Medical robot system

Abstract

To provide an improved robot system which achieves high electromagnetic compatibility and enables flexible and simple use of different medical instruments.SOLUTION: The present invention relates to a medical robot system 10 having a robot 11 including a robot arm 12. A tool unit 19 is held on the robot arm. The instrument unit comprises a medical instrument 20 and a generator 22 for generating and providing an output signal A for the instrument. An interface 32 is arranged on the robot arm, and the instrument unit can be coupled to the interface for establishing a communication connection. The robot or the robot arm has a generator control unit 31, and the interface is connected to the generator control unit for transmitting a generator control signal C to the instrument unit.SELECTED DRAWING: Figure 1

Description

[Technical Field]

[0001] The present invention relates to a medical robotic system that allows an operator, e.g., a surgeon, to treat a human or animal patient. The robotic system includes a robot having at least one robotic arm, each of which can hold one or more medical instruments. The at least one robotic arm can position and move the medical instruments to be used, e.g., during treatment of the patient's living tissue. [Background technology]

[0002] An RF surgical robot is known from US Pat. No. 5,623,999. The robot has at least one robot arm and a mechanical interface for detachably attaching a surgical instrument. Furthermore, an RF interface is provided for transmitting RF current to the surgical instrument. Thus, an additional electrical line connection from the instrument to an RF generator external to the robot arm can be avoided. The RF generator is integrated into the robot arm and controlled by a robot controller.

[0003] US Patent No. 5,949,999 relates to an electrosurgical instrument in which the generator is integrated inside the instrument housing.

[0004] From US Pat. No. 5,629,999 a modular device for robot-assisted electrosurgery is known. A robot arm is provided with an instrument holder for connecting a medical instrument to the robot arm. The instrument holder has a cavity into which an electrosurgical capsule can be inserted. Inside the capsule are a control module, a generator module, and an output module. The output module is electrically connected to an output connection via which an electromagnetic signal can be transmitted to an instrument electrically connected to the output connection.

[0005] Patent Document 4 describes a robotic system in which a generator for a medical instrument is located on a robotic arm. [Prior art documents] [Patent documents]

[0006] [Patent Document 1] German Patent Application Publication No. 102013002832 [Patent Document 2] US Patent Application Publication No. 2016 / 0270840 [Patent Document 3] European Patent Application Publication No. 4192379 [Patent Document 4] European Patent Application Publication No. 3852664 Summary of the Invention [Problem to be solved by the invention]

[0007] Starting from the prior art, it can be seen as an object of the present invention to provide an improved robotic system which, on the one hand, achieves high electromagnetic compatibility and, on the other hand, allows a flexible and easy use of different medical instruments. [Means for solving the problem]

[0008] This object is achieved by a medical robotic system having the features of claim 1.

[0009] A medical robotic system according to the present invention comprises a robot having at least one robotic arm, which holds one or more tool units. For this purpose, the robotic arm can have a holding device for one or more tool units, by means of which a detachable connection, e.g. a force-fit and / or form-fit connection, is established with the tool units.

[0010] Each tool unit includes a medical tool, for example, an electrosurgical tool. The tool can be a monopolar or bipolar tool. The tool can be configured for open or laparoscopic surgery. The tool can also be an endoscopic tool, used in conjunction with an endoscope.

[0011] Preferably, the instrument is an electrosurgical instrument. The instrument may include one or more instrument electrodes. For example, two of the provided instrument electrodes may be used as coagulation electrodes. Additionally or alternatively, the instrument may include a cutting electrode. The provided instrument electrodes may also have different functions depending on the required operating state of the instrument. For example, the coagulation electrode may be used as a neutral electrode while the cutting electrode is cutting.

[0012] Additionally, each tool unit includes a generator. The generator is electrically connected to the medical tool. The generator can be part of the tool, for example, located within the tool housing. The generator can also be a separate component that is mechanically connected to the medical tool, either detachably or non-detachably. In this case, the generator and tool are electrically and mechanically connected to each other, and the connection can be, for example, a plug connection, a latch connection, or another form-fit and / or pressure-fit connection.

[0013] The generator supplies an electrical output signal alternating at a frequency to the assigned tool of the tool unit. The output signal can be an AC voltage and / or an AC current. The output signal is in particular a high frequency signal having a frequency ranging from 100 kHz up to 5 MHz, preferably from 300 kHz up to 600 kHz. Additional parameters can be adjusted by the generator, such as the crest factor of the output signal and / or the waveform of the output signal and / or at least one modulation parameter of a modulated output signal (e.g., duty cycle of a pulse width modulated output signal).

[0014] The robot has one generator control unit. Alternatively, multiple generator control units can be provided. Each generator control unit can be assigned to a single robot arm or multiple robot arms. If a robot arm can hold multiple tool units, it can optionally be provided with multiple generator control units.

[0015] Each generator control unit controls at least one or exactly one generator assigned to it. To this end, the generator control units are connected to an interface arranged on the robot arm. The interface is preferably located in proximity to an instrument holder for at least one instrument unit. The connection between the generator control unit and the interface can be realized by an electrical line arranged in or on the robot arm. The interface includes one or more control connections, each of which is connectable to one of the generators of the instrument unit. When an electrical connection between the generators and the control connections is established, generator control signals generated by the generator control unit can be transmitted to the connected generator.

[0016] The separation of the at least one generator control unit and the at least one generator of the robot allows for greater flexibility in the use of different instruments. Each instrument unit has its own generator, configured for its assigned instrument (e.g., an electrosurgical instrument). The generator can be held indirectly by positioning the instrument on the robot arm in a simple manner. Because the generator is positioned directly adjacent to the instrument that provides the electrical output signal, electromagnetic interference can be kept low, which contributes to very good electromagnetic compatibility (EMC) of the robot system. The output signal, especially the high-frequency output signal, must be transmitted only a short distance (which means short electrical line lengths) from the generator to the instrument or to at least one instrument electrode of the instrument. Electromagnetic shielding, if required, requires little effort.

[0017] Depending on the application, one or more tool units required can be very simply connected to the robot's generator control unit via an interface on the robot arm - no exchange of robot parts is required.

[0018] A single generator control unit for the robot is generally sufficient. In any case, the number of tool units, and therefore the number of generators, can be greater than the number of generator control units provided. This reduces the number of parts associated with the control technology.

[0019] When a bipolar instrument is used in a robotic system, current is conducted from the electrode into the tissue to be treated and returned from the tissue to the generator via an additional instrument electrode. If the instrument is a monopolar instrument, the current conducted by the instrument electrode into the tissue is returned to the generator via an indifferent electrode attached to the patient. For this purpose, an indifferent electrode connection for the indifferent electrode can be present on the generator and / or on the interface of the robotic arm. The indifferent electrode can be electrically connected to multiple generators in different instrument units either indirectly via an interface on the robotic arm or directly.

[0020] It is advantageous if the interface includes at least one identification connection, by means of which an identification signal can be transmitted to the assigned generator control unit. The identification signal, for example, describes or includes an identifier assigned to the tool unit, thereby enabling identification of the tool or tool unit placed on this robotic arm. The identifier is preferably immutable. The identifier can be stored in a data memory of the tool unit. Based on the received identification signal, the generator control unit can determine what kind or type of medical tool is present on the robotic arm and can immediately thereafter initiate an adapted control of the tool unit via the control connection of the interface. The kind or type of tool can be characterized by any one or more of the following characteristics:

[0021] - Number of electrodes provided - Configuration as a monopolar or bipolar device - Instruments that require and / or use fluids (gas and / or liquid) to affect tissue - At least one use of the instrument (cutting, coagulation, fusion, etc.)

[0022] The tool unit may be connected wirelessly or by wire to the identifying connection of the interface, and the connection may be established by electrical and / or electromagnetic and / or optical means.

[0023] For example, in one embodiment, a detection unit may be provided that is connected or connectable to the identification connection and that detects the identifier of the assigned tool unit or tool, based on which the generator control unit can determine which tool type is involved and how this tool type should be controlled.

[0024] The detection unit can detect the identifier wirelessly or wired, and the connection can be established electrically, electromagnetically, or optically. For example, the detection unit can use a near field communication (NFC) or RFID connection (radio frequency identification) to detect the identifier. The detection unit can be located in the generator of the tool unit and / or in the interface of the robot arm. Additionally or alternatively, the identifier can be an optically detectable code, for example a two-dimensional code (barcode, QR code, etc.).

[0025] It is further advantageous if the interface comprises at least one energy supply connection, which is connected to an energy source of the robot or robot system, which energy source in particular supplies a direct voltage and / or a direct current, whereby either a direct voltage or a direct current can be applied.

[0026] It is preferred if the interface includes at least one feedback connection, each of which can be connected to a generator of one of the tool units held by the robotic arm, via which a feedback signal can be sent to the generator control unit or generator control units assigned to the interface.

[0027] The feedback signal may characterize currently existing operating parameters of the generator and / or the current use of the instrument. The feedback signal may be an electrical signal and / or an optical or light signal. For example, the feedback signal may describe an output signal sent by the generator to the instrument. The feedback signal may also characterize the tissue currently being treated and / or the current application of the instrument. For example, the feedback signal may characterize the appearance of light produced when a spark is generated at at least one instrument electrode.

[0028] In one embodiment, the interface has a fluid connection connected to a fluid source of the robot or robotic system. Fluid can be supplied to the fluid connection by the fluid source. An instrument of an assigned tool unit held by an associated robotic arm can be connected to the fluid connection. The instrument can then be supplied with a fluid, such as a gas (e.g., carbon dioxide or argon) or a liquid (e.g., water). The number of fluid connections and the number of fluids supplied can be selected arbitrarily.

[0029] Advantageous configurations of the invention result from the dependent claims, the description and the drawings. Preferred embodiments of the invention are explained in more detail below on the basis of the attached drawings. [Brief explanation of the drawings]

[0030] [Figure 1] FIG. 1 is a basic schematic diagram of an embodiment of a robotic system having at least one robotic arm including an interface for at least one tool unit. [Figure 2] FIG. 2 is a diagram in block diagram form of different configurations for implementing the interface and tool unit. [Figure 3] FIG. 3 is a diagram in block diagram form of different configurations for implementing the interface and tool unit. [Figure 4]FIG. 4 is a diagram in block diagram form of different configurations for implementing the interface and tool unit. DETAILED DESCRIPTION OF THE INVENTION

[0031] FIG. 1 shows a basic schematic diagram of an embodiment of a robotic system 10. The medical robotic system 10 includes a robot 11 having at least one robotic arm 12. Each robotic arm 12 has multiple arm elements 13 movably connected to one another. The arm elements 13 may be supported relative to one another in such a way that they are pivotable or rotatable about a single axis or about different axes. The robot 11 includes a base 14 on which the at least one robotic arm 12 is disposed. The base 14 allows the robot 11 to be positioned within a procedure or operating room, for example, adjacent to a procedure or operating table 15. Alternatively, the base 14 may be located on an operating table or another mobile or stationary device.

[0032] At its free end, which according to this example is the end of the robotic arm 12 opposite the base 14, at least one of the provided robotic arms 12 has a holding device 18 for a single tool unit 19 or for multiple tool units 19. The holding device 18 establishes a form-fit and / or force-fit mechanical connection with at least one tool unit 19. The entire holding device 18 can be moved and positioned by the associated robotic arm 12.

[0033] The holding device 18 can, in particular, independently move and / or position the held at least one tool unit 19 relative to the arm element 13 of the robotic arm 12 to which the holding device 18 is attached. The holding device 18 can include at least one linear axis and / or at least one rotational axis for moving and / or positioning the at least one tool unit 19.

[0034] If the holding device 18 holds multiple tool units 19, one or more tool units 19 not currently in use can be moved to a rest position that does not create an interference contour with the tool unit 19 currently in use.

[0035] Each tool unit 19 comprises a medical tool 20, in particular an electrosurgical tool 21, and a generator 22. Each generator of a tool unit 19 supplies the assigned tool 20 with an output signal A having a predetermined frequency (FIGS. 2 to 4). For this purpose, the generator 22 comprises, by way of example, a converter circuit 22a. The output signal A is converted into an alternating voltage U AC and / or alternating current I AC This allows the AC voltage U AC or AC current I AC The frequency of the output signal A is in particular 100 kHz or more, and preferably 5 MHz or less. The frequency can be, for example, in the range of 300 kHz to 600 kHz.

[0036] The output signal A of the generator 22 is supplied to an assigned tool 20 of the same tool unit 19. By way of example, the tool 20 has at least one tool electrode 23 to which the output signal A is supplied. For example, an alternating voltage U AC can be applied between the two instrument electrodes 23. When an electrical circuit is closed through the treated biological tissue of the patient 16, an alternating current I AC can flow through one instrument electrode 23 to the treated tissue of the patient 16 and return to the generator 22 through another instrument electrode 23. This is possible when the instrument 20 is configured as a bipolar instrument and includes at least two instrument electrodes 23.

[0037] Alternatively, instrument 20 can be configured as a monopolar instrument, e.g., having only one single instrument electrode 23 or multiple instrument electrodes 23 with a common potential. In this case, an indifferent electrode 24 can be conductively attached to patient 16 and electrically connected to generator 22 via an indifferent electrode connection 25, as optionally shown in dashed lines in Figures 2-4. Indifferent electrode 24 is only required when at least one instrument 20 configured as a monopolar instrument is used in robotic system 10 for treating patient 16.

[0038] The robot 11 includes at least one generator control unit 31. In one embodiment, a separate generator control unit 31 may be provided for each provided robot arm 12. It is also possible to assign one common generator control unit 31 to several or all provided robot arms 12. In another modified embodiment, one individual generator control unit 31 may be provided for each tool unit 19 that may be held by the robot 11, respectively.

[0039] The generator control unit 31 may be arranged, for example, in or on the robot arm 12, as shown by way of example in Figure 1. The generator control unit 31 may be arranged in or on an arm element 13, for example in an arm element 13 that supports the holding device 18. Alternatively, at least one generator control unit 31 may be arranged in another arm element 13 or in the base 14, as exemplarily shown by dashed lines in Figure 1.

[0040] The generator control unit 31 is communicatively connected to an interface 32 of at least one robot arm 12. This connection is preferably an electrical connection, but may also or alternatively be an optical connection. Preferably, at least one connection between the generator control unit 31 and the interface 32 is realized by a single electrical and / or optical line.

[0041] Each robot arm 12 comprises an interface 32, which according to an embodiment is arranged adjacent to the holding device 18 and is preferably located in or on the arm element 13 on which the holding device 18 for the at least one tool unit 19 is also arranged. By means of the interface 32, the at least one tool unit 19 held on the associated robot arm 12 can be connected to the generator control unit 31 of this robot arm 12, in particular via an electrical and / or optical connection. In principle, the electrical and / or optical connection can be wireless and / or wired.

[0042] As shown in FIG. 1 , an operator 32 (e.g., a surgeon) can control the robot 11 via an operating device 34. For example, the operator 33 can send control commands to at least one generator control unit via the operating device 34 to control the operation of at least one tool unit 19. The operating unit 34 can also control the actuators of the robot 11, in particular the actuators of the at least one robot arm 12 and the at least one holding device 18, to move and / or position at least one medical tool 20, as schematically shown in FIG. 1 by a double-headed arrow with dashed lines. The operating device 34 can have the necessary operating elements for this purpose. The operating device 34 can also include output means (e.g., acoustic and / or optical output means) to provide the operator 32 with information about the current usage status of the robot 11 or the at least one medical tool 20. For example, the operating device 34 can include a screen, in particular a touch screen, as an interface.

[0043] The block diagrams of Figures 2-4 illustrate various possible configurations of tool unit 19, generator 22, and interface 34 according to various embodiments.

[0044] The interface 32 of the robotic arm 12 includes at least one control connection 38. The control connection 38 is communicatively connected to the generator control unit 31 such that a generator control signal C can be transmitted to the control connection 38 and from there to the generator 22 of the tool unit 19 connected to the control connection 38. The operation of the generator 22 is therefore controlled by the generator control unit 31.

[0045] In this manner, a high frequency output signal A is generated within the tool unit 19 external to the robotic arm 12 using a generator 22 and supplied to the tool 20 of each tool unit 19 (e.g., a high frequency alternating current I AC and / or high frequency alternating voltage U AC) Generator control signal C may predefine and adjust parameters of output signal A, such as frequency and / or amplitude and / or crest factor and / or waveform and / or duty cycle in the case of a pulse-width modulated output signal, such that operation of instrument 20 may be controlled in an appropriate manner, for example, to coagulate, fuse or cut biological tissue of a particular tissue type.

[0046] The interface can have an energy supply connection 39 for the generator 22 to generate the output signal A for the instrument 20. In an embodiment, the interface 32 has a first energy supply connection 39a and a second energy supply connection 39b. The two poles of an energy source 40 are connected to the two energy supply connections 39a, 39b. The energy source 40 can be, for example, an applied DC voltage U DC or applied DC current I DC Via the energy supply connections 39a, 39b, electrical energy is transmitted to the generator 22 of the tool unit 19 connected to the energy supply connections 39a, 39b. Using the supplied electrical energy, the generator 22 (or the converter circuit 22a of the generator 22) can generate an output signal A.

[0047] Thus, the interface 32 may also serve to supply energy or power to the generator 22. Alternatively, the tool unit 19 may be supplied with electrical energy without the intervention of the interface 32.

[0048] Optionally, interface 32 may include a fluid connection 42 that is fluidly connected or fluidly connectable to a fluid source 41. By means of fluid connection 42, the instruments 20 of the instrument unit 19 connected to fluid connection 42 may be supplied with at least one fluid, e.g., gas and / or liquid, as necessary or advantageous for operation of the associated instrument 20. For example, fluid connection 42 of interface 32 may supply an appropriate gas (e.g., argon) to an instrument 20 configured as a plasma instrument. A plasma may be ignited or generated by at least one instrument electrode 23, and emitted from instrument 20 as plasma stream P. Other fluids, e.g., water or another liquid, may also be supplied to instruments 20 for generating and emitting respective fluid streams F.

[0049] In the embodiment shown in Figures 2-4, the interface 32 includes at least one feedback connection 46. The at least one feedback connection 46 is communicatively connected to an associated generator control unit 31. Via each feedback connection 46, a feedback signal RMi (i=1, 2, ..., n) can be transmitted from the tool unit 19 connected to that feedback connection 46. By way of example only, two feedback connections 46 are shown in Figures 2-4 for transmitting a first feedback signal RM1 and a second feedback signal RM2, respectively. The at least one feedback signal RMi can be an electrical and / or optical signal.

[0050] The first feedback signal RM1 may be, for example, a currently existing operating parameter of the generator 22, such as the applied AC voltage U, which is used as the output signal A. AC The AC current I obtained from AC For example, the second feedback signal RM2 may characterize spark generation at the at least one instrument electrode 23 as detected by a suitable sensor 47.

[0051] Embodiments of the present invention optionally provide for automatic recognition of the instrument 20 or instrument type. For example, the generator control unit 31 can automatically determine which instrument type is being used with the instrument unit 19 connected to the interface 32. For example, instrument types such as plasma instruments (e.g., plasma coagulation instruments), electrosurgical cutting instruments, electrosurgical coagulation instruments with two or more coagulation electrodes, and thermal fusion instruments can be distinguished from one another. Furthermore, it can be determined whether the associated instrument 20 is a monopolar or bipolar instrument. In general, the kind or type of instrument 20 can be characterized by any combination of one or more of the following listed characteristics:

[0052] - Number of electrodes provided - Configuration as a monopolar or bipolar device - Appliances that require and / or use fluids (gases and / or liquids) - At least one use of the instrument (cutting, coagulation, fusion, etc.)

[0053] For identification of the tool 20, an identifier K can be transmitted to the generator control unit 31 via the interface 32. For this purpose, the interface 32 in an embodiment comprises an identification connection 50 by which an identification signal S can be transmitted to the generator control unit 31. For example, the identifier K can be read by the generator control unit 31 by wire or wirelessly from a data carrier 51 of the tool unit 19 and transmitted as an identification signal S to the generator control unit 31. The data carrier 51 can be part of the generator 22 or the tool 20.

[0054] The reading of the identifier K can be initiated by the generator control unit 31, for example, by the generator control unit 31 sending a request signal Q or a reading signal to the data carrier 51 (Fig. 2). In the embodiment shown in Fig. 2, the connection between the identification connection 50 and the data carrier 51 is realized as a wired connection.

[0055] 2, the reading of the identifier K from a suitable data carrier 52 can also be performed by a detection unit 52, which is in particular arranged outside the instrument 20, for example in the robot arm 12 or in the interface 32 of the robot arm 12 (FIG. 3), or is a component of the generator 22 (FIG. 4). For example, the detection unit 52 can read the identifier K from the data carrier 52 by means of a near field communication (NFC) or RFID connection and can transmit an identification signal S characterizing the identifier K to the generator control unit 31. The reading of the identifier K by the detection unit 52 can be triggered by a request signal Q transmitted from the generator control unit 31 via the identification connection 50 to the detection unit 52 (FIGS. 3 and 4).

[0056] 2 and 3, the generator 22 and the instrument 20 are configured as a common integral part, in particular arranged within a common housing. Modifications to this could also be made to the generator 22 and the instrument 20 by separate components that are mechanically and communicatively connected (FIG. 4). For example, the generator 22 and the instrument 20 could be realized within separate housing parts, the two housing parts being mechanically detachably or non-detachably connected to one another, whereby a communicative connection, e.g., an electrical and / or optical connection, is also established.

[0057] 2-4, an indifferent electrode connection 25 can optionally be provided for connecting the indifferent electrode 24 to the generator 22. Additionally or alternatively, the indifferent electrode connection 25 can be part of the interface 32 on the robot arm 12 (dashed arrow in FIG. 1). For example, if the instrument 20 is configured as a monopolar instrument and one single energy supply connection 39 (e.g., first energy supply connection 39a) is sufficient for at least one instrument electrode 23, then another energy supply connection (e.g., second energy supply connection 39b) can be used as the indifferent electrode connection 25. This possibility is also shown schematically in FIG. 4 by dashed lines.

[0058] The present invention relates to a medical robotic system 10 having a robot 11 including at least one robotic arm 12. At least one tool unit 19 is carried on the at least one robotic arm 12 and can be moved and / or positioned by the robotic arm 12. Each tool unit 19 has a medical instrument 20, preferably an electrosurgical instrument 21, and a generator 22 that generates and provides an output signal A, particularly an RF output signal, for the instrument 20. An interface 32 is disposed on the robotic arm 12, and each tool unit 19 carried on the robotic arm 12 is electrically and / or optically couplable to the interface 32 to establish a communication connection. This connection can be wired and / or wireless. The robot 11 or robotic arm 12 has at least one generator control unit 31, and each interface 32 is communicatively connected to an assigned generator control unit 31 for transmitting generator control signals C from the generator control unit 31 to the at least one tool unit 19 connected to the interface 32. Therefore, the generator 22 and the generator control unit 31 are separated from each other, the generator 22 being located outside the robot 11, while at least one generator control unit 31 forms part of the robot 11 and can be integrated within the robot 11 or within the robot arm 12. [Explanation of symbols]

[0059] 10 Medical Robot Systems 11. Robot 12 Robotic Arm 13 Arm elements 14 base 15 Operating table 16 patients 18 Holding device 19 Fixture Unit 20 Medical equipment 21 Electrosurgical Instruments 22 Generator 22a Converter circuit 23 Instrument electrode 24 Neutral electrode 25 Neutral electrode connection 31 Generator Control Unit 32 Interface 33 Operator 34 Operating device 38 Control Connection 39 Energy supply connection 39a First energy supply connection 39b Second energy supply connection 40 Energy Sources 41 Fluid source 42 Fluid Connection 46 Feedback Connection 47 Sensors 50 Identification connection 51 Data Carrier 52 Detection Unit A Output Signal C Generator Control Signal F fluid flow I AC alternating current I DC direct current K Identifier P plasma flow RMi Feedback Signal RM1 First feedback signal RM2 Second feedback signal Q request signal S Identification signal U AC AC voltage U DC DC voltage

Claims

1. A medical robotic system (10), comprising: at least one tool unit (19) each including a medical tool (20), in particular an electrosurgical tool (21), and a generator (22) assigned to said tool (20), said generator (22) being connected to said tool (20) and supplying to said assigned tool (20) an electrical output signal (A) alternating at a certain frequency; a robot (11) having at least one generator control unit (31) and at least one robot arm (12) holding said tool unit (19) or at least one of a plurality of said tool units (19); an interface (32) arranged on the robot arm (12), the interface (32) being connected to the generator control unit (31) assigned to the robot arm (12) and including at least one control connection (38) to which each generator (22) of a tool unit (19) carried by the robot arm (12) is connectable for transmitting a generator control signal (C) from the generator control unit (31) to the generator (22). Medical robotic system.

2. The generator (22) is detachably or non-detachably attached to the tool (20) of the tool unit (19) or to the tool (20) of at least one of the tool units (19) provided. The medical robot system according to claim 1 .

3. The generator (22) is located within the tool (20) of the tool unit (19) or within the tool (20) of at least one of the tool units (19) provided. The medical robot system according to claim 1 .

4. The tool (20) includes at least one tool electrode (23) electrically connected to the generator (22) of the tool unit (19). The medical robot system according to claim 1 .

5. The generator (22) of the tool unit (19) or at least one of the generators (22) of the tool units (19) and / or the interface (32) includes a neutral electrode connection (25) for a neutral electrode (24). The medical robot system according to claim 1 .

6. The interface (32) comprises at least one identification connection (50) to which each generator (22) of a tool unit (19) held on the robot arm (12) is connectable for transmitting an identification signal (S) to the assigned generator control unit (31). The medical robot system according to claim 1 .

7. The generator (22) and / or the interface (32) comprises a detection unit (52) connectable to the identification connection (50) and adapted to detect the assigned identifier (K) of the instrument (20). The medical robot system according to claim 6 .

8. The interface (32) comprises at least one energy supply connection (39) connected to an energy source (41), to which each generator (22) of one of the tool units (19) carried by the robot arm (12) can be connected in order to supply the generator (22) with electrical energy. The medical robot system according to claim 1 .

9. An energy source (40) applies a DC voltage (U ＤＣ ) and / or direct current (I ＤＣ ) is supplied The medical robot system according to claim 8 .

10. The interface (32) includes at least one feedback connection (46) to which each generator (22) of a tool unit (19) carried by the robot arm (12) is connectable to transmit at least one feedback signal (RMi) to the assigned generator control unit (31). The medical robot system according to claim 1 .

11. The at least one feedback signal (RMi) characterizes currently existing operating parameters of the generator (22) and / or a current usage situation of the instrument (20). The medical robot system according to claim 10.

12. The interface (32) includes at least one fluid connection (42) connected to a fluid source (41), to which each of the instruments (20) of the tool unit (19) held on the robot arm (12) can be connected in order to supply fluid to the instrument (20). The medical robot system according to claim 1 .

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