METHOD FOR MOVING AN INSTRUMENT ARM OF A LAPAROSCOPY ROBOT INTO A PREDETERMINABLE RELATIVE POSITION WITH RESPECT TO A TROCAR

摘要

A method for moving an instrument arm (6) of a laparoscopy robot (4) into a predeterminable relative position (R) relative to a trocar (14) placed in a patient (2), in which: a spatial marker (26a) that can be localized from outside of the patient (2) is applied to the trocar (14), the spatial position (P) of the trocar (14) is detected on the basis of the spatial marker (26a), the intended position (S) of the instrument arm (6) is established from the spatial position (P) and the relative position (R), the actual position (I) of the instrument arm (6) is detected, and the instrument arm (6) is moved into the intended position (S) on the basis of the actual position (I), the intended position (S) and an error minimization method (36).