RETAINING AND POSITIONING DEVICE OF A SURGICAL INSTRUMENT AND/OR AN ENDOSCOPE FOR MINIMALLY INVASIVE SURGERY AND SURGICAL ROBOT SYSTEM

摘要

The invention describes a retaining and positioning device of a surgical instrument and/or of an endoscope for minimally invasive surgery, more particularly for use within a surgical robot system, comprising a first axis of rotation (3), around which a retaining element (4) can be rotated, wherein the first axis of rotation (3) always intersects with a longitudinal axis (11) of at least one surgical instrument (9; 17a, 17b) and/or of an endoscope (9; 17a, 17b) in a pivotal point (13) by means of a thrust drive (5) being attached to the retaining element (4), to which thrust drive (5) an instrument drive unit (15) can be rotatably arranged around the pivotal point (13), and wherein the instrument drive unit (15) has a telescopic arrangement (8) via which the surgical instrument (9; 17a, 17b) can be moved in a translational manner along the longitudinal axis (11) thereof by means of a guide arrangement (10, 10s) in the body in such a manner that the longitudinal axis (11) of the surgical instrument (9; 17a, 17b) is variably adjustable relative to the telescopic arrangement (8).