| 摘要 |
The invention relates to a surgery assistance system for guiding a surgical instrument, especially a camera system (2) having an endoscope (3) depending on the manual actuation of at least one function key (T1 - T6) of a surgery element (BE). The surgical instrument (3) is secured to a system of arms (10, 12, 14) of the surgery assistance system (1), said system of arms having an instrument mount (15), and at least the tip (3) of the surgical instrument (3) can be displaced in a controlled manner in a Cartesian patient coordinate system (PKS) by means of the system of arms (10, 12, 14), at least one of the three spatial axes (x, y, z) of the Cartesian patient coordinate system (PKS) extending through the surgery opening or the trocar point (T) receiving the surgical instrument (3). Advantageously, the angle of inclination (w) of the surgical instrument (3) is determined with respect to the spatial axis (z) of the Cartesian patent coordinate system (PKS) extending through the trocar point (T) and the angle of inclination (w) so determined is compared with a predetermined set angle of inclination (ws). When the determined angle of inclination (w) exceeds the set angle of inclination (ws), the tip (S) of the surgical instrument (3) is guided on a semi-spherical surface (TK) which concentrically surrounds the trocar point (T) and which receives the tip (S) of the instrument (3), and when the determined angle of inclination (w) is below the set angle of inclination (ws), the tip (S) of the surgical instrument (3) is guided along a tangent (TG) which extends through the tip (S) of the instrument (3) and which rests on the semi-spherical surface (TK). |
