CPC A61M 5/3287 (2013.01) [A61B 17/3403 (2013.01); A61B 34/30 (2016.02); A61B 34/70 (2016.02); A61M 25/013 (2013.01); A61B 2017/3409 (2013.01); A61M 5/3204 (2013.01); A61M 25/02 (2013.01)] | 10 Claims |
1. A gripper apparatus for a cannulation robot for gripping a cannula holder, the gripper apparatus comprising two gripper elements and a moving device, wherein:
the gripper apparatus is configured such that the two gripper elements are able to be moved relative to each other and work in concert with one another to grip a cannula holder;
the moving device is configured to move the two gripper elements relative to one another and configured to move at least one of the gripper elements relative to a cannula holder when in use;
the moving device is configured to bring the gripper apparatus into a gripping state for gripping whereby at least one of the gripper elements is engaged with a cannula holder;
each of the two gripper elements has a respective grip region, and
in the state, either (1) the gripper apparatus is oriented to be arranged in an upper area above an upper side of a cannula and facing away from a patient when a distal end of the cannula is inserted into a patient, or (2) the grip regions are arranged and the gripper elements are formed such that a lower area below an underside of a cannula and facing a patient when the distal end of the cannula is inserted into the patient, is substantially free, or (3) both (1) and (2).
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