VESSEL SEALING DEVICE WITH FINE DISSECTION FUNCTION

Abstract

An electrosurgical forceps includes a first elongated shaft member including a first handle member and a first jaw member having a first tissue contacting surface, and a second elongated shaft member including a second handle member and a second jaw member having a second tissue contacting surface. At least one of the first and second handle members is movable relative to the other between an open position, a first approximated position where the first and second tissue contacting surfaces are diametrically opposed to one another, and a second approximated position where the first and second tissue contacting surfaces are laterally offset from one another. A handle connector assembly is selectively engageable with the second handle member and is configured to selectively communicate electrosurgical energy between the first and second tissue contacting surfaces when the first and second handle members are disposed in the first approximated position.

Claims

1. (canceled)

2. A surgical system comprising: an end effector including a first jaw member having a first tissue contacting surface and a second jaw member having a second tissue contacting surface, at least one of the first or second tissue contacting surfaces configured to communicate electrosurgical energy between the first and second tissue contacting surfaces, each of the first and second tissue contacting surfaces including a base surface laterally disposed relative to a raised surface, the base surface and the raised surface connected by an intermediate wall, the raised surface and the intermediate wall defining a shear edge at an intersection therebetween, the first and second jaw members movable between an open position, a first approximated position where the first and second tissue contacting surfaces are diametrically opposed to one another, and a second approximated position where the first and second tissue contacting surfaces are laterally offset from one another.

3. The surgical system of claim 2, wherein the intermediate wall is perpendicular to the base and raised surfaces.

4. The surgical system of claim 2, wherein each of the first and second jaw members includes a proximal portion and a distal portion, the distal portion including the base and raised surfaces.

5. The surgical system of claim 4, wherein the proximal portion of each of the first and second jaw members only includes the base surface.

6. The surgical system of claim 4, wherein the proximal portion of each of the first and second jaw members extends linearly along an axis and the distal portion of each of the first and second jaw members curves away from the proximal portion.

7. The surgical system of claim 2, wherein the first and second tissue contacting surfaces include guide surfaces at distalmost ends of the first and second jaw members.

8. The surgical system of claim 7, wherein each of the guide surfaces extends from the raised surface and twists across the base surface.

9. The surgical system of claim 2, wherein, in the second approximated position, the first and second tissue contacting surfaces are longitudinally offset from one another.

10. The surgical system of claim 2, further including a robot arm, and the end effector is adapted to couple to the robot arm.

11. The surgical system of claim 10, further including a control device and an operating console, the robot arm connected to the control device and telemanipulatable by the operating console.

12. The surgical system of claim 11, wherein the operating console includes at least one manual input device, and the end effector is movable between the open position, the first approximated position, and the second approximated position through movement defined by the at least one manual input device.

13. A surgical system comprising: an end effector including a first jaw member having a first tissue contacting surface and a second jaw member having a second tissue contacting surface, the first and second tissue contacting surfaces defining complementary stepped surfaces, the first and second jaw members movable between an open position, a first approximated position where the first and second tissue contacting surfaces are diametrically opposed to one another, and a second approximated position where the first and second tissue contacting surfaces are laterally and longitudinally offset from one another.

14. The surgical system of claim 13, wherein each of the first and second tissue contacting surfaces includes a base surface laterally disposed relative to a raised surface, the base surface and the raised surface connected by an intermediate wall, the raised surface and the intermediate wall defining a shear edge at an intersection therebetween and wherein, when the first and second jaw members are in the first approximated position, the base and raised surfaces of the first tissue contacting surface are opposed to the raised and base surfaces of the second tissue contacting surface, respectively, and when the first and second jaw members are disposed in the second approximated position, the raised surfaces of the first and second tissue contacting surfaces are opposed to one another.

15. The surgical system of claim 13, wherein at least one of the first or second tissue contacting surfaces is configured to communicate electrosurgical energy between the first and second tissue contacting surfaces.

16. The surgical system of claim 14, wherein each of the first and second jaw members includes a proximal portion and a distal portion, the distal portion including the base and raised surfaces.

17. The surgical system of claim 16, wherein the proximal portion of each of the first and second jaw members only includes the base surface.

18. The surgical system of claim 16, wherein the proximal portion of each of the first and second jaw members extends linearly along an axis and the distal portion of each of the first and second jaw members curves away from the proximal portion.

19. The surgical system of claim 13, wherein the first and second tissue contacting surfaces define complementary guide surfaces at distalmost ends of the first and second jaw members.

20. The surgical system of claim 19, wherein each of the guide surfaces extends from the raised surface and twists across the base surface.

21. The surgical system of claim 13, further including a robot arm, and the end effector is attached to the robot arm.

Description

BRIEF DESCRIPTION OF THE DRAWINGS

[0019] FIG. 1 is a side view of a surgical system including an open, assembled electrosurgical forceps having a handle connector assembly connected to a source of electrosurgical energy in accordance with an embodiment of the present disclosure;

[0020] FIG. 2 is a side view of the forceps of FIG. 1 in a disassembled state in accordance with the present disclosure;

[0021] FIG. 3 is a side view of the forceps of FIG. 1 in a first approximated position;

[0022] FIG. 4 is a perspective view of the forceps of FIG. 1 with parts separated;

[0023] FIG. 5 is a cross-sectional view of the forceps of FIG. 3 taken along line 5-5 of FIG. 3;

[0024] FIG. 6 is a bottom, cross-sectional view of a portion of the forceps of FIG. 3;

[0025] FIG. 7 is a side, cross-sectional view of a portion of the forceps of FIG. 3;

[0026] FIG. 8 is a side, cross-sectional view of a portion of the forceps of FIG. 1;

[0027] FIG. 9 is a side, perspective view of a distal portion of the forceps of FIG. 1;

[0028] FIG. 10 is a bottom, perspective view of a portion of the forceps of FIG. 3;

[0029] FIG. 11 is a perspective view, in partial cross-section, of first and second jaw members of the forceps of FIG. 3;

[0030] FIG. 12 is a side, perspective view, in partial cross-section, of first and second jaw members of the forceps of FIG. 3 in a second approximated position;

[0031] FIG. 13 is a side view of a portion of the forceps of FIG. 1, with the handle connector assembly shown in cross-section;

[0032] FIG. 14 is a side, perspective view, in partial cross-section, of the forceps of FIG. 3;

[0033] FIG. 15 is a side view of the handle connector assembly of FIG. 14;

[0034] FIG. 16 is a rear, cross-sectional view of the surgical instrument of FIG. 15 take along line 16-16 of FIG. 15;

[0035] FIG. 17A is a side view, in partial cross-section, of a portion of the forceps of FIGS. 14 in a transition position between the first and second approximated positions;

[0036] FIG. 17B is a side, perspective view, in partial cross-section, of the forceps of FIG. 17A in a second approximated position; and

[0037] FIG. 18 is a schematic illustration of a work station configured for use with a forceps of the present disclosure.

[0038] Corresponding reference characters indicate corresponding parts throughout the drawings.

DETAILED DESCRIPTION

[0039] In this disclosure, the term “proximal” refers to a portion of a structure closer to an operator, while the term “distal” refers to a portion of the same structure further from the operator. As used herein, the term “subject” refers to a human patient or animal. The term “operator” refers to a doctor (e.g., a surgeon), a nurse, and other clinicians or care providers, and may include support personnel.

[0040] Referring now to FIGS. 1-4, an energy-based surgical system 10 in accordance with the present disclosure is configured for grasping, electrically treating, and mechanically dissecting tissue or vessels in open and/or laparoscopic surgical procedures. The energy-based system 10 includes a reusable forceps 100 having a handle connector assembly 200 that is disposable and removably attachable to the forceps 100 and releasably connected to a source of electrosurgical energy 300 via cable 302. Alternatively, the handle connector assembly 200 may be reusable.

[0041] The forceps 100 include first and second elongated shaft members 110 and 120. The first elongated shaft member 110 includes proximal and distal end portions 112 and 114, respectively, and the second elongated shaft member 120 includes proximal and distal end portions 122 and 124, respectively. The proximal end portions 112 and 122 of the first and second shaft members 110 and 120 are first and second handle members 130 and 140, respectively. The first and second handle members 130 and 140 are configured to allow an operator to effect movement of at least one of the first and second shaft members 110 and 120 relative to the other. The distal end portions 114 and 124 of the first and second shaft members 110 and 120 cooperate to define an end effector assembly 115 having opposed first and second jaw members 150 and 160.

[0042] The first and second handle members 130 and 140 each define a finger hole 130a and 140a, respectively, therethrough for receiving a finger of an operator. The finger holes 130a and 140a facilitate movement of the first and handle members 130 and 140 relative to each other. The first and second handle members 130 and 140 are each monolithically formed with respective shaft members 110 and 120. Alternatively, the first and second handle members 130 and 140 may each be engaged with respective shaft members 110 and 120 in any suitable configuration, e.g., via mechanical engagement, molding, adhesion, etc.

[0043] The first handle member 130 includes a bump stopper 132, a connector pin 134, and a spring connector 136, each of which extends from an inner surface 130b of the first handle member 130 toward the second handle member 140. The bump stopper 132 includes an undulating shape or convex contour on the inner surface 130b of the first handle member 130. The connector pin 134 and the spring connector 136 each includes an elongated body 134a and 136a, respectively, that extends toward the second handle member 140 in a generally vertically aligned manner. The elongated body 136a of the spring connector 136 is disposed between a first end 136b that is secured to the first handle member 130 and a second end 136c defining an opening 136d for receiving a pin 136e securely therethrough.

[0044] The second handle member 140 includes an inner surface 140b including a raised rail 142 configured to matingly engage the handle connector assembly 200 to facilitate longitudinal alignment of the handle connector assembly 200 with respect to the second handle member 140. The raised rail 142 includes a recess 142a defined therein that is configured to receive a locking plate of the handle connector assembly 200 for securing the handle connector assembly 200 to the second handle member 140. The inner surface 140b of the second handle member 140 also includes a pair of raised projections 144 disposed on a distal end 140c of the second handle member 140 that are configured to be received within notches of the handle connector assembly 200 and to stop distal movement of the handle connector assembly 200 with respect to the second handle member 140.

[0045] With reference now to FIGS. 5-8, in conjunction with FIGS. 1-4, the first shaft member 110 intersects the second shaft member 120 at intersection portions 116 and 126 of the first and second shaft members 110 and 120, respectively. The intersection portion 116 of the first shaft member 110 includes a substantially flat body portion 116a including a pivot pin 116b extending transversely therethrough. Pivot pin 116b may be integrally formed with the body portion 116a or secured in an opening defined in the body portion 116a. A first face 116c of the body portion 116a includes a v-shaped recess 116d configured to receive a protrusion 126g extending from the intersection portion 126 of the second shaft member 120 to limit movement of the second shaft member 120 with respect to the first shaft member 110.

[0046] The second shaft member 120 includes a split body 126a including first and second legs 126b and 126c defining a slot 126d therebetween that is configured to receive the body portion 116a of the first shaft member 110. Such a configuration maintains central alignment of the first shaft member 110 with respect to the second shaft member 120, as well as minimizing jaw splay while sealing and cutting. The first and second legs 126b and 126c include diametrically opposed, and longitudinally aligned, oblong openings 126e and 126f, respectively, that are configured to receive the pivot pin 116b of the first shaft member 110. The pivot pin 116b is longitudinally slidable and pivotable within the oblong openings 126e and 126f. The first leg 126b includes a protrusion 126g on an inner surface thereof that engages the v-shaped recess 116d of the body portion 116a of the first shaft member 110. The protrusion 126g is free to move within an upper portion of the v-shaped recess 116d when the first and second jaw members 150 and 160 are in an approximated position (e.g., FIG. 7), and the pivot pin 116b is free to longitudinally move within the oblong openings 126e and 126f. The protrusion 126g is restricted within a lower portion of the v-shaped recess 116d when the jaw members 150 and 160 are in an open position (e.g., FIG. 8), and the pivot pin 116b is restricted to a proximal portion of the oblong openings 126e and 126f. The second leg 126c includes a removable plate 126h to facilitate assembly/disassembly of the first and second shaft members 110 and 120. Alternatively, plate 126h may be permanently secured to the second leg 126c or integrally formed with the second leg 126c.

[0047] The first and second shaft members 110 and 120 are coupled to one another at the pivot pin 116b and the oblong openings 126e and 126f such that movement of the first and second handle members 130 and 140 from an open, spaced apart position to one or more closed, approximated positions effects corresponding movement of the first and second jaw members 150 and 160 relative to one another. Accordingly, the first and second jaw members 150 and 160 are movable relative to each other in response to movement of the first and second handle members 130 and 140.

[0048] As shown in FIGS. 9-12, in conjunction with FIGS. 1-4, the first and second jaw members 150 and 160 extend distally from the intersection portions 116 and 126 of the first and second shaft members 110 and 120. Proximal portions 150a and 160a of the first and second jaw members 150 and 160 extend longitudinally from the intersection portions 116 and 126, and distal portions 150b and 160b of the first and second jaw members 150 and 160 curve away from the proximal portions 150a and 160a.

[0049] The first and second jaw members 150 and 160 include first and second tissue contacting surfaces 152 and 162 that are opposed to one another. The first and second tissue contacting surfaces 152 and 162 of the first and second jaw members 150 and 160 define complementary stepped surfaces which together seals and/or cuts tissue disposed therebetween. The first tissue contacting surface 152 includes a lower, base surface 152a and an upper, raised surface 152b that are laterally disposed relative to each other. An intermediate wall 152c extends perpendicular to, and connects, the base and raised surfaces 152a and 152b. A shear edge 152d is formed at the intersection of the raised surface 152b and the intermediate wall 152c. In some embodiments, the distal portions 150b and 160b of the first and second jaw members 150 and 160 include the complementary stepped tissue contacting surfaces and the proximal portions 150a and 160a of the first and second jaw members 150 and 160 include only the base surfaces 152a and 162a. It should be understood, however, that the complementary stepped tissue contacting surfaces can extend along any portion of the first and second jaw members 150 and 160.

[0050] Similarly, as described above with respect to the first tissue contacting surface 152, the second tissue contacting surface 162 includes a lower base surface 162a laterally disposed relative to an upper, raised surface 162b, and an intermediate wall 162c extending between and connecting the base and raised surfaces 162a and 162b. A shear edge 162d is disposed at the intersection of the raised surface 162b and the intermediate wall 162c.

[0051] Complementary guide surfaces 154 and 164 are defined at a distalmost end of each of the first and second jaw members 150 and 160 to reduce friction between the first and second jaw members 150 and 160 and facilitate longitudinal sliding of the first and second jaw members 150 and 160 with respect to one another. In some embodiments, the complementary guide surfaces 154 and 164 extend from the raised surfaces 152b and 162b of the first and second tissue contacting surfaces 152 and 162 and are twisted across the base surfaces 152a and 162a at the distalmost end of the first and second jaw members 150 and 160.

[0052] The first and second jaw members 150 and 160 are movable between an open position, a first approximated sealing position, and a second approximated cutting position. In the open position, as shown for example in FIG. 9, the first and second tissue contacting surfaces 152 and 162 are spaced apart from each other. In the first approximated position, as shown for example in FIG. 11, the first and second tissue contacting surfaces 152 and 162 are approximated and diametrically opposed to one another such that the base surface 152a of the first jaw member 150 is aligned with the raised surface 162b of the second jaw member 160 and the raised surface 152b of the first jaw member 150 is aligned with the base surface 162a of the second jaw member 160. In the second approximated position, as shown for example in FIG. 12, the first and second tissue contacting surfaces 152 and 162 are laterally offset from one another such that the raised surfaces 152b and 162b of the first and second jaw members 150 and 160 are aligned with each other.

[0053] The forceps 100 is formed of a conductive material, such as a metal, and includes an electrically insulative coating disposed over the forceps 100, except at the tissue contacting surfaces 152 and 162 of the first and second jaw members 150 and 160, the connector pin 134 of the first handle member 130, and at least a portion of the raised rail 142 of the second handle member 140. Accordingly, the tissue contacting surfaces 152 and 162, the connector pin 134, and a portion of the raised rail 142 are not coated with an electrically insulative material.

[0054] Referring now to FIG. 13, in conjunction with FIGS. 1-4, the handle connector assembly 200 includes a housing 202 including a lower surface 202a configured to engage the raised rail 142 of the second handle member 140. The lower surface 202a may be contoured for ergonomic fit with a finger of an operator positioned through the finger hole 140a of the second handle member 140. The housing 202 includes a distal end 202b including notches 204 configured to receive the raised projections 144 of the second handle member 140. The housing 202 includes an upper surface 202c including a switch or power button 206 disposed in general alignment with the bump stopper 132 of the first handle member 130. The upper surface 202c defines an opening 208 including a proximal portion 208a in general alignment with the connector pin 134 of the first handle member 130, an intermediate portion 208b laterally offset from the proximal portion 208a, and a distal portion 208c through which the spring connector 136 of the first handle member 130 may travel.

[0055] First and second conductive connector members 210 and 212 are disposed within the housing 202 and laterally spaced from each other. Cables 214 and 216 connect the first and second connector members 210 and 212 to the power button 206, respectively, and a cable 302 extends from the power button 206 and out through a proximal end 202d (FIG. 2) of the housing 202 for electrically connecting the forceps 100 to an electrosurgical energy source 300, such as an RF generator. A portion of the first connector member 210 is in general alignment with the proximal portion 208a (FIG. 4) of the opening 208 defined in the upper surface 202c of the housing 202. The second connector member 212 is in contact with the portion of the raised rail 142 that does not include the electrically insulative coating. The first connector member 210 is movable into contact with the second connector member 212 in response to movement of the connector pin 134 of the first handle member 130 into the housing 202. A generally u-shaped channel 220 forms a path in and out of the distal portion 208c (FIG. 4) of the opening 208 through which the pin 136c of the spring connector 136 travels. A user control button 222 (FIG. 2) is disposed through the housing 202 and is mechanical engagement with a locking plate 224 disposed within the housing 202 to actuate the locking plate 224 in and out of engagement with the recess 142a defined within the raised rail 142 of the second handle member 140 to lock and release the handle connector assembly 200 to and from the forceps 100.

[0056] In an example method of assembling the forceps 100, as shown in FIGS. 1-3, the lower surface 202a of the housing 202 of the handle connector assembly 200 is aligned with the raised rail 142 of the second handle member 140 when the forceps 100 are in an open position. The housing 202 is slid distally in the direction of arrow “A” (FIG. 2), along the raised rail 142 until the notches 204 (FIG. 4) defined within the distal end 202b of the housing 202 engage the protrusions 144 formed at the distal end of the second handle member 140. The user control button 222 is then depressed to move the locking plate 224 into engagement with the recess 142a defined in the raised rail 142 of the second handle member 140 to secure the handle connector assembly 200 to the forceps 100.

[0057] In an example method of using the assembled forceps 100, the forceps 100 is placed at a desired surgical site and the first and second jaw members 150 and 160 are positioned in an open position around desired tissue and/or vessel(s). The first and second handle members 130 and 140 are approximated by moving at least one of the first and second handle members 130 and 140 towards the other such that the first and second handle members 130 and 140 pivots with respect to the other about the pivot pin 116b in the proximal portion of the oblong openings 126e and 126f. When the first and second handle members 130 and 140 are brought together in this first, approximated position, as shown in FIG. 14, the bump stopper 132 depresses the power button 206 while the connector pin 134 enters the housing 202 through the proximal portion 208a (FIG. 4) of the opening 208 defined in the upper surface 202c of the housing 202 and contacts the first connector member 210, which in turn contacts the second connector member 212 to close the electrical circuit and energize the tissue contacting surfaces 152 and 162 of the first and second jaw members 150 and 160 to seal tissue “T” disposed therebetween. At the same time, the spring connector 136 enters the distal portion 208c (FIG. 4) of the opening 208 defined in the upper surface 202c of the housing 202 and moves into a proximal portion of the u-shaped channel 220. Sealing is effected, for example, by the application of pressure on the tissue “T” between the first and second jaw members 150 and 160, and the electrosurgical energy transferred from the electrosurgical energy source. In some embodiments, the minimum seal width is equal to or greater than 0.46 mm. In some embodiments, the closure pressure between the first and second jaw members 150 and 160 for sealing tissue is in the range of about 3 kg/cm.sup.2 to about 16 kg/cm.sup.2. In some embodiments, a gap distance between the first and second jaw members 150 and 160 during sealing is in the range of about 0.001 inches to about 0.006 inches.

[0058] When sealing is complete, the first and second handle members 130 and 140 may be returned to the open position to release the tissue “T” or may be moved to a second, approximated position to cut the tissue “T” disposed between the first and second jaw members 150 and 160. As shown in FIGS. 15-17B, to move to the second approximated position, the first handle member 130 is moved laterally, in the direction of arrow “B” and pushed down in the direction of arrow “C” such that the connector pin 134 enters the intermediate portion 208b (FIG. 4) of the opening 208 defined in the upper surface 202c of the housing 202. At the same time, the bump stopper 132 releases the power button 206 and the spring connector 136 is initially moved into a distal portion of the u-shaped channel 220 (FIG. 17A). The first handle member 130 is then pulled up in the direction of arrow “D” such that the spring connector 136 is moved through the distal portion of the u-shaped channel 220 (FIG. 17B). This movement of the first handle member 130 causes the pivot pin 116b (FIG. 4) to longitudinally translate within the oblong openings 126e and 126f of the first and second jaw members 150 and 160 to cut the tissue “T” held therebetween. Cutting is effected, for example, by the application of pressure on the tissue “T” between the first and second jaw members 150 and 160, and longitudinal movement of the shear edges 152d and 162d of the first and second tissue contacting surfaces 152 and 162 with respect to each other.

[0059] To disassemble the handle connector housing 200 from the forceps 100, the operator presses the user control button 222 and pulls the handle connector assembly 200 proximally away from the second handle member 140. The forceps 100 may then be sterilized and reused with the same or different handle connector assembly 200. In some embodiments, the forceps 100 may be disassembled such that the first and second shaft members 110 and 120 are separated from each other by removing the plate 126h from the second leg 126c of the second shaft member 120.

[0060] The embodiments disclosed herein may also be configured to work with robotic surgical systems and what is commonly referred to as “Telesurgery.” Such systems employ various robotic elements to assist the operator and allow remote operation (or partial remote operation) of surgical instrumentation. Various robotic arms, gears, cams, pulleys, electric and mechanical motors, etc. may be employed for this purpose and may be designed with a robotic surgical system to assist the operator during the course of an operation or treatment. Such robotic systems may include remotely steerable systems, automatically flexible surgical systems, remotely flexible surgical systems, remotely articulating surgical systems, wireless surgical systems, modular or selectively configurable remotely operated surgical systems, etc.

[0061] The robotic surgical systems may be employed with one or more consoles that are next to the operating theater or located in a remote location. In this instance, one team of surgeons or nurses may prep a subject (e.g., a patient) for surgery and configure the robotic surgical system with one or more of the instruments disclosed herein while another surgeon (or group of surgeons) remotely control the instruments via the robotic surgical system. As can be appreciated, a highly skilled surgeon may perform multiple operations in multiple locations without leaving his/her remote console which can be both economically advantageous and a benefit to the patient or a series of patients.

[0062] The robotic arms of the surgical system are typically coupled to a pair of master handles by a controller. The handles can be moved by the surgeon to produce a corresponding movement of the working ends of any type of surgical instrument (e.g., end effectors, graspers, knifes, scissors, etc.) which may complement the use of one or more of the embodiments described herein. The movement of the master handles may be scaled so that the working ends have a corresponding movement that is different, smaller or larger, than the movement performed by the operating hands of the surgeon. The scale factor or gearing ratio may be adjustable so that the operator can control the resolution of the working ends of the surgical instrument(s).

[0063] The master handles may include various sensors to provide feedback to the surgeon relating to various tissue parameters or conditions, e.g., tissue resistance due to manipulation, cutting or otherwise treating, pressure by the instrument onto the tissue, tissue temperature, tissue impedance, etc. As can be appreciated, such sensors provide the surgeon with enhanced tactile feedback simulating actual operating conditions. The master handles may also include a variety of different actuators for delicate tissue manipulation or treatment further enhancing the surgeon's ability to mimic actual operating conditions.

[0064] Referring now to FIG. 18, a medical work station is shown generally as work station 1000 and generally may include a plurality of robot arms 1002 and 1003; a control device 1004; and an operating console 1005 coupled with control device 1004. Operating console 1005 may include a display device 1006, which may be set up in particular to display three-dimensional images; and manual input devices 1007 and 1008, by means of which an operator (not shown), for example a surgeon, may be able to telemanipulate robot arms 1002 and 1003 in a first operating mode.

[0065] Each of the robot arms 1002 and 1003 may include a plurality of members, which are connected through joints, and an attaching device 1009 and 1011, to which may be attached, for example, a surgical tool “ST” supporting an end effector 1100, in accordance with any one of several embodiments disclosed herein, as will be described in greater detail below.

[0066] Robot arms 1002 and 1003 may be driven by electric drives (not shown) that are connected to control device 1004. Control device 1004 (e.g., a computer) may be set up to activate the drives, in particular by means of a computer program, in such a way that robot arms 1002 and 1003, their attaching devices 1009 and 1011 and thus the surgical tool (including end effector 1100) execute a desired movement according to a movement defined by means of manual input devices 1007 and 1008. Control device 1004 may also be set up in such a way that it regulates the movement of robot arms 1002 and 1003, and/or of the drives.

[0067] Medical work station 1000 may be configured for use on a patient 1013 lying on a patient table 1012 to be treated in a minimally invasive manner by means of end effector 1100. Medical work station 1000 may also include more than two robot arms 1002 and 1003, the additional robot arms likewise being connected to control device 1004 and being telemanipulatable by means of operating console 1005. A medical instrument or surgical tool (including an end effector 1100) may also be attached to the additional robot arm. Medical work station 1000 may include a database 1014, in particular coupled to control device 1004, in which are stored, for example, pre-operative data from patient/living being 1013 and/or anatomical atlases.

[0068] While several embodiments of the disclosure have been shown in the drawings and described herein, it is not intended that the disclosure be limited thereto, as it is intended that the disclosure be as broad in scope as the art will allow and that the specification be read likewise. Therefore, the above description should not be construed as limiting, but merely as examples of particular embodiments. Those skilled in the art will envision other modifications within the scope and spirit of the claims appended hereto.