Actuator platform for the guidance of medical instruments in the case of minimally invasive interventions

摘要

Actuator platform for the guidance of medical instruments (12) in the case of minimally invasive interventions, in which the respective instrument (12) at a point of entry into a body on the inside space is introduced, with an at least one instrument holder (11) for fastening of the instrument (12) and kinematics (6), which in the case of a closed, sterile form of construction, small, with a small amount of space as well as with a weight of less than 15 kg of construction and a movement of the instrument (12) of 360° around the point of entry as well as an inclination of the instrument (12) of at least 75° with respect to a perpendicular to the plane of the point of entry is made possible, with at least one drive for the kinematics (6) as well as with a drive control (15) which, for forming an input (14) as well as in order to achieve a high accuracy and safety part of a closed control loop is, in which by means of a comparison of an of at least one sensor and the actual state of the kinematics (6) actual value with a desired value representing a regulation of the drive is effected by the,..