# US 2015/0105798 A1 · Robotic Surgery System And Surgical Instrument > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 2015/0105798 A1 - Document ID: US20150105798A1 - Status: Published application - Kind: A1 - Application number: 14/523,693 - Filed: 2014-12-30 - Published: 2015-04-16 - Earliest claimed: 2012-04-27 - Assignees: KUKA Laboratories GmbH - Applicants: KUKA Laboratories GmbH - Inventors: Sebastian Lohmeier; Wolfgang Schober - Web page: https://patentgrep.com/patent/US20150105798A1 ## CPC - A61B 34/30: Surgical robots - A61B 34/71: {Manipulators operated by drive cable mechanisms} - A61B 46/10: specially adapted for instruments{, e.g. microscopes} - B25J 19/0075: {Means for protecting the manipulator from its environment or vice versa} - G01D 5/54: using means specified in two or more of groups G01D5/02, G01D5/12, G01D5/26, G01D5/42, and G01D5/48 - A61B 2017/00477: {Coupling (A61B2017/0046 takes precedence)} - A61B 2017/00876: {magnetic} - A61B 2090/067: {for measuring angles} - A61B 2090/0813: {Accessories designed for easy sterilising, i.e. re-usable} - A61B: DIAGNOSIS; SURGERY; IDENTIFICATION (usefulness limited to only animals A61D) - B25J: MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES ({manipulators specially adapted for use in surgery A61B34/70; manipulators used in cleaning hollow articles B08B9/04}; manipulators associated with rolling mills B21B39/20; manipulators associated with forging machines B21J13/10; {manipulators associated with picking-up and placing mechanisms B23P19/007}; means for holding wheels or parts thereof B60B30/00; {vehicles with ground-engaging propulsion means, e.g. walking members B62D57/02, B62D57/032; devices for picking-up and depositing articles or materials between conveyors B65G47/90, B65G47/91; manipulators with gripping or holding means for transferring packages B65H67/065}; cranes B66C; {manipulators used in the protection or supervision of pipe-line installations F17D5/00; walking equipment adapted for nuclear steam-generators F22B37/006}; manipulators specially adapted for, or associated with, nuclear reactors G21C; {apparatus used for handling wafers during manufacture or treatment of semiconductor H10P72/50}) - G01D: MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR ## Abstract A robotic surgery system includes a robot and an instrument assembly. The instrument assembly includes a drive unit with at least one rotary drive having an electric motor and a drive shaft that has a coupling part for coupling to a drive shaft of the instrument; an instrument including an instrument shaft and a drive shaft that has a coupling part for coupling to a drive shaft of the drive unit; and an instrument interface including a sheath that encompasses the drive unit. In order to detachably couple an instrument module to an instrument part of a surgical instrument, an electromagnet in a magnet assembly of the instrument module is activated or deactivated, a permanent magnet of said magnet assembly is moved into a locking position and/or an angular position of a coupled counter element assembly of the instrument part is detected by an angle sensor of the instrument module. ## Claims ### Claim 1 A robotic surgery system with a robot; and an instrument assembly, in particular one detachably fastened at the robot. ### Claim 2 (depends on 1) An instrument assembly for an in particular detachable fastening at the robot of a robotic surgery system according to claim 1, with: a drive unit (2; 102); an instrument (1; 100; 400) which is detachably connected to the drive unit; and an instrument interface (5, 500), which is arranged between the drive unit and the instrument. ### Claim at position 3 3-5. (canceled) ### Claim 6 (depends on 2) A drive unit (2; 102) for an instrument assembly according to claim 2, comprising at least one rotary drive (7, 8, 9) with a drive shaft, in particular a hollow drive shaft (10, 13, 15; 106, 107, 108), with a coupling part (31, 32, 33; 200, 201, 202; 300, 301, 302) for coupling to a drive shaft of the instrument. ### Claim at position 5 7-17. (canceled) ### Claim 18 (depends on 6) A cover with a tubular inner passage for guiding through a hollow shaft of a robot or a drive unit according to claim 6 and through an outlet opening (507) of the cover, characterized in that the inner passage comprises a blind plug (502) and a cap ring (503) for fastening at a circumferential section of the inner passage, which is released by removing the blind plug. ### Claim 19 (depends on 6) A method for encompassing the robot or a drive unit according to claim 6 with a cover according to the previous claim, characterized in that the inner passage, provided with a blind plug (502), is guided through a hollow shaft and the outlet opening of the cover, is subsequently removed, and the cap ring (503) is fastened at the circumferential section of the inner passage, which has been released by the removal of the blind plug. ### Claim at position 8 20-34. (canceled)