized in that a force sensor (24, 26) is arranged at each locking mechanism (16, 30) in order to individually infer the operating states of all locking mechanisms (16, 30). Medical holding arm (40), in particular a surgical holding arm, with a holding arm device according to one or more of the preceding claims. Medical holding arm system (42), in particular robotic holding arm system, comprising one or more medical holding arms (40) according to claim 10 and one or more end effectors (44) arranged on the holding arm(s) (40).

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