INTELLIGENT HOLDING ARM FOR HEAD SURGERY, WITH TOUCH-SENSITIVE OPERATION

Abstract

A holding arm for medical purposes, in particular for holding surgical mechatronic assistance systems and/or surgical instruments, includes a proximal end for attaching the holding arm to a base and a distal end for receiving a surgical mechatronic assistance system and/or surgical instrument; at least one first and one second arm segment, wherein the first arm segment is connected to a first joint and the second arm segment is connected to a second joint, wherein each joint is releasable and lockable. An operating unit is provided for bringing the holding arm into a desired pose, wherein the operating unit is adapted to release the associated joint upon contact between an operator and one of the first and second arm segments. A corresponding method is also provided.

Claims

1. A holding arm for holding surgical mechatronic assistance systems or surgical instruments, the holding arm comprising: a proximal end for attaching the holding arm to a base and a distal end for receiving a surgical mechatronic assistance system or a surgical instrument; at least one first and one second arm segment, wherein the first arm segment is connected to a first joint and the second arm segment is connected to a second joint, wherein each joint is releasable and lockable; and an operating unit for bringing the holding arm into a desired pose, wherein the operating unit is adapted to release the associated joint upon contact between an operator and one of the first and second arm segments, such that the operating unit is adapted to release the first joint when a contact occurs between an operator and the first arm segment, and to release the second joint when contact occurs between the operator and the second arm segment.

2. The holding arm according to claim 1, wherein the operating unit has contacting devices which are adapted to receive contact from the operator, wherein a first contacting device of the operating unit is arranged on the first arm segment and a second contacting device is arranged on the second arm segment.

3. The holding arm according to claim 2, wherein each contacting device has two contact elements arranged substantially opposite one another on the arm segment.

4. The holding arm according to claim 2, wherein the contact elements are provided in the form of pushbuttons.

5. The holding arm according to claim 2, wherein the contact elements are provided in the form of touch-sensitive sensors.

6. The holding arm according to claim 1, wherein the operating unit is adapted to release the associated joint according to the intensity of contact.

7-10. (canceled)

11. The holding arm according to claim 1, wherein the operating unit upon contact between the operator and both the first and the second arm segment, releases all the joints disposed between said arm segments.

12. The holding arm according to claim 1, wherein the joints comprise brakes adapted to release and lock the joints.

13. (canceled)

14. The holding arm according to claim 12, wherein the brakes are electromagnetic brakes and each comprise a permanent magnet which biases the brake into the locked state when no current is being supplied.

15. The holding arm according to claim 1, wherein the holding arm has six degrees of freedom.

16. (canceled)

17. The holding arm according to claim 1, wherein the holding arm comprises seven arm segments and seven joints, with each arm segment being assigned one joint.

18-20. (canceled)

21. The holding arm according to claim 1, further comprising orientation indicators showing a basic pose of the holding arm arranged on the arm segments.

22. The holding arm according to claim 1, further comprising at least one cable duct provided inside the arm segments to guide cables from the proximal to the distal end of the holding arm.

23. The holding arm according to claim 1, wherein the first arm segment, relative to the proximal end of the holding arm, has a first mechanical coupling for releasably coupling the holding arm to a second corresponding coupling of an operating table.

24. The holding arm according to claim 1, wherein the last arm segment, relative to the proximal end of the holding arm, has a mechatronic interface for coupling a surgical mechatronic assistance system or a surgical instrument to the last segment.

25. The holding arm according to claim 1, further comprising a first interface at the proximal end for connecting the holding arm to an energy source and to an external control unit for transmitting signals to and from the holding arm; a second interface at the distal end for coupling the holding arm to the assistance system to control the assistance system; and a transmission unit which is arranged inside the holding arm and which connects the first interface to the second interface in order to transmit energy and signals between the interfaces.

26. The holding arm according to claim 25, wherein the first interface has a connector for an external accumulator.

27. The holding arm according to claim 25, wherein the transmission unit has a bus.

28. The holding arm according to claim 1, further comprising an orientation sensor configured to detect an attitude of the joint is disposed in at least one joint.

29. The holding arm according to claim 1, further comprising a torque sensor disposed in at least one joint configured to detect a torque acting on said joint.

30. The holding arm according to claim 1, wherein at least one arm segment comprises a sensor configured to detect a position of the arm segment.

31. The holding arm according to claim 30, wherein the sensor is an acceleration sensor.

32. (canceled)

33. The holding arm according to claim 25, further comprising a recognition unit configured to recognize an assistance system coupled to the second interface, wherein the operating unit is adapted to release or to lock the joints according to the assistance system coupled to the second interface.

34. The holding arm according to claim 25, further comprising a camera configured to observe an operating area and coupled to the first interface to transfer image data at the first interface.

35. The holding arm according to claim 25, further comprising a safety element provided at the second interface and coupled to the operating unit such that the operating unit locks all the joints when the safety element indicates a faulty link between the assistance system and the second interface.

36. The holding arm according to claim 25, further comprising a display configured to display a representation of data transferred to the first or second interface provided on at least one arm segment.

37. A holding arm for holding a surgical mechatronic assistance system, the holding arm comprising a proximal end for attaching the holding arm to a based and a distal end for receiving the surgical mechatronic assistance system; two or more arm segments and two or more joints connecting the arm segments, wherein each joint is released or locked by means of an operating unit; a first interface at the proximal end for connecting the holding arm to an energy source and to an external control unit for transmitting signals to and from the holding arm; a second interface at the distal end for coupling the holding arm to the assistance system to control the assistance system; and a transmission unit arranged inside the holding arm and which connects the first interface to the second interface to transmit energy and signals between the interfaces.

38. A method for positioning a surgical mechatronic assistance system or surgical instrument coupled to a holding arm, wherein the holding arm has at least six degrees of freedom, the method comprising: holding a pose of the holding arm; detecting operator contact with a first arm segment of the holding arm; releasing, in response to the detected operator contact with the first arm segment, a first joint associated with the first arm segment; and locking, in response to no longer detecting operator contact with the first arm segment, the first joint.

39. The method according to claim 38, further comprising: detecting operator contact with a second arm segment of the holding arm; releasing, in response to the detected operator contact with the second arm segment, a second joint associated with the second arm segment, and locking, in response to no longer detecting operator contact with the second arm segment, the second joint,

40. The method according to claim 38, wherein contact is detected on two substantially opposite sides of the arm segment.

41. The method according to claim 38, wherein an intensity of the contact is detected and the joint is partially or fully released depending on said intensity.

42. (canceled)

43. A method for controlling a mechatronic assistance system coupled to a holding arm to navigate said system during surgical treatment, wherein the method comprising: coupling a mechatronic assistance system to a second interface of the holding arm at its distal end; and transmitting electrical energy and signals from a first interface of the holding arm at its proximal end, wherein transmission is carried out by a transmission unit which is arranged inside the holding arm and which connects the first interface to the second interface in order to transmit energy and signals between the interfaces.

44. The method according to claim 43, further comprising: detecting attitudes of joints of the holding arm, determining a pose of the holding arm using the detected attitudes of the joints; and providing data representing the determined pose at the first interface.

45. The method according to claim 43, further comprising: detecting torques acting on joints of the holding arm; determining a force acting at the distal end of the holding arm; and providing data representing the determined force at the first interface.

46. The method according to claim 43, further comprising: recognizing an assistance system coupled to the second interface; releasing and locking joints of the holding arm according to the detected assistance system; and providing data representing the recognized assistance system at the first interface.

47. The method according to claim 43, further comprising: recognizing, using a recognition unit, an instrument which is introduced into an operating area; and providing data at the first interface, which represent the instrument and indicate that the instrument has been introduced into the operating area.

48. The method according to claim 47, further comprising: recognizing, using a recognition unit, an instrument which is removed from an operating area; and providing data at the first interface, which represent the instrument and indicate that the instrument has been removed from the operating area.

49. The method according to claim 43, further comprising: detecting image data of an operating area; and providing the image data at the first interface.

50. The method according to claim 49, wherein the image data are linked to position data of the assistance system.

51. The method according to claim 49, further comprising: detecting an audio signal using a microphone; detecting a voice command in the audio signal; converting the voice command into a control signal for the assistance system; and providing the control signal at the second interface.

52. The method according to claim 43, further comprising: determining whether the assistance system is correctly coupled to the second interface; and locking all the joints of the holding arm if the assistance system is not correctly coupled to the second interface.

53. The method according to claim 43, further comprising: displaying a representation of data transferred at the first or second interface.

54. The method according to claim 43, further comprising: storing the data provided at the first interface; and producing an operation log using the stored data.

55. The method according to claim 43, further comprising: storing all the data provided at the first interface; and generating a DICOM file on the basis of the stored data.

Description

[0072] The invention shall now be described in more detail with reference to one embodiment and with reference to the attached drawings, in which

[0073] FIG. 1 shows a side view of a holding arm, in which the contacting device can be seen;

[0074] FIG. 2 shows a partly cutaway view of the holding arm shown in FIG. 1;

[0075] FIG. 3 shows a schematic view of the fourth arm segment;

[0076] FIG. 4 shows another schematic view of the fourth arm segment;

[0077] FIG. 5 shows the holding arm from FIG. 1, coupled to an external control unit;

[0078] FIG. 6 shows a plan view of the interface at the proximal end of the holding arm;

[0079] FIG. 7 shows a perspective view of an external energy storage unit;

[0080] FIG. 8 shows a perspective schematic view of the first arm segment, with a mechanical interface for coupling the holding arm to a standard rail of an operating table;

[0081] FIG. 9 shows a perspective view of the seventh arm segment, including the interface at the distal end;

[0082] FIG. 10 shows a plan view of the interface at the distal end of the holding arm;

[0083] FIG. 11a shows an embodiment of the holding arm with a partly structured surface;

[0084] FIG. 11b shows an embodiment of a holding arm with a partly coloured surface;

[0085] FIG. 12 shows a partial section through a brake in a joint of the holding arm;

[0086] FIG. 13 shows a flow diagram of a method according to a first embodiment; and

[0087] FIG. 14 shows a flow diagram of a method according to a second embodiment.

[0088] FIG. 1 shows a holding arm 1 for medical purposes, in particular for holding a surgical mechatronic assistance system and/or a surgical instrument. Holding arm 1 has a proximal end 2 and a distal end 4. At the proximal end 2, a first interface 6 and a mechanical interface 7 are formed, which are described in greater detail with reference to FIGS. 6 and 8. Interface 7 is used to attach holding arm 1 to a base, such as an operating table. Interface 7 is used to transfer energy and to couple holding arm 1 to an external control unit (cf. FIG. 5). At the distal end 4, a second interface 8 is provided via which it is possible to couple a mechatronic assistance system and/or a surgical instrument, such as a manipulator, to holding arm 1. A manipulator for holding and manipulating an endoscope is preferably disposed here.

[0089] The holding arm 1 according to FIG. 1 has seven arm segments 10, 12, 14, 16, 18, 20, 22, each of which is substantially rod-shaped and all of which, except for the last arm segment 22, are of substantially the same length. The seven arm segments 10, 12, 14, 16, 18, 20, 22 are each coupled to one another by joints 11, 13, 15, 17, 19, 21, 23, the zero-th joint 11 coupling holding arm 1 to the base (not shown in FIG. 1, see FIG. 7). In this embodiment, joints 13, 15, 17, 19, 21, 23 are all in the form of rotary joints each having one degree of freedom. According to this embodiment, the zero-th joint 11 is associated with the zero-th segment 10, the first joint 13 with the first arm segment 12, the second joint 15 with the second arm segment 14, the third joint 17 with the third arm segment 16, the fourth joint 19 with the fourth arm segment 18, the fifth joint 21 is associated with the fifth arm segment 20, and the sixth joint 23 is associated with the sixth arm segment 22. Joint 11 is designed as a translational joint, so that arm segment 10 can be extended telescopically in order to adjust the height of holding arm 1, as will be described later with reference to FIG. 8. Joints 13, 15, 17, 19, 21, 23 have respective pivot axes A.sub.1, A.sub.2, A.sub.3, A.sub.4, A.sub.5, A.sub.6, with respectively adjacent joints having pivot axes that are perpendicular to each other. This allows simple positioning of distal end 4 in space.

[0090] Holding arm 1 according to FIG. 1 also includes an operating unit 28. By means of the operating unit 28, holding arm 1 can be brought into a desired pose, the operating unit 28 being adapted to release the associated joint upon contact between an operator and one of the seven arm segments. For that purpose, the operating unit 28 according to this embodiment has seven contact areas 30, 32, 34, 36, 38, 40, 42, with one contacting device 30, 32, 34, 36, 38, 40, 42 being arranged on each arm segment 10, 12, 14, 16, 18, 20, 22. A zero-th contacting device 30 is thus arranged on the zero-th arm segment 10, a first contacting device 32 on the first arm segment 12, a second contacting device 34 on the second arm segment 14, a third contacting device 36 on the third arm segment 16, a fourth contacting device 38 on the fourth arm segment 18, a fifth contacting device 40 on the fifth arm segment 20 and a sixth contacting device 42 is arranged on the sixth arm segment 22.

[0091] According to this embodiment, each contacting device 30, 32, 34, 36, 38, 40, 42 also has two contact elements 30a, 30b, 32a, 32b, 34a, 34b, 36a, 36b, 38a, 38b, 40a, 40b, 42a, 42b arranged substantially opposite one another. Contacting devices 30, 32, 34, 36, 38, 40, 42 are used to detect contact between an operator and the respective arm segment 10, 12, 14, 16, 18, 20, 22. When gripping an arm segment 10, 12, 14, 16, 18, 20, 22, the operator comes into contact with the two contact elements 30a, 30b-42a, 42b, and the associated joint is released only when there is contact with both the contact elements 30a, 30b-42a, 42b of a contacting device 30-42. This means that, when the first arm segment 12 is gripped and the contact is made simultaneously with the two contact elements 32a, 32b, the first joint 13 is released by the operating unit 28. In this way, it is possible for the operator to pivot holding arm 1, or arm segments 12-22, about axis A.sub.1. When one or both of the two contact elements 32a, 32b is let go of, joint 13 is locked again, and pivoting about axis A.sub.1 is no longer possible. If only one of the two contact elements 32a, 32b is inadvertently touched, for example by an arm or elbow of the operator, joint 13 is not released and holding arm 1 remains in the locked state and keeps its pose.

[0092] The same applies to the second arm segment 14. In this case also, the second contacting device 34 has two contact elements 34a, 34b which are provided substantially opposite one another on the outer circumference of arm segment 14. When this arm segment 14 is gripped and contact is made with both the contact elements 34a, 34b, this contact is detected by the operating unit 28 and joint 15 associated with arm segment 14 is released. Pivoting about axis A.sub.2 is now possible, so distal end 4, in FIG. 1, can be pivoted upwards or downwards. At the same time, all the other joints 13, 17, 19, 21, 23 remain locked, so no movement in them takes place.

[0093] For that purpose, operating unit 28 may have a controller or a microprocessor which is adapted to detect contact between contact elements 30a, 30b-42a, 42b and to transmit it in the form of electrical signals.

[0094] According to this embodiment, contacting device 30, or contact elements 30a, 30b-42a, 42b, are in the form of touch-sensitive sensors and detect the pressure of contact between the operator and the respective contact element 30a, 30b-42a, 42b. Contact elements 30a, 30b-42a, 42b are preferably provided in the form of capacitive touch-sensitive sensors.

[0095] With holding arm 1 shown here, it is also possible for an operator to grip two arm segments simultaneously, for example arm segment 14 and arm segment 18, and thus to contact simultaneously contact elements 34a, 34b and 38a, 38b. Joints 15 and 19 are released as a result, and it is possible to pivot them about axis A2 and also about axis A4. When joints are simultaneously released in this manner, it is possible for arm segments 18 and 20 to keep their angular orientation in space, while only arm segments 34, 36 are pivoted. This means that a translational movement of the distal end 4 is also possible. In one preferred configuration of the holding arm, it is not joints 15 and 19 that are released when two arm segments are contacted simultaneously in this example with arm segments 14 and 18, but all the joints between said arm segments 14 and 18, i.e. joints 17 and 19 in this embodiment. Joint 15 remains locked. The pose of holding arm 1 can now be changed in such a way that rotation about axis A3 and axis A4 is possible. This is a particularly intuitive way of operating the holding arm. Joints 15, 17, 19 and 21 are released accordingly, for example when there is contact between the operator and holding arm segments 12 and 20.

[0096] It can also be seen in FIG. 1 that holding arm 1 has a weight compensation unit 50. In this embodiment, the weight compensation unit 50 has a gas spring element which is coupled to arm segment 14 and arm segment 12. Alternatively, the weight compensation unit 50 may also have a cable pull and/or a equilibrated counterweight. In the case of holding arm 1 as shown in FIG. 1, the strongest torque is exerted on joint 15 about its rotational axis A2. It is therefore preferred that precisely that joint 15 be supported by means of the weight compensation unit 50. Thus, when joint 15 is released by contacting arm segment 14, a weight acting upon arm segment 14 due to the other arm segments 16, 18, 20, 22 and a manipulator disposed at interface 8, is supported by the weight compensation unit 50 so that the distal end 4 does not sag immediately when segment 14 is gripped.

[0097] Holding arm 1 (cf. FIG. 2) has a recognition unit 52 for recognising an assistance system which is coupled to second interface 8, said operating unit 28 being adapted to release or to lock joints 11, 13, 15, 17, 19, 21, 23, depending on the assistance system which is coupled to the second interface 8. Such a recognition unit 52 preferably has a barcode scanner, a QR code scanner or an RFID scanner. An assistance system coupled to second interface 8 is preferably provided with a respective barcode, QR code or RFID chip containing an identifier for the assistance system and preferably information about said system. By this means, holding arm 1 is able to recognise which assistance system is coupled to second interface 8 and is thus able to partially or completely prevent the release of certain joints 11, 13, 15, 17, 19, 21, 23. An endoscope, for example, is disposed at second interface 8. The RFID chip of the endoscope contains information about said endoscope, such as the geometrical dimensions of the endoscope. This information is recognised by the recognition unit and is passed on to the operating unit 28 of holding arm 1 and/or to the external control unit. The operating unit 28 is configured to prevent such poses of holding arm 1 in which the endoscope would collide with the holding arm. The operating unit 28 may also be additionally configured to prevent such positions of holding arm 1 in which the endoscope would collide, for example, with an operating table or with other objects.

[0098] In addition to the elements of holding arm 1 already shown in FIG. 1, FIG. 2 shows brakes 60, 62, 64, 66, 68, 70, 72, by means of which joints 11, 13, 15, 17, 19, 21, 23 can be released and locked. Identical and similar elements are marked with the same reference signs as in FIG. 1, and reference is made in that respect to the entire description above. Although reference signs are not shown in FIG. 2 at the contact elements of contacting devices 30, 32, 34, 36, 38, 40, 42, for the sake of clarity, they are nevertheless present, as can be seen by comparing FIGS. 1 and 2.

[0099] A brake 60, 62, 64, 66, 68, 70, 72 is associated with each joint 11, 13, 15, 17, 19, 21, 23. Brake 60 is associated with joint 11, brake 62 with joint 13, brake 64 with joint 15, brake 66 with joint 17, brake 68 with joint 19, brake 70 with joint 21 and brake 72 with joint 23. All the brakes 60-72 are provided in the form of electromagnetic brakes and each comprise a permanent magnet which biases the brake into the locked state when no current is being supplied. The permanent magnet is designed in such a way that it can brake the respective joint on its own and so that the pose of holding arm 1 is held. In the zero-th arm segment 10, an electronic control unit 74 is provided. The latter is coupled via a bus system 76 (only shown in arm segment 10 in FIG. 2; cf. FIGS. 3 and 4) to all the contacting devices 30-42 of operating unit 28 and to all the brakes 60-72. In order to supply energy to brakes 60-72 and to contacting devices 30-42, an energy supply line 78 is also provided, which can be coupled to an energy source via interface 6 at the proximal end 2 of holding arm 1.

[0100] FIGS. 3 and 4 show two different embodiments of an arm segment, with the fourth arm segment 18 being shown by way of example in FIGS. 3 and 4. It should be realised that the other arm segments 10, 12, 14, 16, 20, 22 may be configured the same way.

[0101] Arm segment 18 has an arm segment body 90 (not shown in FIGS. 1 and 2; it should be understood that each arm segment 10-22 has such an arm segment body), which according to FIGS. 3 and 4 is substantially rod-shaped and substantially cylindrical. Arm segment body 90 has a hollow space 92 inside, in which various elements such as brake 70 are arranged. Joints 19, 21 and the two pivot axes A.sub.4, A.sub.5 of joints 19, 21, which interact with holding arm segment 18, are shown schematically in FIGS. 3 and 4. Joint 19 is associated with holding arm segment 18 (cf. the description above referring to FIGS. 1 and 2). Arm segment body 90 has an outer surface 93 which is substantially cylindrical. Arm segment body 90 is made, for example, of a metal such as aluminium or titanium, an aluminium- or titanium-based alloy, or a composite fibre material such as GRP or CFRP, and is preferably of lightweight construction.

[0102] According to FIGS. 3 and 4, arm segment 18 has a contacting device 38, which is part of the operating unit 28 (cf. FIGS. 1 and 2). The contacting device 38 has two contact elements 38a, 38b, which are provided in the form of touch-sensitive sensors and which are arranged flush with the outer surface 93 of arm segment 18. The two contact elements 38a, 38b are arranged substantially opposite one other relative to axis A.sub.5, so that an operator comes into contact with both the contact elements 38a, 38b when gripping arm segment 18, as described above.

[0103] The two contact elements 38a, 38b are coupled by means of lines 94a, 94b to bus system 76. Contact elements 38a, 38b are coupled via bus system 76 to the electronic control unit 74 (cf. FIG. 2) and via the latter to brake 70, so that brake 70 is released by the operating unit 28 when an operator comes into contact with contact elements 38a, 38b.

[0104] In addition to bus system 76, an energy transmission system 78 and a cable duct 80 and a working channel 82 are arranged inside arm segment body 90. By means of energy transmission system 78, contact elements 38a, 38b and brake 70 are connected to an energy supply.

[0105] Alternatively or additionally, an electronics module 96 which is coupled to bus system 76 via a line 96a is disposed inside each arm segment. In such a case, contact elements 38a, 38b, which are connected via line 94a, 94b to data bus 76, interact only with electronics module 96, which converts the contact detected by contact elements 38a, 38b into a control signal for brake 70 and sends said control signal via bus system 76 to brake 70 in order to release joint 19. If such an electronics module 96 is disposed inside each arm segment, holding arm 1 has a substantially modular structure, and the individual arm segments 10-22 are independent of the electronic control unit 74 which is disposed in proximal arm segment 10.

[0106] Cable duct 80 is used to guide cables running from the proximal end 2 to the distal end 4 to supply interface 8, in particular. Working channel 82 is used to receives tubes or waveguides and the like as may be required by that particular kind of manipulator disposed at interface 8. If, for example, an endoscope is disposed at interface 8, a waveguide which can transmit an image recorded by an endoscopic camera is preferably guided through working channel 82. Working channel 82 is thus used to receive transmission means appropriate to the particular field of application.

[0107] There is also a sensor 98 disposed inside arm segment 18. A sensor is preferably disposed in each arm segment 10-22, and it should be understood that the sensors in arm segments 10, 12, 14, 16, 20 and 22 may be configured in the same way as sensor 98 in arm segment 18. Sensor 98 is preferably provided in the form of an acceleration sensor. By providing such an acceleration sensor in each arm segment, it is possible to determine the pose of holding arm 1 at any time. For that purpose, sensor 98 is coupled via line 98a to data bus 76, so that the data captured by sensor 98 are transmitted to the electronic control unit 74, which then determines the pose of holding arm 1 from all the sensor data from all the arm segments. By providing such a sensor 98, it is also possible to determine the absolute and relative position of an end effector or manipulator disposed at interface 8. If holding arm 1 is attached to an operating table, it is also possible to detect any movement of the operating table. If all the sensors in all the arm segments detect a movement in the same direction, this is an indication that the entire holding arm 1 has been moved while keeping its pose, for example by the operating table or a plate of the operating table having been rotated or displaced relative to a pillar of the operating table. Such movement can also be detected by use of sensors 98. External impulses, such as jolts against holding arm 1, can also be detected.

[0108] According to FIG. 4, an accumulator element 100 and a power generation unit 102 are additionally provided in the arm segment 18 of FIG. 3. The accumulator element is used to store electrical energy, so that sensors provided in the specific arm segment can be supplied with current even when disconnected from the power grid. This is necessary, in particular, whenever bump sensors of a camera or the like are provided, for example, which have to function, even when the holding arm is in an idle state, in order to detect possible damage to holding arm 1. Power generation unit 102 is used to provide energy for a laser, an ultrasonic device, or the like, which is coupled to the holding arm. Additionally or alternatively, power generation unit 102 may also have a device for supplying accumulator element 100, for example an energy harvesting element which converts kinetic energy, or energy resulting from a magnetic field, for example inductively, into electrical voltage for accumulator element 100.

[0109] FIG. 5 illustrates holding arm 1 once again, as already described with reference to FIGS. 1 and 2. In FIG. 5, holding arm 1 is shown integrated within a system. At distal end 4, by use of interface 8, a surgical mechatronic assistance system 200 is arranged which is coupled to interface 8 via an interface 201. Both the surgical mechatronic assistance system 200 and interface 201 are shown only schematically in FIG. 5. It should be understood that the surgical mechatronic assistance system 200 may be provided in the form of an endoscope, for example, or as a laparoscope or the like. Assistance system 200 has a working section 202, which can be the tip of the endoscope, for example. At proximal end 2, holding arm 1 according to FIG. 5 is coupled to a base 204 via mechanical interface 7. Base 204 is shown here likewise in schematic form only. It may be provided in the form of a standard rail of an operating table, for example.

[0110] According to this embodiment, first interface 6 is coupled to an external control unit 206. For that purpose, interface 6 is connected by means of a cable 208 to external control unit 206. According to this embodiment, external control unit 206 is provided in the form of an OP system comprising, for example, a conventional computer and an input-output interface for operating the OP system. The OP system preferably has software components which are configured to store and process data transferred from holding arm 1 at interface 6.

[0111] Depending on the configuration of interface 6, the interface may communicate wirelessly with OP system 206, for example via Bluetooth, Wi-Fi or similar.

[0112] According to this embodiment, holding arm 1 also has a display 55 which is provided in the form of an LCD display in this embodiment. Display 55 is connected to a control unit and displays representations of data which are transferred at first interface 6 or second interface 8. The display displays, for example, the weight of an assistance system 200 which is coupled to interface 8. Alternatively, a representation of the pose of the holding arm, with the respective loads on individual joints, is displayed on the display. Other possibilities are conceivable here. It is also conceivable that warning messages are displayed here.

[0113] Interface 6 (see FIG. 6) has a connector 77 for bus system 76. Data outputted by sensors (cf. FIGS. 3 and 4) and by contact elements (cf. FIGS. 2-4) to bus system 76 can be transferred via said connector 77 to external control unit 206. For that purpose, connector 77 may be configured as a USB interface, an RS-232 interface, a Bluetooth interface, a Wi-Fi interface or the like. A connector 79 for transmitting electrical energy is also provided in the middle of interface 6. By means of this connector 79, holding arm 1 can be coupled to an energy source, for example to the power grid. Three outlets 80a, 80b, 80c of cable duct 80 (cf. the above description referring to FIGS. 2, 3 and 4) are also provided at interface 6. Cables fed through cable ducts 80 can be accessed via these outlets 80a, 80b, 80c. Three outlets 82a, 82b, 82c of working channel 82 are also provided in interface 6. Working channel 82 can be accessed via outlets 82a, 82b, 82c. It is thus possible, for example, for a tube to be guided through outlet 82b into working channel 82 by means of interface 6 and guided through working channel 82 as far as distal interface 8 (cf. FIG. 10).

[0114] On a peripheral region of arm segment 10, first mechanical couplings 210a, 210b are provided in the region of interface 6. First couplings 210a, 210b match second couplings 212a, 212b of an external energy storage unit 214 (see FIG. 7). External energy storage unit 214 has a housing 216 which is so designed that it can be joined proximally to arm segment 10. External energy storage unit 214 has cells inside it for storing electrical energy (not shown in FIG. 7). External energy storage unit 214 has an interface 218 which matches interface 6 of holding arm 1. Interface 218 has a connector 220 by means of which the electrical energy stored in external energy storage unit 214 can be transferred to holding arm 1 via connector 79 of interface 6. Interface 218 also has a connector 221 which matches interface 77, for passing on signals of bus system 76. The external energy storage unit 214 also has through passages 222a, b, c, 224a, b, c, corresponding to outlets 80a, b, c and 82a, b, c of interface 6, so that cables fed through cable duct 80 can also be guided through energy storage unit 214 and so that outlets 82a, 82b, 82c of working channel 82 are accessible at the energy storage unit 214.

[0115] FIG. 8 illustrates arm segment 10 forming the proximal end 2 of the holding arm, and in particular mechanical interface 7. The external energy storage unit 214 (cf. FIG. 7) is arranged at the first interface 6, so holding arm 1 according to this embodiment (FIG. 8) can be operated autonomously, without having to be connected to an external energy source. A connection to a control unit 206 may be provided nevertheless, and is preferred. Arm segment 10 has a contacting device 30, which has two contacting elements 30a, 30b hat (see also FIG. 2). According to this embodiment, interface 7 is provided in the form of a recess 226 which matches the outer contour of base 204, which is provided here in the form of a standard rail of an operating table. Base 204 can be guided in recess 226, and mechanical clamping device 228 are provided on arm segment 10 for clamping the arm segment 10 against base 204. The clamping device has a linearly guided clamp member 230 which can be driven by means of a lever 224 via a rod 232. Joint 11, which can be released via the contacting device 30 of the operating unit 28, is therefore designed as a translational joint 11. The operating unit is coupled to lever 228 via an electrical adjusting device which is not shown in FIG. 8, so that clamping device 230 can be disengaged from base 204.

[0116] Finally, FIGS. 9 and 10 illustrate the second interface 8 at distal end 2 of holding arm 1. Whereas FIG. 9 shows interface 8 in a perspective view that includes arm segment 22, FIG. 10 shows interface 8 in a frontal view.

[0117] Interface 8 is configured so that it substantially matches interface 6. On lateral portions of the latter, on arm segment 22, two safety elements 240a, 240b are arranged. By means of the safety elements, it is possible to determine whether an assistance system 200 coupled to interface 8 (see FIG. 5) is correctly coupled to interface 8. Safety elements 240a, 240b are used simultaneously as a mechanical coupling for coupling mechanically to assistance system 200, for example by a clamping or latching mechanism.

[0118] A connector 277, which matches connector 77 of interface 6, is also disposed at interface 8. Connector 277 is coupled to bus system 76, so that data and signals from connector 77 are transferred via bus system 76 to connector 77, and vice versa. A connector 279 is likewise provided at interface 8, for transferring electrical energy from interface 8 to assistance system 200. Connector 279 matches connector 79 of interface 6, and the two connectors 279 and 79 are coupled by means of the transmission unit 78 for transmitting electrical energy between said two connectors 79, 279.

[0119] Outlets 280a, 280b, 280c of cable duct 80 are also provided at interface 8, so that cables fed through said duct can be accessed at interface 8. The same applies for working channel 82, three outlets 282a, 282b, 282c from which are provide at interface 8. An assistance system 200 can be coupled advantageously via said interface 8 to holding arm 1, without additional transmission means or wiring having to be provided on holding arm 1.

[0120] FIGS. 11a and 11b show two further embodiments of holding arm 1 which are substantially similar in configuration to the first embodiment according to FIGS. 1 and 2. In addition to the features described therein, the holding arms according to FIGS. 11a, 11b each have orientation indicators 310, 312, 314, 316, 318, 320, 322, 330, 332, 334, 336, 338, 340, 342. According to FIG. 11a, orientation indicators 310, 312, 314, 316, 318, 320, 322 are provided in the form of a surface structure. The individual arm segments 10, 12, 14, 16, 18, 20, 22, which are substantially cylindrical in shape, have structuring along approximately half the outer cylindrical surface. According to this embodiment, the structuring is arranged in such a way that orientation indicators 310, 312, 314, 316, 318, 320, 322 of holding arm 1 are oriented, in relation to the operating area, in a basic pose of holding arm 1 as shown in FIG. 11a. By means of the structuring, which acts as orientation indicators 310, 312, 314, 316, 318, 320, 322, an operator is able to establish by tactile means whether an arm segment 10, 12, 14, 16, 18, 20, 22 is oriented in its basic pose, or whether the holding arm is inverted, that is to say oriented with the structured surface facing away from the operating area. This may be important for weight compensation.

[0121] Alternatively, FIG. 11b shows an embodiment in which orientation indicators 330, 332, 334, 336, 338, 340, 342 are provided in the form of coloured markings. A colour gradient which can be visually perceived by an operator is provided on the side of arm segments 10, 12, 14, 16, 18, 20, 22 facing the operating area. By this means, the operator can directly recognise the orientation of holding arm 1.

[0122] FIG. 12 shows, in schematic form, a partial cross-sectional view of an example of a brake as provided, for example, as brake 64 in joint 15. It should be understood that the other brakes 60, 62, 66, 68, 70, 72 may also be configured the same way. According to this embodiment (FIG. 12), brake 74 is in the form of an electromagnetic permanent magnet brake. A first joint element 400, provided here in the form of a shaft, is rigidly connected to arm segment 12, and a second joint element 402 is rigidly connected to arm segment 14. It should be understood that this can also be exactly the other way round. The second joint element 402 is securely coupled to a housing 406 of brake 64 by a screw 404. A flanged hub 408 is coupled appropriately securely to the first joint 400. A permanent magnet 410 is arranged inside housing 406 and is used to press an anchor 412, which is securely connected to flange 408, against housing 406. This causes static friction, which acts as a braking force. Inside housing 406, there is also an exciter coil 414 which, when supplied with current, produces a field that counteracts permanent magnet 410. By use of a spring element 416 which biases anchor 412 in a vented state, the latter is lifted from housing 406, thus venting brake 64. It is thus possible for the second joint element 402 to rotate about the first joint element 400, about axis A2.

[0123] FIG. 13 shows a method 1000 for controlling a mechatronic assistance system 200 coupled to a holding arm 1 in accordance with a first embodiment. According to this embodiment, method 1000 comprises five steps which are performed successively or partly simultaneously. In the first step 1002, holding arm 1 is attached to a standard rail of an operating table and put into operation. For this purpose, the first interface 4 is connected to an OP system 206 (see also FIG. 5), so that data and electrical energy are transmitted to holding arm 1 at first interface 6. In step 1004, a mechatronic assistance system 200 is coupled to a second interface 8 of holding arm 1 at its distal end 4. Subsequent steps 1006-1010 are then performed preferably simultaneously. In step 1006, electrical energy and signals are transferred to the holding arm from first interface 6 of holding arm 1 at its proximal end. The data and electrical energy are transmitted from first interface 6 to second interface 8 by use of a transmission unit 76, 78 inside holding arm 1. At the second interface at the distal end, data and electrical energy are transmitted to the assistance system in step 1010, so that assistance system 200 can be operated.

[0124] FIG. 14 shows another embodiment of method 1000. Steps 1002-1010 correspond to the embodiment according to FIG. 13 and in that respect reference is made to the entire description above. According to step 1004, there is a branch in this method (see FIG. 14) to step 1012. In step 1012, attitudes of joints of the holding arm are detected. In step 1014, a pose of the holding arm is determined using the detected attitudes of the joints. Data representing the specific pose are subsequently provided in step 1016, namely at the first interface 6, and are transmitted in step 1006. In this way, the pose of the holding arm can be transmitted at the first interface to an OP system, where they can then be used.

[0125] The other preferred embodiments of the method as described above are configured in a similar manner, wherein the respective steps can be performed substantially simultaneously and continuously.