Holding device having at least one clamping jaw for a robotic surgical system
The invention relates to a holding device ( 1 ) for a robotic surgical system, said holding device having a clamping device ( 11 ′) for removably holding a surgical object ( 12 ), said clamping device comprising at least two clamping jaws ( 14, 15 ) and a bearing part ( 8 ) on which at least one of the clamping jaws ( 10, 15 ) is movably mounted, and having at least one actuation element ( 18, 19 ) for actuating at least one of the clamping jaws ( 14, 15 ). The holding device ( 11 ) can be provided with a sterile encasement ( 13 ) in an intended use. According to the invention, the actuation element ( 18, 19 ) is guided in an axially movable manner on the bearing part ( 8 ).
1. A holding device for a robotic surgical system, said holding device having a clamping device for removably holding a surgical object, said clamping device comprising at least two clamping arms and a bearing component on which at least one of the clamping arms is movably mounted, and having at least one actuation element for actuating the at least one movable clamping arm, wherein the movable clamping arm has at least two functional sections, of which a first functional section forms a clamping arm and a second functional section forms an actuation extension which interacts with the associated actuation element, and wherein an overload protection apparatus is provided which allows an automatic opening of the clamping device when an external force acting on the clamping device reaches or exceeds a threshold value, wherein the at least one actuation element is supported in the bearing component so that it is free to move in the axial direction and extends into the interior of the bearing component, and wherein the holding device is enclosed by a sterile cover, wherein the axial direction of movement of the at least one actuation element is oriented approximately perpendicular to the surface of the sterile cover in the region of the actuation element.
2. The holding device according to claim 1 , wherein the at least one movably mounted clamping arm is biased in the closing direction by a spring element.
3. The holding device according to claim 1 , wherein the first overload protection apparatus comprises a spring element acting on at least one clamping arm.
4. The holding device according to claim 1 , wherein a single spring element is provided both for closing the clamping device and for the first overload protection apparatus.
5. The holding device according to claim 1 , wherein the actuation element is coupled with at least one of the clamping arms via a bearing.
6. The holding device according to claim 1 , wherein the actuation element is coupled to a wedge mechanism, which transforms a translational movement of the actuation element into a pivoting movement of at least one of the clamping arms.
7. The holding device according to claim 1 , wherein the clamping device has two movably mounted clamping arms and a single actuation element for simultaneous opening or closing of both clamping arms.
8. The holding device according to claim 1 , wherein the clamping device has two movably mounted clamping arms, wherein a separate actuation element is provided for each clamping arm.
9. The holding device according to claim 8 , wherein an actuation direction of a first one of the two actuation elements is opposite to an actuation direction of a second one of the two actuation elements.
10. The holding device according to claim 8 , wherein the actuation elements are arranged such that they can be pressed together.
11. The holding device according to claim 1 , wherein an adapter element is provided between the clamping arms.
12. The holding device according to claim 11 , wherein the adapter element is a component of a cover for the holding device.
13. The holding device according to claim 1 , wherein the clamping device has at least one sensor which senses the presence or the proper seating of the surgical object or an adapter element between the clamping arms or a characteristic of this object or of the adapter element.