Deutsches Zentrum Fuer Luft-und Raumfahrt E.v

Bernhard Kuebler

Ulrich Hagn

Ulrich Seibold

Sophie Lantermann

A robot structure, in particular for minimally invasive surgery, is provided with a first robot element and a second robot element that can be moved relative to the first robot element, said second robot element having two grasping and/or cutting elements which can be uniformly moved with respect to each other and which are connected to the first robot element via a hinge axis. The robot structure further has a force transmitting device for moving the grasping and/or cutting elements of the movable robot element and at least one sensor element comprising a sensitive end for receiving forces and/or torques that occur on the movable robot element and includes a base element that is fixed to the first robot element.

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Oedheim, Germany

Bernhard Kuebler