Linear axis device for a robot, robot, and method for robotic linear movement of an instrument

Abstract

The invention relates to a linear axis device (100) for a robot (400), in particular a surgical robot, comprising: a robot coupling (110) for connecting, in particular releasably connecting, the linear axis device (100) to the robot (400); and a linear guide (103) connected to the robot coupling (110) for enabling linear movement of an instrument (200), wherein the linear guide (103) comprises an instrument coupling (112) for receiving, in particular releasably receiving, the instrument (200) in the linear guide (103); wherein the linear guide (103) is retractable, in particular collapsible, in order to reduce its size.

Description

[0001]

[0002] October 2, 2025

[0003] Linear axis device for a robot, robot and method for robotic linear movement of an instrument

[0004] The invention relates to a linear axis device for a robot, a robot and a method for the robotic linear movement of an instrument.

[0005] In robot-assisted laparoscopy, manipulation tasks are typically performed by a robot controlled by the surgeon via telemanipulation. The surgeon sits at a so-called surgical console outside the sterile field and operates the robot using appropriate input devices.

[0006] Most commercially available robotic systems, such as the da Vinci system (from Intuitive Surgical Operations, Inc.) or the Hugo RAS system (from Medtronic), are characterized by a large and bulky design, particularly in terms of installation space, which almost completely occupies the workspace around the operating table. This restricts the surgical staff's freedom of movement and impairs safe and ergonomic patient care.

[0007] A key challenge in this context is the linear movement towards the trocar point, i.e., the insertion point of the instrument, which can be achieved in various ways. Systems such as the da Vinci system or the Hugo RAS system use a linear axis with a rail guide for this purpose, which has a considerable length due to the required travel distance.

[0008] Alternatively, there are robotic systems that stabilize the trocar point using control engineering methods, such as the Miro system from the German Aerospace Center (DLR) or the Versius system (from CMR). In these systems, linear movement is achieved by combining all degrees of freedom of the robot, which, however, leads to extensive robot movements and significantly increases the robot's working space on the operating table.

[0009] The object of the invention is to create an improved linear guidance system for robot-guided instruments.

[0010] The problem is solved according to the invention by a linear axis device for a robot according to claim 1, a robot according to claim 12 and a method for the robotic linear movement of an instrument according to claim 15.

[0011] The linear axis device for a robot according to the invention is, in particular, a linear axis device for a surgical robot, preferably a minimally invasive surgical robot, especially preferably for laparoscopic surgery. The linear axis device is, for example, an end effector for a robot, such as a robot arm, which can be connected to an end effector interface of the robot. The linear axis device is preferably designed for the linear guidance of an instrument, in particular for the linearly guided movement of the instrument. The linear axis device has a robot coupling for connecting the linear axis device to the robot, in particular a detachable coupling. The robot coupling is designed, in particular, for connection to the end effector interface. The robot coupling and / or the end effector interface has, in particular, a flange.The linear axis device further comprises a linear guide connected to the robot coupling for the linear movement of the instrument. The linear guide has an instrument coupling for receiving the instrument in the linear guide, particularly a detachable coupling. The linear guide is connected at one end to the robot coupling and at the other end, preferably opposite the first end, to the instrument coupling. The linear guide is retractable, particularly collapsible, to reduce its size. The linear guide is designed such that its size, particularly the size of the linear axis device, decreases when retracted and increases when extended. In particular, the retractability allows for a reduction in the installation space required for the linear axis device. The linear guide, and in particular the linear axis device, is thus particularly compressible.

[0012] The additional linear degree of freedom provided by the retractable linear guide enables particularly energy-efficient robot movement, as the robot only needs to move its wrist and / or its end-effector interface, e.g., on a ball, around a trocar point, thus avoiding larger movements. This is also particularly advantageous for recoil, as less of the robot's inertia needs to be overcome.

[0013] The instrument coupling is preferably designed to receive a surgical instrument, preferably a minimally invasive surgical instrument, and particularly preferably a laparoscopic instrument. For example, the instrument coupling is designed to receive a grasping instrument, particularly a surgical one, such as forceps, especially laparoscopic forceps; an endoscope; an ultrasound imaging device; a stapler, especially laparoscopic forceps; a suturing instrument; and / or a minimally invasive surgical manipulator, such as the DLR MICA.

[0014] It is preferred that the linear guide comprises a telescopic rail. The telescopic rail particularly comprises several segments that are linearly movable relative to one another. The segments are preferably mounted so as to be movable relative to one another. Preferably, the linearly movable guidance of the segments relative to each other is achieved via a rail guide, wherein, for example, in the case of segments movable relative to one another, one segment has a rail and the other has a slide seated in the rail, particularly in a form-fitting manner. In particular, the first segment is directly and movably connected to the robot coupling, wherein the further segments are each directly and movably connected to the adjacent segments and / or indirectly and movably connected to the robot coupling. The last segment is preferably connected to the instrument coupling, preferably rigidly, and most preferably in a fixed manner.

[0015] It is preferred that the telescopic rail has at least three stages. Thus, it is preferred that the telescopic rail has at least three segments movable relative to each other. Each segment, in particular, forms a stage. Preferably, the first stage is stationary, preferably relative to the robot coupling and / or the robot arm. The second and third stages are, in particular, movable relative to the first stage, the robot coupling, and / or the robot arm.

[0016] It is preferred that the linear guide, in particular the entire guide, is movable for extension and retraction between a first side of the robot coupling and a second side opposite the first. Preferably, at least one segment, more preferably several segments, and most preferably all movable segments are movable from the first to the second side. The first and second sides are separated from each other, in particular by a plane, preferably a transverse plane, of the robot coupling. Preferably, this plane is a robot coupling plane, wherein the robot coupling plane preferably corresponds to the connection plane, in particular the flange plane, between the robot coupling and the robot.

[0017] It is preferred that the linear guide, in a retracted position, is at least partially arranged on the first side, and that, in an extended position, the linear guide is at least partially arranged on a second side. Preferably, at least one segment, more preferably several segments, and most preferably all segments, are arranged on the first side in the retracted position, and / or one segment, more preferably several segments, and most preferably all movable segments, are arranged on the second side in the extended position.

[0018] Preferably, the linear axis device includes a drive device for moving the linear guide. The drive device includes, in particular, a motor, preferably a servo motor, for moving the linear guide. The linear guide is preferably movable by means of a rack and pinion mechanism. Preferably, the segments of the linear guide are movably connected to each other in pairs via a rack and pinion device. Preferably, the gears are driven directly and / or indirectly by the motor and move the racks of the respective rack and pinion device. The first segment is preferably fixed, and particularly preferably rigidly, connected to the robot coupling, e.g., directly or indirectly. In particular, the first segment movably has the gear of the rack and pinion device between the first and second segments.The rack of this rack-and-pinion device is preferably connected to the second segment and is preferably moved by the gear directly connected to the motor. Gears for moving the racks of the further segments are moved, in particular, by means of a traction element, preferably a toothed belt, driven directly or indirectly by the motor.

[0019] It is preferred that the instrument coupling is designed to accommodate, preferably clamp, the instrument for manual actuation by a person and / or actuation by remote manipulation. Actuation particularly involves triggering a function and / or translational and / or rotational movement of the instrument. The instrument coupling is particularly designed to accommodate the instrument by means of a positive fit, friction fit, quick connector, snap-in device, bayonet fitting, plug connector, and / or clamp connector. Manual actuation particularly involves hands-on actuation by an operator. Specifically for manual actuation, the instrument coupling is designed for manual, particularly external, rotation of the instrument.Preferably, the instrument coupling has an instrument bearing for the, preferably free, rotational mounting of the instrument. In particular, the instrument coupling has a sensor for detecting rotation. It is preferred that the instrument coupling is configured to selectively lock the rotation of the instrument.

[0020] It is preferred that the linear axis device has an actuation interface, preferably connectable to the instrument coupling, for actuated coupling with the instrument, particularly by means of telemanipulation. For the connectable connection between the actuation interface and the instrument coupling, it is preferred that the actuation interface be connectable to the instrument coupling by means of: positive locking, e.g., rotatable positive locking, friction locking, quick connectors, snap-in devices, bayonet fittings, plug connectors, and / or clamp connectors. The connectable actuation interface is, in particular, a telemanipulation adapter. The actuation interface, in particular the telemanipulation adapter, is preferably designed purely mechanically, so that it can, for example, be designed as a single-use element or be sterilizable, e.g., autoclavable.Preferably, the purely mechanical design allows for the sensor and / or electronic elements, in particular all of these elements, to be directly connected to the robot coupling, so that the linear guide and / or the instrument coupling is preferably free of sensor and / or electronic elements, in particular free of sensor and / or electronic elements directly connected to it. This allows for a simpler power and / or data supply to the sensor and / or electronic elements; and / or it allows for the elimination of the need to move and / or attach cables when installing the telemanipulation adapter. Instead of a coupling connection between the actuation interface and the instrument coupling, a fixed connection between the actuation interface and the instrument coupling is also possible.It is preferred that the actuation interface is designed to set the instrument in motion, in particular rotation and / or translation, and / or that the actuation interface is designed to actuate a function of the instrument, e.g., a gripping function. For this purpose, it is preferred that the actuation interface is designed to transmit a force and / or a moment to the instrument.

[0021] The linear axis device, e.g., the actuation interface, is designed to maintain and / or continue the function, e.g., the gripping function, of the instrument, preferably manually. It is particularly advantageous that, preferably during manual actuation, a surgeon, for example, can grasp tissue using the gripping function, with the actuation interface then maintaining, or in particular locking, the gripping function so that holding tasks can be taken over by the linear axis device. Should the tissue need to be repositioned, this can be done either manually, particularly via hands-on control by the surgeon moving the instrument by hand, or by telemanipulation, by controlling the instrument remotely using a suitable input modality.The actuator and / or motor includes, in particular, preferably integrated position sensors for calculating a, preferably linear, position of the instrument. The position sensors thus define and / or monitor the pose of the instrument within a robot frame.

[0022] It is preferred that the linear axis device includes a force sensor, e.g., a load cell, for detecting a functional force, e.g., a gripping force, of the instrument. Preferably, the linear axis device, e.g., a control device of the linear axis device, is configured to output the measured force, e.g., to an operator, in particular a telemanipulation operator of the linear axis device, as feedback.

[0023] It is preferred that the linear axis device includes an actuator for actuating the instrument, which is preferably rigidly connected to the robot coupling. The actuator preferably comprises a motor, and more preferably a servo motor. In particular, the actuator is designed to trigger the instrument's function. The actuator is especially designed for actuating the instrument by means of telemanipulation. Preferably, the actuator applies a force and / or torque directly or indirectly to the instrument for actuating it. It is preferred that this force and / or torque is transmitted to the instrument from the actuation interface. The actuator and / or the drive device can be controlled for telemanipulation, in particular by means of an input device, e.g., a Sigma7 from ForceDimension. The input device is preferably connected to, or connectable to, the linear axis device.

[0024] It is preferred that the linear axis device includes a Bowden cable, in particular a pre-tensioned one, for transmitting the mechanical movement of the actuator to the instrument, especially via the actuation interface. It is preferred that the Bowden cable is pre-tensioned, e.g., by a spring, so that the instrument can be actuated in two directions, in particular opposite directions. For example, a gripping instrument, e.g., pliers, can be opened and closed by the pre-tension.

[0025] It is preferred that the linear axis device includes at least one force and / or torque sensor. The force and / or torque sensor is designed, in particular, to determine forces and / or torques between the instrument and / or the linear guide and the robot. Preferably, the force and / or torque sensor is arranged between the instrument and / or the linear guide and the robot. For example, the robot coupling can incorporate the force and / or torque sensor. The force and / or torque sensor is, in particular, a 6-axis sensor, such as an ATI Mini45. It is possible, for example, that the instrument passes through the force and / or torque sensor. The linear axis device preferably includes a force and / or torque sensor that measures the forces and / or torques on a shaft of the instrument.It is preferred that the force and / or torque sensor detects forces and / or torques of the instrument, particularly preferably at least during manual actuation. Thus, it is preferred that manual rotations, e.g., a rotation of the instrument about its own axis, manual translations, and / or manual acts of a user on the instrument are detected by the force and / or torque sensor. In particular, several such force and / or torque sensors may be provided.

[0026] It is preferred that the linear axis device includes a control unit configured to implement essentially force-free movement of the instrument and / or the linear guide. The control unit can, for example, be integrated into a robot controller. Preferably, the control unit is connected, particularly via data transmission, to one or more or all of the sensors of the linear axis device. In particular, the control unit is connected, particularly via data transmission, to the force and / or torque sensor, so that the forces and / or torques determined by the force and / or torque sensor are evaluated to control the control unit. It is preferred that the control unit controls the drive device, in particular the motor. In particular, the control unit is configured to control the drive device to implement the force-free movement.

[0027] It is preferred that the linear axis device is configured to measure the functional force, e.g., the gripping force, and / or interaction forces and / or moments of the instrument with an interaction object, e.g., the tissue of a patient. In particular, this is implemented, e.g., by means of the control unit, so that the linear guide and / or the instrument are actuated in such a way that a constant functional force and / or movement occurs, e.g., so that the tissue can be pulled with a constant force, and thus, in particular, the position of the linear axis device is of secondary importance.

[0028] Preferably, the linear axis device, e.g., the control unit, is configured, particularly continuously, to detect and preferably record the position of the instrument and / or its function, e.g., gripping function, preferably the operating force. This allows, in particular, the generation of advantageous data on how instruments are guided in a classic, conventional operation. In this context, the robot and / or the end effector can, for example, serve only as a measuring arm and thus not provide any further functionalities.

[0029] In particular, the linear axis device has at least one position sensor for detecting the position of the linear axis device, preferably the linear guide and / or the instrument, in space. The position sensor is preferably designed for three-dimensional position detection, in particular for detecting three translational and / or three rotational degrees of freedom. This enables, in particular, a precise determination of the linear displacement in the spatial directions X, Y, and Z and / or the rotational movements about the corresponding axes. Preferably, the control unit is connected to the position sensor, especially via data transmission.

[0030] The control unit is specifically designed for actuating the instrument. It is preferred that the control unit controls the actuator. Preferably, the control unit is connected to the force sensor for detecting a functional force, particularly via data transmission. The robot according to the invention is, in particular, a surgical robot, preferably a minimally invasive surgical robot, especially preferably for laparoscopic surgery. The robot has a robot arm comprising several robot arm segments connected to one another via joints. Furthermore, the robot has an end-effector interface for connecting end effectors, preferably connected via a joint, for example, integrally connected to the last robot arm segment. The end-effector interface is, in particular, the robot's wrist. The end-effector interface, in particular, has a flange.A linear axis device according to the invention is connected to the end effector interface, in particular detachably.

[0031] It is preferred that the robot has a robot controller for moving and / or actuating the robot, wherein the robot controller is configured to implement virtual fixtures for the robot's mobility. These virtual fixtures are, for example, restricted-zone virtual fixtures and / or motion-fixing virtual fixtures. In particular, the robot controller, preferably for implementing the restricted-zone virtual fixtures, is configured to prevent movement of the robot arm, the linear guide, and / or the instrument into restricted areas, preferably by manual and / or controlled means. For example, this can prevent the instrument from entering areas of a patient where no surgery is to take place.It is advantageously implemented that a surgeon can use the instrument like a classic conventional instrument during hands-on actuation, but the robot supports him by locking certain areas and / or keeping the instrument on a specific trajectory during movement by the surgeon. Additionally or alternatively, the robot control system, preferably for implementing motion fixation virtual fixtures, is configured to fix robot elements, e.g., the end-effector interface and / or a trocar, and / or the trocar point of the robot, in space, in particular to secure them against, preferably manual, movement. Preferably, this fixation is against translation and / or rotation. For example,It is advantageously implemented that, in particular, the trocar point is fixed spatially above the intervention opening on the patient, whereby this is in particular a translational fixation, so that rotations of the instrument around the trocar point are still possible and / or whereby an advancement of the instrument through the trocar point is still possible.

[0032] It is preferred that the robot has a robot controller for moving and / or actuating the robot. The robot controller is preferably configured for actuating and / or moving robot segments, in particular robot arm segments, preferably one robot arm of the robot. Additionally or alternatively, the robot controller is preferably configured for actuating and / or moving the linear axis device. The robot controller can, for example, include the control unit of the linear axis device.

[0033] It is preferred that the robot has a surgical instrument, preferably a minimally invasive surgical instrument, and particularly preferably a laparoscopic instrument, mounted in the instrument coupling. It is preferred that the instrument be a grasping instrument, particularly a surgical one, e.g., forceps, particularly laparoscopic forceps; an endoscope; an ultrasound imager; a stapler, particularly laparoscopic; a suturing instrument; or a minimally invasive surgical manipulator, e.g., the DLR MICA. The instrument is preferably deflected linearly by the linear guide and / or actuated by the actuation interface and / or moved, e.g., rotationally.

[0034] In particular, according to the invention, the linear axis device and / or the robot is designed such that the instrument can be selectively picked up for both manual actuation by a person and actuation via telemanipulation. Thus, the linear axis device and / or the robot is preferably configured such that the instrument can be actuated selectively, either manually or via telemanipulation. In particular, it is implemented that, in the case of manual actuation, the instrument is at least partially exposed for actuation, with a control element of the instrument being particularly preferably exposed for manual operation by the user. Additionally, it is particularly implemented that, in the case of telemanipulation, the instrument, and in particular preferably the control element and / or an instrument mechanism of the instrument, is actuated by the actuation interface. The control element is in particular a handle part of an instrument, e.g., a laparoscopic forceps.

[0035] The inventive method for the robotic linear movement of an instrument is carried out, in particular, by means of a linear axis device and / or a robot according to the invention. The instrument is mounted in a linear guide connected to a robot for linearly guided movement. The linear guide is retractable, in particular collapsible, to reduce its size. The robot has a robot controller for controlling the movement of the linear guide, and in particular for actuating the instrument.

[0036] It is preferred that one or more articles according to the invention, i.e. the linear axis device according to the invention, the robot according to the invention and / or the method according to the invention, each have one or more features of the other articles according to the invention.

[0037] The invention further comprises a data processing system, including means for executing the method according to the invention. The means are specifically configured to execute the robot control, preferably to move the linear guide and / or to actuate the instrument. It is preferred that the control unit of the linear axis device and / or the robot controller of the robot incorporates the data processing system. The invention further comprises a computer program, comprising instructions which, when executed by a computer, cause the computer to execute the method according to the invention. The computer program specifically includes instructions for executing the robot control, preferably for moving the linear guide and / or for actuating the instrument. It is preferred that the computer program is executed in the control unit of the linear axis device and / or in the robot controller of the robot.

[0038] The invention further comprises a computer-readable storage medium, wherein the storage medium includes instructions which, when executed by a computer, cause the computer to perform the method according to the invention, and / or the computer program according to the invention is stored on the storage medium. The instructions, in particular, cause the computer to execute the robot control, preferably to move the linear guide and / or to actuate the instrument.

[0039] The invention will now be explained in more detail with reference to preferred embodiments and the accompanying drawings.

[0040] They show:

[0041] Fig. 1a shows a perspective partial view of an embodiment of a robot according to the invention with an embodiment of a linear axis device according to the invention in an extended state;

[0042] Fig. lb shows the robot from Fig. 1a in a rear view,

[0043] Fig. lc shows the robot from Fig. 1a with the linear axis device in a retracted state,

[0044] Fig. 2 is a sectional view through the linear axis device from Fig. 1a, Fig. 3 is a detailed and exploded view of the instrument coupling from Fig. 1a.

[0045] Fig. 4 shows a detail view of IV from Fig. 3.

[0046] Fig. 5 shows a bottom view of the instrument coupling from Fig. 3 according to V,

[0047] Fig. 6 shows a detailed view of the instrument coupling from Fig. 1a with an actuation interface,

[0048] Fig. 7 shows a detail view of VII from Fig. 6.

[0049] Fig. 8 shows a detailed view of the actuation interface from Fig. 6, and

[0050] Fig. 9 shows a detail view of IX from Fig. 8.

[0051] Figures aa-lb show an embodiment of a robot 400 according to the invention.

[0052] The robot 400 has a robot arm 300 (only partially shown). The robot arm 300 is, for example, the MIRO of the DLR. An end effector interface 302, which in particular has a flange, is connected to the last robot arm segment 301 of the robot arm 300.

[0053] In an embodiment of the linear axis device 100 according to the invention, the end effector interface 302 is detachably connected. The connection is implemented via a robot coupling 110 of the linear axis device 100, which in particular has a flange. The robot coupling 110 and the end effector interface 302 are connected to each other, in particular by means of a snap-fit ​​positive locking mechanism, whereby an actuating element 102, in particular in the form of a button (see Fig. 1b), can be actuated for detachment.

[0054] The robot coupling 110 is connected, in particular rigidly, to three connecting parts 3, 4, 5 which are rigidly connected to each other. A force and / or torque sensor, e.g. in the form of an ATI Mini45, is arranged between connecting part 3 and the robot coupling 110 for detecting forces and / or torques between the robot arm 300 and the linear axis device 100.

[0055] A first segment 101 of a linear guide 103 is connected to the robot coupling 110 via the connecting part 5. Figure 2 shows a sectional view through the linear guide 103. The linear guide 103 is a telescopic rail with three segments 101, 107, 108 forming three stages 1, 7, 8. The second segment 107 is linearly movably connected to the first segment 101, and the third segment 108 is in turn linearly movably connected to the second segment 107. A servo motor 11 is connected to the first segment 101 for movement. Because it is mounted here and not on a movable stage 7, 8, no moving cables need to be accommodated, and the inertia of the movable stages is reduced.

[0056] The drive of the second segment 107, and thus of the second stage 7, is effected by a gear 12 driven by the servomotor 11. This gear 12 transmits the torque of the servomotor 11 to the rack 13 of the second stage 7, which is connected to the second segment 107. This causes the second segment 107 to be moved linearly.

[0057] To drive the third segment 108, and thus the third stage 8, relative to the second stage 7, the third segment 108 has a rack 20. The rack 20, and thus the third segment 107, is moved by a gear 16 engaging with the rack 20. This gear 16, together with a toothed belt pulley 17, is mounted on a shaft that is rotatably connected to the second segment 107 via a fixed bearing. A toothed belt 18, which engages with the toothed belt pulley 17, is provided to drive the gear 16. The toothed belt 18 is tensioned by two bearings 19 connected to the second segment 107, which press against the outer surface of the toothed belt 18. The toothed belt 18 is driven by another toothed belt pulley 17, which, together with a gear 14, is mounted on a shaft that is attached to the second segment 107 via a fixed bearing. The tension of the timing belt 18 can be adjusted, for example, by moving a slide that accommodates the bearings 19 along it.This overall configuration makes it possible in particular to operate two movable stages 7, 8 with only one servo motor 11 in the first stage 1.

[0058] The rack and pinion pairs for driving the movable stages 7 and 8 are mechanically driveable in both forward and reverse directions and offer the additional advantage of not requiring preload and being resistant to hysteresis effects. In particular, the backlash between the teeth is reduced by the fact that either the gear or the rack is designed to be movable, for example via elongated holes, thus allowing the distance between the teeth to be adjusted.

[0059] The first segment 101 and the second segment 107, as well as the first segment 107 and the third segment 108, are each mounted to allow linear movement relative to one another. For linear guidance, the second segment has a rail 10 which is movably and positively engaged in a slide 9 of the first segment 101. The third segment 108, in turn, is movably and positively engaged in a slide 9 of the second segment 107 by means of a rail 10. Preferably, the slides 9 contact the rails 10 via small metal bearings, which preferably ensure high rigidity with low friction. In particular, mechanical end stops, two for each slide 9 and at each end of the rails 10, are provided to prevent the slides 9 from slipping off the rails 10.

[0060] A further advantage of the kinematic design shown is that the transmission between the first stage 1 and the second stage 7 is the same as that between the second stage 7 and the third stage 8. Therefore, if the thrust force of the second stage 7 is known relative to the first stage 1, it can be multiplied by two to obtain the total thrust force.

[0061] The third segment 108 is rigidly connected to an instrument coupling 112. An instrument 200, such as a CLICKline instrument, is detachably mounted in the instrument coupling 112. The instrument 200 shown corresponds to a laparoscopic forceps 200 with a shaft 202 and an associated gripper 204 (see Fig. 1c). The gripper 204, i.e., its gripping function, can be operated via a control element 206. The instrument 200 is linearly movably connected to the robot arm 300 by means of the linear guide 103. Figures 1a-1b show the linear guide 103 and thus the instrument 200 in the extended state, while Figure 1c shows the linear guide 103 and thus the instrument 200 in the retracted state.

[0062] In Figure 1c, a housing 70 is connected to the first segment 101, which encloses the motor 11. The housing 70 is shown omitted or removed in Figures 1a and 1b.

[0063] In the extended state, segments 107 and 108 are located at least partially, and in particular mostly, on the upper side shown with respect to the connection plane, especially the flange plane, between end effector interface 302 and robot coupling 110. In the retracted state, segments 107 and 108 are located at least partially on the lower side shown with respect to the connection plane.

[0064] Figure 3 shows the instrument coupling 112 of Figures 1a-1c in detail in an exploded view. Figure 4 shows a detail view of IV from Figure 3, and Figure 5 shows a bottom view of the instrument coupling from Figure 3 according to V.

[0065] The instrument 200 is detachably connected to the instrument coupling 112 via a two-part locking mechanism comprising locking elements 25 and 26. The instrument 200 is secured to the upper locking element 25 by means of a positive fit to create the Luer lock. When the upper locking element 25 is inserted into the lower locking element 26, a plastic ring 29 is deformed and slides into two grooves 60 in the upper locking element 25. To release the upper locking element 25, the operating element 62, which in particular has buttons on both sides, can be pressed to deform the plastic ring 29 and push it out of the grooves 60.

[0066] The instrument 200, and thus the shaft 202, is rotatably mounted in the instrument coupling 112. Rotatability is achieved by screwing the lower half of the lower locking element 26 to a part 31, which is attached to a crossed roller bearing 32. Crossed roller bearings 32 offer particularly high stiffness and are able to withstand the radial and axial forces as well as the bending moments on the instrument 200 that are to be expected during operation. Furthermore, only one bearing is required. A gear 34 pressed onto the part 31 is in contact with another gear 35, which is attached to an encoder module 36 via a bearing. A pawl 64 can be controllably engaged with the gear 34, thus selectively locking the rotation of the instrument 200 (as shown in Fig. 5, where rotation is locked).In the embodiment shown in Figures 1-4, the linear axis device 100 is designed in particular for manual actuation, also to be referred to as hands-on actuation, of the instrument 200.

[0067] For the remote manipulation of the instrument 200, particularly its gripping function, an embodiment is shown in Figures 6-9 in which an actuation interface 120, e.g., a remote manipulation adapter, is connected to the instrument coupling 112. For remote manipulation, the instrument's control element 206 is removed, exposing the instrument mechanism 208 of the shaft 202, which may include, for example, a control rod or a pull wire. The actuation interface 120 is designed such that it can be positively connected to the instrument coupling 112 by a rotational movement. This rotation achieves two things. First, a positive connection between the instrument coupling 112 and the actuation interface 120 is established via two bayonet mechanisms. One of the bayonet mechanisms enables force transmission from a Bowden cable 43 to an instrument pin through the connecting parts 37 and 38.Additionally, the rotation moves a fork 40 to grip the instrument mechanism 208. This will be explained in more detail below.

[0068] Figure 6 shows the process of rotating the actuation interface 120. A coil 41 transmits the torque of another servomotor 42 of the first stage to the Bowden cable 43. The cable of the Bowden cable 43 is guided by an energy chain 44 to keep the system compact and prevent a large cable loop. The energy chain 44 and the housing of the Bowden cable are fixed at both ends by a pair of positive-locking shells 45, 46. A loop at the end of the Bowden cable allows connection to the load cell 47 (see Fig. 5) via an eyebolt 48, which is clamped to the load cell 47 with a self-locking nut. The actuating force of the Bowden cable 43 is transmitted via a cable 64 of the Bowden cable 43, preferably a steel cable, particularly preferably a 7x7 steel cable, which is guided over two deflection pulleys 49, 50, to the fork 40 which engages the instrument mechanism 208.The fork is screwed to part 51 to allow for easy replacement in case of expected wear. In addition to the positive locking provided by the bayonet mechanism, the rotational movement when inserting the actuating interface 120 also causes the fork 40 to slide into and engage the instrument mechanism 208. The pulley 49 can be used to tension the cable 64, as it is attached to a part 52 that can be moved relative to the base 53 via a pair of elongated holes.

[0069] When the actuation interface 120 is removed, a tension spring 54 ensures that part 38 returns to its initial position. A pair of tension springs 55 does the same for parts 51 and thus 37. This allows the telemanipulation adapter to be easily reattached at a later time. The springs 54 and 55 also provide pre-tension to the Bowden cable 43 to minimize sag. This allows the gripper to open when the motor torque is removed, since the Bowden cable 43 can only transmit tensile force.

Claims

Claims 1. Linear axis device (100) for a robot (400), in particular a surgical robot, with a robot coupling (110) for connecting the linear axis device (100) to the robot (400), in particular in a detachable manner; and a linear guide (103) connected to the robot coupling (110) for the linear movement of an instrument (200), wherein the linear guide (103) has an instrument coupling (112) for receiving the instrument (200) in the linear guide (103), in particular in a detachable manner; wherein the linear guide (103) is retractable, in particular collapsible, to reduce its size.

2. Linear axis device (100) according to claim 1, characterized in that the linear guide (103) has a telescopic rail.

3. Linear axis device (100) according to claim 2, characterized in that the telescopic rail has at least three stages.

4. Linear axis device (100) according to one of claims 1-3, characterized in that the linear guide (103) is movable for moving in and out between a first side of the robot coupling (110) and a second side opposite the first side.

5. Linear axis device (100) according to claim 4, characterized in that the linear guide (103) is arranged in a retracted position, at least partially, on the first side, and wherein the linear guide (103) is in an extended position, at least partially, on a second side.

6. Linear axis device (100) according to one of claims 1-5, characterized in that the instrument coupling (112) is designed to accommodate the instrument (200) for manual actuation of the instrument (200) by a person, and / or actuation of the instrument (200) by means of telemanipulation.

7. Linear axis device (100) according to one of claims 1-6, characterized in that the linear axis device (100) has an actuation interface (120) which can preferably be coupled to the instrument coupling (112) for actuating coupling with the instrument (200), in particular by means of telemanipulation.

8. Linear axis device (100) according to one of claims 1-7, characterized in that the linear axis device (100) has a force sensor, e.g. a load cell (47), for detecting a functional force, e.g. a gripping functional force, of the instrument (200).

9. Linear axis device (100) according to one of claims 1-8, characterized in that the linear axis device (100) has an actuator for actuating the instrument (200), in particular one which is firmly connected to the robot coupling (110).

10. Linear axis device (100) according to claim 9, characterized in that the linear axis device (100) has a Bowden cable (43), in particular a pre-tensioned one, for transmitting the mechanical movement of the actuator to the instrument (200), in particular via the actuation interface (120).

11. Linear axis device (100) according to one of claims 1-10, characterized in that the linear axis device (100) has a control unit which is configured to implement a substantially force-free movement of the instrument (200) and / or the linear guide (103).

12. Robot (400), in particular surgical robot, comprising a robot arm (300) having several robot segments (301) connected to each other via joints; an end effector interface (302) connected to the last robot segment (301), preferably via a joint, for connecting end effectors; and a linear axis device (100) connected to the end effector interface (302) according to one of claims 1-11.

13. Robot (400) according to claim 12, characterized in that the robot (400) has a robot controller for moving and / or actuating the robot (400), wherein the robot controller is configured to implement virtual fixtures for the mobility of the robot (400).

14. Robot (400) according to claim 12 or 13, characterized in that the robot (400) has a surgical instrument (200), preferably a minimally invasive surgical instrument (200), particularly preferably a laparoscopic instrument, received in the instrument coupling (112).

15. Method for the robotic linear movement of an instrument (200), in particular by means of a linear axis device (100) according to one of claims 1-11, wherein the instrument (200) is received in a linear guide (103) connected to a robot (400) for linearly guided movement; wherein the linear guide (103) is retractable, in particular collapsible, to reduce its size; and wherein the robot (400) has a robot controller for controlling the movement of the linear guide (103), and in particular for actuating the instrument (200).

16. Data processing system comprising means for carrying out the method according to claim 15.

17. Computer program comprising instructions which, when the program is executed by a computer, cause it to execute the method according to claim 15.

18. Computer-readable storage medium, wherein the storage medium comprises instructions which, when executed by a computer, cause it to execute the method according to claim 15, and / or the computer program according to claim 17 is stored on the storage medium.

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