Device for Guiding a Medical Flexible Shaft

Abstract

The invention relates to a device for guiding a medical flexible shaft, in particular an endoscope shaft, to a body into which the shaft is to be inserted. The device includes a length-variable bridging device and a shaft receptacle connected to the bridging device for fixing the shaft to the bridging device. The bridging device prevents a vibration of the shaft at least at the bodily insertion orifice. The invention also relates to a medical endoscopy system comprising such a device. In addition, the invention relates to a medical endoscopy robot system including an endoscopy system of this kind. Lastly, the invention relates to a method for guiding a medical flexible shaft, in particular an endoscope shaft, to a receiving body. In accordance with the method the shaft tip is moved forwards and/or backwards to the receiving body.

Claims

1. A device for guiding a medical flexible shaft to a body into which a shaft is to be inserted, comprising: a bridging device that is length-variable, and a shaft receptacle connected to the bridging device for fixing the shaft to the bridging device, wherein the bridging device prevents vibration of the shaft at least at a bodily insertion orifice.

2. The device according to claim 1, wherein the bridging device comprises: a scissor mechanism and/or a telescope mechanism and/or a bellows mechanism.

3. The device according to claim 1, wherein the shaft receptacle is formed in such a way that the shaft may be received at least at a distal end of the bridging device, wherein the shaft receptacle is formed in such a way that the shaft may be received over an entire length of the bridging device, such that the shaft is guided parallel to the bridging device.

4. The device according to claim 1, wherein the shaft receptacle is designed in such a way that the shaft runs at least in part within the bridging device.

5. The device according to claim 1, further comprising: a drive device comprising at least one motor, the drive device configured to activate the device and/or the shaft and/or an endoscope, wherein the drive device may be separated manually from the device.

6. The device according to claim 5, wherein the drive device is configured to activate the bridging device.

7. The device according to claim 5, wherein the drive device activates an endoscope comprising the shaft, and wherein the drive device rotates the shaft indirectly or directly and/or activates at least one shaft function of the endoscope.

8. The device according to claim 1, further comprising a connection device for connecting the device to the shaft and/or a shaft base connected to the shaft.

9. The device according to claim 8, wherein the connection device comprises: a coupling for activating a shaft function and/or an endoscope function based on activating actuation elements of the endoscope, and/or a shaft and/or an endoscope carrier for structural connection of the shaft or of the endoscope to the device.

10. The device according to claim 8, wherein the connection device comprises: a robot adapter for connecting the device to a robot, wherein the robot adapter comprises at least one interface for electrical and/or hydraulic energy transmission and/or communication.

11. The device according to claim 1, wherein the bridging device extends from a proximal end of the shaft to a receiving bodily orifice.

12. The device according to claim 1, further comprising: a control device comprising at least one wireless and/or wired transmitting and/or receiving device for remote control of a drive device.

13. The device according to claim 1, wherein the device comprises materials suitable for autoclaving.

14. A medical endoscopy system, comprising, a device according to claim 1, and a flexible endoscope, wherein the bridging device receives an endoscope shaft and guides the endoscope shaft from a proximal shaft end to a receiving bodily orifice.

15. The medical endoscopy system according to claim 14, further comprising a support for fixing the endoscopy system in a room, wherein the support is a movable support.

16. The medical endoscopy system according to claim 14, further comprising: an operating device comprising at least one input device and/or at least one imaging device for remote control of the device, and/or an entry assistance device at the receiving body.

17. A medical endoscopy robot system, comprising an endoscopy system according to claim 14, and a robot arm, wherein the device for guiding a medical flexible shaft is connected to a tool interface of the robot arm.

18. A method for guiding a medical flexible shaft to a receiving body, comprising: guiding a shaft tip forwards and/or backwards via a bridging device to the receiving body.

19. The method according to claim 18, wherein a flexible shaft is guided from a shaft base to the receiving body along a linear line.

20. The method according to claim 18, wherein the method is performed by a device according to claim 1.

Description

BRIEF DESCRIPTION OF THE DRAWINGS

[0050] The invention will be described in greater detail hereinafter on the basis of preferred embodiments with reference to the drawings.

[0051] In the drawings:

[0052] FIG. 1 shows a perspective view of an endoscope of the prior art,

[0053] FIG. 2a shows a schematic detailed view of the endoscope tip from FIG. 1 in region II in a starting position,

[0054] FIG. 2b shows a schematic view of the endoscope tip from FIG. 2a in an angled position,

[0055] FIG. 3 shows a schematic view of the principle of the endoscope guidance by means of a robot,

[0056] FIG. 4a shows a schematic side view of an embodiment of an endoscopy system according to the invention with an embodiment of a device according to the invention in one position,

[0057] FIG. 4b shows a schematic side view of the embodiment from FIG. 4a in a further position,

[0058] FIG. 5 shows a schematic view of a further embodiment of an endoscopy system according to the invention with an embodiment of a device according to the invention,

[0059] FIG. 6 shows a schematic side view of a further embodiment of an endoscopy system according to the invention with an embodiment of a device according to the invention,

[0060] FIG. 7 shows a schematic side view of an embodiment of an endoscopy robot system according to the invention with an embodiment of an endoscopy system according to the invention with an embodiment of a device according to the invention,

[0061] FIG. 8 shows a perspective view of a further embodiment of a device according to the invention,

[0062] FIG. 9 shows a sectional view of the device from FIG. 8,

[0063] FIG. 10 shows a perspective view of an embodiment of a drive system and of a connection device of a device according to the invention,

[0064] FIG. 11 shows a sectional view of the depiction from FIG. 10, and

[0065] FIGS. 12a-12c show schematic side views of further embodiments of endoscopy robot systems according to the invention.

DESCRIPTION OF THE INVENTION

[0066] Similar or identical components or elements are identified in the figures by like reference signs or variants of these reference signs. In particular for improved clarity, elements already identified are preferably not provided in all figures with a reference sign.

[0067] FIG. 1 shows an endoscope 200 with flexible shaft 100 for the hand-held use according to the prior art. The shown endoscope 200 is a flexible ureteroscope, that is to say an endoscope for urological interventions.

[0068] For example, with manual use of the endoscope 200, a doctor holds the gripper piece 204 of the endoscope gripper unit 202 in his hand and inserts the shaft 100, at least in part, into the patient for the endoscopic intervention. By movement of the actuation element 206 (along the movement arrow 208), the endoscope tip 102 may be curved in a plane. Various tools, for example optical waveguides for a laser and/or collection cups for removing bladder stones, etc. may be inserted through the working channel 210. The plane in which the endoscope tip curves may be varied preferably by rotating the entire endoscope about its longitudinal axis (see movement arrow 104). The shown endoscope 200 therefore has two degrees of freedom: rotation about the longitudinal axis of the endoscope 200 or of the endoscope shaft 100, and angling of the endoscope tip 102.

[0069] Whereas the number of degrees of freedom is usually identical in different hand-held endoscopes for the same medical application, the geometry, in particular of the gripper piece 204, and/or the geometry and the position of the actuation element 206 vary. In particular the actuation element 206 has a lever and/or a rotary head and/or, as shown, a setting wheel.

[0070] By actuating the actuation element 206, a flexible region of the endoscope tip or in the vicinity of the endoscope tip may be angled (see FIGS. 2a and 2b). The movement is transmitted in particular via wire cables and/or rod-activated mechanisms. If the endoscope 200 is an endoscope with a small shaft diameter, for example for use in the urethra or in the nose and throat area, the shaft has in particular only one angling degree of freedom. If the endoscope 200 has a larger shaft diameter, for example for use in the gastrointestinal tract, the shaft 100 may preferably have two angling degrees of freedom orthogonal to one another. The angling degrees of freedom preferably allow an angling from the zero position in the x- and/or y-direction. The combination of the angling in the x- and y-direction is particularly preferred.

[0071] FIG. 2a shows a detailed view of the endoscope tip 102 from FIG. 1.

[0072] The region of the endoscope tip 102 comprises a movable angling region 108, which in particular may be curved in a plane via the actuation element 206 (see FIG. 1). This curvature of the angling region 108 is realised in particular by means of cables and/or rods running in the endoscope shaft 100, wherein it is particularly preferred that this is realised by means of Bowden cables. During a curvature of the angling region 108, it is preferred that the rest of the shaft 110 and the endoscope tip head 106 is uncurved, in other words is thus rigid, apart from the general flexibility of the shaft 100.

[0073] FIG. 2b shows the endoscope tip 102 from FIG. 2a in the curved or angled state.

[0074] FIG. 3 shows an exemplary principle of an endoscopic intervention with a flexible endoscope 200 guided by a robot arm 402 of a robot 401. In the present case the robot arm 402 corresponds substantially to the robot 401. The endoscope is in particular an endoscope according to the embodiment from FIG. 1.

[0075] The endoscope 200 is connected to the robot 401 via a device 10 to the last element 404 of the robot arm 402. The robot 401 is positioned within the room at a suitable point in the vicinity of the patient 500. Here, the robot 401 may be fastened in particular as required to a suitable support system, for example side rails of an operating table, a movable trolley, a ceiling mount, or the like. The use of such support systems merely for pre-operative positioning, preferably of the robot 401, is preferred so that there is no intra-operative displacement. Optionally, a pre-operative movement is alternatively also conceivable.

[0076] In particular the endoscope 200 is releasably connected to the guide device 10, which is in turn fastened to the last element 404 of the robot, wherein this is in particular a tool interface 404 of the robot. The guide device 10 is in particular designed in such a way that this may activate on the one hand a rotation of the endoscope shaft or the entire endoscope inclusive of endoscope shaft, and on the other hand, in particular with a coupling to the actuation element of the endoscope 200, activates an angling of the endoscope tip 102.

[0077] In particular, for facilitated insertion of the endoscope shaft 100 into the patient body 500, an entry assistance device 302 is arranged at the bodily insertion orifice 502. This assistance device 302, as shown here, corresponds substantially to the design of a funnel. It is preferred that the entry assistance device 302 comprises optical markers (not shown) in order to enable a tracking of the entry assistance device 302 by suitable tracking system (not shown).

[0078] Due to the flexibility of the endoscope shelf 100 and/or the length of the endoscope shaft and the resultant distance of the mounting or fixing the endoscope shaft on the endoscope gripper unit 202, vibrations result in the region of the endoscope tip 102 and are shown by way of the movement arrow 112. These vibrations lead to problems during the insertion and/or use of the endoscope.

[0079] FIG. 4a shows an embodiment of an endoscope system 300 according to the invention with an embodiment of a device 10 according to the invention for guiding a medical flexible shaft to a body into which the shaft is to be inserted.

[0080] The device 10, as shown, comprises a connection device 12 for connecting the device 10 to the shaft 100. As is shown, the shaft 100 is an endoscope shaft 100 of the endoscope 200. The connection device 12 is thus connected to the endoscope 200 and hereby to the endoscope shaft 100. The connection device 12, as shown, thus comprises an endoscope carrier 44 connecting the endoscope 200 to the device 10, wherein, as is shown, this is a receptacle for the endoscope 200 in the connection device 12. In addition, the connection device 12 in particular comprises a coupling 26, such that the device 10 hereby couples preferably to the actuation element 206 of the endoscope 200 and may thus activate same. It is likewise possible (not shown) that the connection device 12 comprises a robot adapter 50, via which the device may be connected to a robot arm 402 or a robot 401. As is shown, the connection device 12 preferably comprises the coupling 26, endoscope carrier 40 and in particular (not shown) robot adapter 50 within a component, or performs corresponding functions. In particular, the entire endoscope 200, inclusive of endoscope gripper unit 202 and endoscope shaft 100, rotates about the longitudinal axis by way of the connection device 12.

[0081] As is shown, the device 10 comprises a bridging device 14, with, in particular two-dimensional or three-dimensional, scissor mechanism. The scissor mechanism consists of a plurality of scissor bars 62, which are connected movably to one another via joints 90, 91, 92, 93, 94. The scissor mechanism 14 (see FIG. 4b) may be extended and retracted in this way.

[0082] It is shown that the first central joint 90 is fixedly connected to the connection device 12 or mounted such that the first central joint 90 preferably allows only rotary movements of the scissor bars 62 connected to the joint 90, in order to enable the folding function of the scissor mechanism 14. It is preferred that the second central joint 94 (not shown) is mounted in such a way that it is mounted parallel to the X-axis, such that in particular no movement of the joint 94 is possible in the Z-direction and/or Y-direction. A linear deflection of the scissor mechanism 14, in particular along the X-direction, is possible in this way. A rotation of the scissor mechanism 14 about the Y-axis is preferably prevented.

[0083] The scissor mechanism 14 guides the flexible shaft 100 linearly (shown in the X-direction). The guidance is realised via a connection of the shaft 100 to the scissor mechanism 14 by means of shaft receptacle 16. To this end, it is possible in particular that the shaft 100 runs through bores in the central joints 90, 91, 93, 94. On the other hand, it is in particular also possible that for example fixing devices, such as hooks and/or eyelets, which guide the shaft 100, are connected to the central joints 90, 91, 93, 94 of the scissor mechanism 14. On account of this parallel guidance in relation to the scissor mechanism 14, a guided deflection of the shaft tip 102 and the shaft 100 is realised, such that a targeted insertion of the shaft tip 102 into the entry assistance device 302 is possible. In particular, vibrations of the shaft tip in the region of the entry assistance device are hereby prevented or significantly reduced.

[0084] Instead of the shown embodiment, in which the shaft 100 is guided over the entire length by the scissor mechanism, is also possible that only the shaft tip is guided by the scissor mechanism. To this end, merely the last joint 93 of the scissor mechanism may fix the shaft 100, for example.

[0085] FIG. 4b shows the device 10 with shaft 100 from FIG. 4a in the inserted state. The endoscope 200 was guided in the direction of the entry assistance device 302, for example by means of the robot arm 402, and in this way was inserted into the shaft 100. The scissor mechanism 14, in so doing, was collapsed. This collapsing may be realised on the one hand by way of a (not shown) drive means 20 of the device 10. On the other hand, it is optionally also possible that the scissor mechanism collapses automatically, for example on account of the contact with the entry assistance device 302 and on account of the advance of the endoscope 200, or of the device 10. In particular, the assistance device 302 facilitates the insertion and/or reduces the risk of injury for the patient.

[0086] Instead of the insertion of the shaft 100 via the insertion assistance device 302, it is likewise possible in this embodiment and also in the other shown embodiments that the shaft 100 is inserted directly into a bodily orifice 502 of a patient 500.

[0087] By means of this embodiment or other embodiments of the device 10, an endoscope or an endoscope shaft 100 may be guided in particular in accordance with the embodiment of FIGS. 1, 2a and 2b. Alternatively or additionally, this embodiment or other embodiments of the device 10 may be used in particular in the embodiment from FIG. 3, such that preferably the vibration (along movement arrow 112 in FIG. 3) is prevented.

[0088] FIG. 5 shows a further embodiment of a device 10 according to the invention. Instead of the scissor mechanism 14 from FIG. 4a, the embodiment in FIG. 5 comprises a linear telescope mechanism 14. The telescope members 15 are displaceable here linearly relative to one another or inside one another. The shaft is guided by the telescope members 15, which in particular are cylindrical. These telescope members 15 in this case are in particular hollow, such that the interior of the telescope members 15 forms the shaft receptacle 16 for guidance of the shaft 100. The telescope members 15 may be moved here in particular via a drive device 20 (not shown). It is also possible that the telescope members 15 are displaceable relative to one another merely manually. In the case of this manual embodiment it is preferred that the telescope mechanism 14 retracts manually and/or automatically as the shaft 100 is removed from the patient.

[0089] FIG. 6 shows a further embodiment of the device 10 according to the invention. The embodiment from FIG. 6 corresponds here substantially to the embodiment in FIG. 5.

[0090] Instead of the linear telescope members 15 from FIG. 5, the embodiment from FIG. 6 comprises curved or arched telescope members 15. A curved or arched guidance of the shaft 100 is thus possible with the embodiment from FIG. 6. By contrast, in the embodiments from FIGS. 4a and 5, a linear deflection, in translation, is realised (shown in the X-direction).

[0091] FIG. 7 shows an embodiment of an endoscope robot system 400 according to the invention with an embodiment according to the invention of an endoscopy system 300 according to the invention with an embodiment of a device 10 according to the invention.

[0092] The endoscopy system 300 comprises an endoscope 200, which is connected to the device 10 via an endoscope carrier 40 of a connection device 12. The device is in turn connected via a robot adapter 50 of the connection device 12 to a tool interface 404 of a robot arm 402 of a robot 401. The endoscopy system 300 may be deflected by the robot 401.

[0093] The shown scissor mechanism 14 guides the shaft 100 linearly (based on the embodiment from FIG. 4a). The scissor mechanism is activated here by a drive device 20, which comprises a motor 22, via a transmission device 25, such that the scissor mechanism may be extended and/or retracted. The transmission device 25 may comprise in particular a suitable transmission for the driving movement of the drive device 20. It is likewise possible that the drive device 20 (not shown) activates and therefore for example triggers an angling function of the shaft 100 by means of a coupling of actuation elements of the endoscope 200. Alternatively or additionally, it is possible (not shown) that the drive device 20 may perform a rotation of the shaft or of the entire endoscope inclusive of endoscope shaft 100. It is particularly preferred (not shown) that at least three degrees of freedom are activated by means of the device 10, in particular by means of the drive device 20, wherein these are a retraction/extension of the scissor mechanism 14, an endoscope rotation, and endoscope angling.

[0094] The robot adapter 50 may be in particular a purely mechanical fastening element. However, it particularly preferably comprises interfaces for power supply and/or communication, such that the device may be hereby controlled and/or supplied with power.

[0095] FIG. 8 shows a further embodiment of a device 10 according to the invention with three-dimensional scissor mechanism 14. The scissor bars 62 are both mounted rotatably at each of the two ends of central bars 60 and are mounted rotatably relative to one another at outer sleeves 64. Since scissor bars 62 are situated on both sides of the central bars 60, the entire scissor mechanism is stabilised in respect of the action of external forces and the force of gravity. Shoulder screws 66 screwed into the outer sleeves 64 serve as a bearing seat and hold the scissor bars 62 in position in relation to the outer sleeves 64. Alternatively (not shown), it is also possible for the outer sleeve 64 to be extended and designed such that the bearing seats are situated on the sleeves 64 and the positions are secured via retaining rings. The shown key stones 68, which are fixedly connected to the central bars 60 by means of grub screws (not shown) ensure a correct orientation of the central bars, such that all shown bores 18 in the central bars 60 are arranged in a line. This orientation is realised in particular on account of the guidance via a guide mechanism 69. This guide mechanism has two guide rails 75, 77, which are embodied by recesses 72, 72 in fastening plates 70, 71. The fastening plates 70, 71 are preferably connected releasably (not shown) to the connection device 12. On account of this possibility for release, the entire scissor mechanism 14 may preferably be separated from the connection device 12 and/or the drive device 20 for autoclaving.

[0096] The scissor mechanism 14 is activated via a transmission device 25 by a servomotor 22c of a drive device 20. The servomotor 22c to this end drives a threaded spindle 76 via two spur gear wheels 74. As a result of the rotation of the threaded spindle 76, the threaded nut 78 is displaced along the spindle, wherein the driver 80 fastened to the threaded nut entrains the first central bar 60.1. In a preferred (not shown) alternative embodiment, the first outer sleeve 64 could be guided over a circular path about the first bearing point. Since the driver 80 rests on the fastening plate 70, in particular via a sliding coating, an undesirable concomitant rotation of the threaded nut 78 with the spindle 76 is preferably ruled out. The movement of the first central bar and therefore a change to the distance of the central bars 60 from one another results in a shortening or a lengthening of the scissor mechanism 14 and therefore a deflection of the scissor mechanism. It is preferred that the shaft is guided through the bores 18 in the central bars 60, such that these bores 18 therefore represent the shaft receptacle 16.

[0097] It is preferred that at least the bores 18 in the central bars 60 are sterile, such that the endoscope shaft 100 is not contaminated. It is therefore preferred that at least the scissor mechanism 14, in particular the entire device 10, may be autoclaved. Here, it is preferred that the drive device may be removed or decoupled from the device 10, in particular without the use of tools. It is likewise preferred that the device may be separated from a robot and/or the robot adapter 50, in particular without the use of tools.

[0098] In this embodiment and other embodiments it is preferred that at least the at least one motor 22 of the drive device 20, preferably the entire drive device 20, is preferably arranged structurally independently of the scissor mechanism. It is thus possible to separate the scissor mechanism 14 from the device 10, such that this may be sterilised without the drive device 20 needing to be separated and/or formed in a manner suitable for sterilisation.

[0099] Instead of the transmission of the motor rotation by means of threaded spindle and/or spur gears, further variants of the force transmission, in particular cone gear wheels, spur gear wheels and/or wire cables, etc., may also be provided.

[0100] FIG. 9 shows a cross-section through the first central bore 60.1 in accordance with the embodiment in FIG. 8.

[0101] The endoscope shaft 100 is preferably guided in the bore 18 in the centre of the central bar 60.

[0102] The scissor bars 62 are both mounted rotatably on both ends of the central bars 60 via sliding bearings 84 and thrust washers 86 and are mounted rotatably relative to one another at the matching faces of the shoulder screws 66 screwed into the outer sleeve 64. Alternatively (not shown), it is also possible for the outer sleeve 64 to be lengthened and thus designed such that the bearing tips are situated on the sleeves 64 and the positions are secured via retaining rings.

[0103] FIG. 10 shows a further embodiment of a device 10 according to the invention without the presented bridging device 14.

[0104] The endoscope 200 is connected to the device 10 via an endoscope carrier 40 of a connection device 12. As is shown, the endoscope carrier comprises, in particular flexible, carrier bars 41, which for example are pressed against the endoscope gripper unit 202 by means of a detent closure 43.

[0105] The device additionally has a drive device 20, in particular for rotation of the entire endoscope 200 inclusive of endoscope shaft 100 about the longitudinal axis of the endoscope shaft 100 and for angling of an endoscope tip 102 (not shown).

[0106] In particular for rotation of the entire endoscope 200 inclusive of endoscope shaft 100, the drive device 20 comprises a first servomotor 22a, which drives a toothed belt 30a via a gear wheel 28a. The toothed belt 30a is tensioned via a deflection pulley 32a and is deflected towards the stationary gear wheel 34. Since a drive carrier 42 is mounted rotatably in relation to the gear wheel 34 (see in particular FIG. 11), the entire device 10 rotates about the longitudinal axis of the endoscope shaft 100. In particular, it is possible here that a bridging device 14 (not shown) is concomitantly rotated, or that the bridging device 14 is not rotated, wherein this is implemented in particular with appropriate mounting of the bridging device 14.

[0107] In order to angle the endoscope tip 102, the drive device 20 preferably comprises a second servomotor 22b, the movement of which is transmitted to a lever 36 via a drive-side gear wheel 28b, the toothed belt 30b, and an output-side gear wheel 32b. The lever 36 transmits the movement to the actuation element 206 of the endoscope 200. It is hereby preferred in particular that the axis of rotation of the lever 36 coincides as exactly as possible with the axis of rotation of the actuation element 206 of the endoscope 200.

[0108] The device is connected to a robot 401 preferably via a robot adapter 50, in particular via a suitable interface 52.

[0109] Instead of the shown connection of the endoscope 200 to the device 10, it is in particular also possible to provide a connection via screwed U-bolts and/or union nuts. It is particularly preferred that the endoscope is connected to the device 10 via fastening variants of the endoscope carrier 40 which do not require any additional tools for the fastening of the endoscope 200. In addition, it is preferred that the endoscope carrier 40 is suitable for sterilisation, in particular suitable for autoclaving. Alternatively to the shown embodiment of the servomotor 22a, it is possible to mount the servomotor 22a in a stationary manner at the interface 52. As an alternative to the toothed belts 30a, 30b, it is in particular possible to use other variants for force transmission, in particular cone gear wheels, spur gear wheels and/or wire cables, etc.

[0110] In an alternative embodiment it is likewise possible to mount the second servomotor 22b in a stationary manner at the interface 52 and to embody the drive for transmission of the lever movement in particular via wobble plates and/or driven, rotatable sleeves with a slot for the lever of the actuation element 206.

[0111] It is also alternatively possible to provide just one motor 22 having corresponding couplings and/or transmissions.

[0112] FIG. 11 shows a cross-section through the embodiment from FIG. 10.

[0113] The stationary gear wheel 34 is fixedly connected to a hollow axis 406 via a grub screw 38, wherein the hollow axis 406 is in turn fixedly connected to the interface 52. Drive carriers 42, 42, 42 and the endoscope carrier 40 connected thereto are mounted movably in relation to the interface 52 via ball bearings 44, 44. Instead of ball bearings, other bearing forms are possible, for example sliding bearings. An endoscope shaft 100 (not shown) is guided through the central opening 39, which is formed by central recesses in the endoscope carrier 40, the drive carrier 42, and the interface 52.

[0114] It is preferred that the opening 39 is sterile in order to avoid contamination of the endoscope shaft 100. To this end, it is preferably possible to insert a sterile disposable sleeve (not shown) into the opening 39.

[0115] Instead of the shown grub screw 38 in order to prevent rotation of the gear wheel 34, other variants are also possible, such as feather keys and/or a polygonal profile at the drive carrier and also at the gear wheel.

[0116] Various embodiments of the endoscopy robot system 400 according to the invention with endoscopy systems 300 according to the invention with device 10 according to the invention are shown in FIGS. 12a, 12b and 12c. The endoscopy system 300 corresponds here substantially to the embodiment from FIG. 4a.

[0117] FIGS. 12a, 12b and 12c show various connection types of the endoscopy system 300 or of the device 100 on a robot 401. In particular, the optimal connection type is dependent on the robot kinematics and the desired intraoperative movability of the endoscope.

[0118] FIG. 12a shows a right-angled connection of the device 10 via connection device 12 to the tool interface 404 of the robot 401.

[0119] FIG. 12b shows a coaxial connection of the device 10 to the tool interface 404 of the robot 401. The device 10 is preferably connected here to the tool interface 404 via the connection device 12, wherein the endoscope shaft runs through a hollow axis in the tool interface 404. To this end it is preferred that the hollow axis of the tool interface 404 has a sufficiently large diameter to receive and/or allow passage of the device 10.

[0120] FIG. 12c shows a parallel connection of the device 10 to the tool interface 404, wherein the connection is in particular true-parallel. The connection is established here by way of the connection device 12, which comprises a robot adapter 50, which is connected at the end face to the tool interface 404, wherein the rest of the device 10 is connected at right angles to the robot adapter 50.