DE102014205559A1 - Input device for a laparoscopic instrument and laparoscopic device - Google Patents

Abstract

The invention relates to an input device for a laparoscopic instrument, comprising an instrument connection, an elongated handle in the direction of a longitudinal axis, an angle element with a first and a second leg, which are at an angle to each other, wherein the angle is nonzero and not equal to 180 °, and an operating member operable in a first degree of freedom, wherein the first leg of the angle member is arranged such that a longitudinal direction of this first leg is coaxial with the longitudinal axis of the handle, and wherein the operating member is disposed on an end of the second leg remote from the first leg is, wherein the operating element is displaceable as a second degree of freedom in the direction of a longitudinal axis of the second leg, and wherein the operating element is rotatable as a third Freiheitsgrand about the longitudinal axis of the second leg, wherein by a movement in the degrees of freedom a movement of a on the In instrument terminal connectable laparoscopic instrument is effected.

Description

The invention relates to an input device for a laparoscopic instrument with a handle, an angle element and a control element, wherein the angle element is arranged with a leg coaxial with a longitudinal axis of the handle, and wherein the operating element is arranged at one end of the other leg. The operating element can be actuated in a first degree of freedom, displaceable in a second degree of freedom and rotatable in a third degree of freedom. The input device according to the invention allows a particularly intuitive and ergonomic operation of laparoscopic instruments. The invention also relates to a laparoscopic device having such an input device.

For the success of laparoscopic interventions, it is of particular importance that the surgeon can operate the laparoscopic instrument sensitively. From the prior art, a variety of solutions are known as an input device may be configured to allow operation of a laparoscopic instrument. In this context, an input device should be understood to mean devices which a surgeon actuates during an operation in order to effect an actuation of the laparoscopic instrument. Input devices for laparoscopic instruments can therefore be actuated in at least one degree of freedom, so that at least one corresponding degree of freedom of the laparoscopic instrument is operated by actuating the input device. For example, if the laparoscopic instrument pliers, the input device could for example be designed as a scissor handle, so that a surgeon operated by pressing the scissors handle the pliers.

Object of the present invention is to provide an input device for a laparoscopic instrument that allows an intuitive, sensitive and ergonomic operation and thus makes precise surgical intervention possible.

This object is achieved by the input device for a laparoscopic instrument according to claim 1 and by the laparoscopic device according to claim 9. The respective dependent claims indicate advantageous developments of the input device according to the invention according to claim 1 and the laparoscopic device according to claim 9.

According to the invention, an input device for a laparoscopic instrument is specified. The input device initially has an instrument connection. At these a laparoscopic instrument can be connected. The instrument can be connected, for example, directly or via an instrument shaft to the instrument connection. An instrument shaft can advantageously be connected to the instrument shaft via a universal joint.

The input device according to the invention also has an elongated handle in the direction of a longitudinal axis. The handle can advantageously be designed at least partially rotationally symmetrical about its longitudinal axis. Particularly preferred is its shape designed so that a surgeon can embrace him with his hand. Its length advantageously corresponds approximately to the width of a hand's back. It may for example be between 50 mm and 80 mm, and preferably 65 mm.

The input device according to the invention also has an angle element with a first and a second leg. The two legs are arranged at one of their ends to each other and are at an angle to each other to the point where they are arranged together. The angle is not equal to zero and not equal to 180 °. The first leg of the angle element is arranged so that a longitudinal direction of this first leg is coaxial with the longitudinal axis of the handle. This first leg of the angle element preferably adjoins the handle directly or over a region of an optional carrier structure. Optionally, the handle may also be considered as the first leg or part of the first leg.

A length measured along the longitudinal axis of the handle from the axis of the second leg to the end of the input device facing away from the angle element may preferably be between 80 and 102 mm, and particularly preferably 100 mm, for example.

A length of the second leg measured from the axis of the first leg to the end remote from the second leg may be, for example, between 60 and 70 mm, preferably 60 mm.

The input device according to the invention also has an operating element, which is arranged on an end facing away from the first leg of the second leg of the angle element. The control allows the operation in a degree of freedom, which should be referred to here as the first degree of freedom. As will be explained below, the operating element can be, for example, a balloon which is compressible as a first degree of freedom.

According to the invention, the operating element is in the direction of a longitudinal axis of the second leg displaceable. This displacement should be referred to as the second degree of freedom.

In addition, the operating element is rotatable about the longitudinal axis of the second leg. This mobility should be referred to here as the third degree of freedom.

By a movement of the input device in the stated degrees of freedom, a movement of a connectable to the instrument port laparoscopic instrument can be effected.

The described embodiment enables a surgeon to grasp the handle with his middle finger, his ring finger and his little finger and grip the operating element with his thumb and forefinger. The described arrangement is therefore ergonomically particularly advantageous.

According to the invention, there is also provided a laparoscopic device comprising an input device according to the invention and a laparoscopic instrument connected to the instrument port. The laparoscopic instrument is movable in degrees of freedom. In the laparoscopic device, the instrument is movable by operating the input device in the degrees of freedom of the input device. Preferably, one degree of freedom of the laparoscopic instrument can be operated in each case by actuating the input device in one of its degrees of freedom.

If elongated elements are mentioned here, this should preferably mean that the corresponding element has a greater extent in the direction of a longitudinal axis than in the directions perpendicular to this longitudinal axis. Particularly preferably, the elements designated here as elongated are rotationally symmetrical about the longitudinal axis, at least in a region along the longitudinal axis.

By means of the input device, the laparoscopic device is advantageously movable about a pivot point which lies in an opening in the abdominal wall of a patient.

In an advantageous embodiment of the invention, the operating element may be a balloon which is compressible. The compressibility of the balloon in this case is the first degree of freedom. The balloon may advantageously be filled with a hydraulic medium or with magnetorheological fluid. This embodiment of the invention allows a particularly sensitive operation of the surgical instrument. The surgeon can advantageously take the balloon between his thumb and forefinger and squeeze with it. The force thus applied can be transferred to the laparoscopic instrument and move it in one of its degrees of freedom. The resistance of the balloon advantageously allows the surgeon to get feedback on how hard the tissue is (force feedback).

The operating element may alternatively also have two gripper handles, which are movable relative to each other. This mobility of the forceps handles is then the first degree of freedom. In this case, advantageously, the surgeon can grasp and squeeze the two forceps handles between his thumb and forefinger. Advantageously, the forceps handles each have an eye into which the surgeon can reach.

In the laparoscopic device according to the invention, a manipulator of the laparoscopic instrument can advantageously be operated by actuating the operating element in the first degree of freedom. For example, forceps or scissors of the laparoscopic instrument can be opened or closed.

The operation of opening or closing a forceps or scissors of a laparoscopic instrument on the operation of the first degree of freedom of the input device is particularly intuitive, since the surgeon is accustomed to perform a corresponding movement with thumb and forefinger.

In an advantageous embodiment, by manipulating the second degree of freedom of the input device, ie by displacement of the operating element in the direction of the longitudinal axis of the second leg, a manipulator such as scissors or forceps of the laparoscopic instrument with respect to a longitudinal axis of the laparoscopic instrument or with respect to a longitudinal axis of an instrument shaft, which carries the laparoscopic instrument, be bendable. Most laparoscopic instruments have an elongate portion on which they are disposed on the instrument shaft. In this case, the longitudinal axis of the laparoscopic instrument can be understood as the longitudinal axis of this elongated part. In the event that the laparoscopic instrument is a forceps or scissors, which has two branches, can be regarded as the longitudinal axis of the laparoscopic instrument in this sense, an angle bisecting the angle spanned by the two sectors in a predetermined center position of the scissors or forceps.

The manipulation of the angling of the manipulator over the second degree of freedom of the input device described above has proven to be particularly intuitive.

In an advantageous embodiment of the invention can be about the third degree of freedom of the input device, ie by rotation of the control element about the longitudinal axis of the second leg, a manipulator of the laparoscopic instrument, such as a pair of scissors or forceps, about a fixed axis relative to the manipulator causes. If the manipulator is a pair of scissors or pliers, then this axis can be selected, for example, an angle bisector of the angle spanned by the sectors of the pair of scissors or pliers.

In an advantageous embodiment of the invention, the angle element relative to the handle to be rotatable about the longitudinal axis of the handle. Since the longitudinal axis of the handle is coaxial with the longitudinal axis of the first leg of the angle element, the angle element in this case is also rotatable about the longitudinal axis of the first leg. The rotation of the angle element about the longitudinal axis of the handle should be referred to as the fourth degree of freedom.

In an advantageous embodiment of the invention, the input device may have a carrier structure. Advantageously, this support structure has two coaxial bores, wherein the handle is arranged at least partially between the two bores. In this case, the handle is preferably arranged so that its longitudinal axis passes through the holes and is particularly preferably coaxial with bore axes of the holes. The handle can be arranged completely between the holes of the support structure. In this case, the handle can be held by elements that pass through the bore. On the side on which the handle is arranged on the angle element, optionally, the angle element can pass through the bore and particularly preferably into a bore in the handle, the bore axis is coaxial with the longitudinal axis of the handle enter.

It is also possible that the handle at its the angle of the angle element facing the end pierces the bore in the support structure and is connected on the side facing away from the handle of the bore with the second leg of the angle element. In particular, the handle may enter a bore in the second leg of the angle element.

In one embodiment of the invention, the handle may also be the first leg of the angle element or be a part of the first leg of the angle element.

In an advantageous embodiment, the second leg of the angle element relative to the handle to be rotatable about the longitudinal axis of the handle. For this purpose, the handle can be connected via a joint with the second leg, wherein the hinge axis of this joint with the longitudinal axis of the second leg encloses the said angle of the angle element. In one embodiment of the invention, the first leg of the angle element, which is not identical in this embodiment with the handle, be connected to the handle via a joint, the hinge axis is coaxial with the longitudinal axis of the handle. In particular, in this case, the first leg can enter into a coaxial bore to the longitudinal axis of the handle in the handle, so that the first leg forms a joint with the handle. The bore and first leg may have provisions in the interior of the handle to hold the first leg in the handle. For example, a diameter of the bore and the first leg in the interior of the handle may be increased relative to a diameter of the bore and the leg at the exit point from the handle.

In an advantageous embodiment of the invention, the handle may be rotatable about its longitudinal axis relative to said support structure. This rotation is referred to here as the fifth degree of freedom.

Advantageously, by operating the fourth and / or fifth degree of freedom, the laparoscopic instrument can be rotatable about a longitudinal axis of an instrument shaft. If a universal joint is provided between the instrument shaft and the instrument connection, this can be adjusted using the fourth and / or fifth degree of freedom. In this embodiment, the instrument shaft can be connected to the instrument port of the input device and the laparoscopic instrument at that end of the instrument shaft facing away from the input device.

The fourth and / or fifth degrees of freedom are particularly suitable for enabling adjustment of the laparoscopic device to the needs of the surgeon prior to surgery. During the operation, the fourth and / or fifth degrees of freedom may then be disabled. For this purpose, the input device according to the invention may advantageously comprise a blocking device with which the fourth degree of freedom can be blocked and / or a blocking device with which the fifth degree of freedom can be blocked. In this way, the laparoscopic device can be adjusted by the surgeon prior to surgery and these settings locked in the fourth and / or fifth degrees of freedom, so that only the remaining degrees of freedom are actuated during the operation.

The angle at which the legs of the angle element to each other, is advantageously 90 °. The angle is here preferably measured between the longitudinal axis of the first leg and the longitudinal axis of the second leg.

According to the invention, the input device for a laparoscopic instrument has certain degrees of freedom. In addition, a laparoscopic instrument also has certain degrees of freedom. Advantageously, one degree of freedom of the laparoscopic instrument can be operated in each case with one degree of freedom of the input device. The transmission of an actuation of a degree of freedom of the input device to a degree of freedom of the laparoscopic instrument is possible in various ways.

On the one hand, it is fundamentally possible to produce a connection of the movable elements of the input device with movable elements of the laparoscopic element via fixed structures such as rods or tubes. A connection of the corresponding degrees of freedom of input device and laparoscopic instrument via cables is possible.

In an advantageous embodiment of the laparoscopic device according to the invention, the input device has at least one actuator for each of its degrees of freedom. In addition, the laparoscopic instrument has at least one actuator for each of its degrees of freedom. The actuators of corresponding degrees of freedom of input device and laparocopic instrument are connected in this embodiment of the invention so that the actuation of an actuator of the input device causes each actuation of the corresponding actuator of the laparoscopic instrument. For example, it is possible that the actuators of the input device are electromechanical actuators and that, in addition, the actuators of the instrument are electromechanical actuators. In this case, an actuator of the input device can each generate an electrical signal when it is operated. This electrical signal can then be transmitted to the corresponding actuator of the laparoscopic instrument and activate it.

Particularly advantageous is an embodiment in which at least one of the actuators of the input device and at least one of the actuators of the laparoscopic instrument are hydraulic actuators. In this case, preferably corresponding actuators of the input device and of the laparoscopic instrument are connected to one another via hydraulic lines.

Those actuators of the input device and the laparoscopic instrument corresponding to the first, the second and / or the third degree of freedom are particularly preferably hydraulic actuators. For the fourth and fifth degrees of freedom can also be used advantageously fixed transmissions such as linkage or cables.

The axis of the handle and the longitudinal axis of the instrument shaft advantageously include an acute angle, which is more preferably between 30 ° and 50 °. Particularly advantageous, the angle can be 39 °.

In the following, the invention will be explained by way of example with reference to some figures. The features shown in the various figures can also be realized independently of the example in question and be combined between examples of different figures. Like reference numerals denote the same or corresponding features.

It shows

1 an exemplary realization of an input device according to the invention for a laparoscopic instrument,

2 a section through an inventive input device for a laparoscopic instrument and

3 a laparoscopic device in the hands of a surgeon.

1 shows an example of an input device according to the invention for a laparoscopic instrument. The shown input device has an instrument connection 1 to which an instrument can be connected directly or via an instrument panel.

The illustrated input device also has a handle 2 on, in the direction of a longitudinal axis 2a is elongated.

In addition, the exemplary input device has 1 an angular element 3 with a first leg 3a and a second leg 3b on. It should be noted that even the handle 2 as part of the first thigh 3a or first leg 3a can be viewed. The first leg 3a and the second leg 3b may be at an angle of 90 ° to each other, for example.

This in 1 The input device shown also has an operating element. The control element can be a balloon, for example, here. The operating element 4 allows actuation in a first degree of freedom. In the example of the balloon shown 4 This first degree of freedom can be that of the balloon 4 is compressible or compressible.

In the in 1 The example shown is a longitudinal axis of the first leg 3a of the angle element coaxial with the longitudinal axis 2a of the handle 2 , Unless the handle 2 the first leg 3a represents the angle element, these longitudinal axes are identical.

The operating element 4 is on one of the first legs 3a opposite end of the second leg 3b arranged. Here is the control 4 in the direction of a longitudinal axis 3ba of the second leg 3b displaceable. The displaceability of the operating element 4 along the axis 3ba of the second leg 3b represents a second degree of freedom.

In addition, the operating element is a third degree of freedom about the longitudinal axis 3ba rotatable.

A movement in the degrees of freedom can cause a movement of one at the instrument connection 1 connectable laparoscopic instrument be effected.

This in 1 also shown input device has a support structure 5 on. The support structure 5 has two coaxial holes 6a and 6b , The handle 2 is at least part of its length between the two coaxial holes 6a and 6b arranged so that its longitudinal axis 2a the holes 6a and 6b passes. As in 1 It can be seen, the support structure 5 be designed to connect the instrument 1 so wears that one on the instrument panel 1 connected instrument or an instrument shaft connected there at an acute angle, for example between 30 ° and 50 °, advantageously 39 °, to the longitudinal axis 2a of the handle 2 stands.

Im in 1 As shown, the support structure 5 have a U-shape, with the holes 6a and 6b are respectively introduced at the ends of the parallel legs of the U. The instrument shaft 1 may be located near a vertex of the U here.

An ergonomically particularly advantageous shape results when that the angle element 3 facing legs of the U in turn a U-shaped structure in a plane perpendicular to the longitudinal axis 2a of the handle 2 Has. In this way, a surgeon can use the handle 2 embrace his middle finger, his ring finger and his little finger from that direction, in which the U of the angle element 3 facing leg of the U of the support structure 5 is open to the handle 2 around grip. Because of that the angle element 3 facing leg in turn is U-shaped, the surgeon can continue to the handle 2 grab around and in this way the control 4 reach easily with his thumb and forefinger.

2 shows a section through the in 1 shown input device in a sectional plane, which is the longitudinal axis 2 of the handle 2 contains. The handle 2 passes through those the angle element 3 opposite hole 6b the support structure 5 , The handle is in the example shown optionally rotationally symmetrical about its longitudinal axis 2a , Its radius is in front of and behind the hole 6b bigger than in the hole 6b so the handlebar 2 although around the longitudinal axis 2a is rotatable, but not in the direction of the longitudinal axis 2a is displaceable.

The handle 2 ends in the direction of the angle element 3 before the drilling 6a , The angle element 3 passes through with his first thigh 3a the hole 6a and enters a hole inside the handle 2 one. The hole in the interior of the handle 2 has in a partial area in the interior of the handle on an opposite the outlet opening enlarged radius, whereby the first leg 3a of the angle element 3 inside the handle 2 is held. The angle element 3 but can be opposite the handle 2 be rotatable.

The operating element 4 is in this example along the longitudinal axis 3ba of the second leg 3b of the angle element 3 displaceable. In the example shown hereby a hydraulic actuator can be actuated. The hydraulic actuator has a piston in the example shown 7 and a piston rod 8th on. The operating element 4 is at one end of the piston rod 8th arranged. The piston 7 moves in a piston chamber 9 and can from this a fluid, such as hydraulic fluid, displace and / or suck.

In an alternative embodiment, which is not shown here, the operating element 4 be configured with two forceps handles, which are movable relative to each other as a first degree of freedom.

As already described, can in the 1 and 2 the angle element 3 opposite the handle 2 around the longitudinal axis 2a of the handle 2 be rotatable. This rotation is referred to here as the fourth degree of freedom.

As a fifth degree of freedom, the handle can also be about its longitudinal axis 2a opposite the support structure 5 be rotatable.

The in the 1 and 2 The device shown may also comprise a locking device, not shown, with which the fourth degree of freedom can be blocked and / or a locking device, with which the fifth degree of freedom can be blocked.

3 shows a laparoscopic device according to the invention in the hand 10 a surgeon. The laparoscopic device has an input device, which, for example, as in the 1 and 2 can be configured shown. In addition, the in 3 Device shown a laparoscopic instrument 12 on, over an instrument shaft 11 at the instrument connection 1 connected. The laparoscopic instrument 12 is movable in degrees of freedom respectively by operation of the input device.

For example, by pressing the control element 4 in the first degree of freedom, so in the case of a balloon by compressing the same, a pair of pliers or scissors 13 of the laparoscopic instrument can be opened or closed.

By moving the operating element 4 in the direction of a longitudinal axis 3ba of the second leg 3b as a second degree of freedom, the scissors or forceps 13 be angled relative to a longitudinal axis of the laparoscopic instrument or a longitudinal axis of the instrument shaft. In this case, the longitudinal axis of the laparoscopic instrument through the longitudinal axis of the elongated member 14 be given, by means of which the pliers 13 at the instrument shaft 11 is held.

By turning the operating element 4 around the longitudinal axis 3ba of the second leg 3b of the angle element 3 as a third degree of freedom may be the scissors or forceps 13 be rotatable about an axis fixed relative to the scissors or pliers. This fixed axis, for example, by an angle bisector of the industries or scissors 13 be given an opened angle.

By operating the input device in the fourth and / or fifth degree of freedom, for example, the laparoscopic instrument 13 around a longitudinal axis of the instrument shaft 11 be rotatable.

In use, a surgeon grabs his hand through an opening through the support structure 5 and the handle or grab handle 2 is formed with his middle finger, his ring finger and his little finger and surrounds the handle 2 , He can then with his thumb and forefinger the operating element 4 grip and operate it during a first degree of freedom operation, such as compressing, shifting in the second degree of freedom, and rotating in the third degree of freedom. The surgeon guides the laparoscopic instrument with the instrument shaft 11 through an opening in an abdominal wall 15 of a patient.

Advantageously, an actuator for a degree of freedom of the input device, which is arranged on or in the input device, as well as in each case an actuator for a degree of freedom of the laparoscopic instrument, which is arranged on or in the laparoscopic instrument, contacted each other, so that actuation of an actuator of the input device leads to an activation of the actuator of the laparoscopic instrument. If, for example, the actuators are hydraulic actuators, then the actuators of the input device can be connected to the actuators of the laparoscopic instrument via hydraulic lines. If the actuators are electromechanical, they can be connected to one another via electrical lines.

In the following two examples are given, as in the in 3 shown device degrees of freedom of the input device with degrees of freedom of the laparoscopic instrument can be linked. In a first variant, pressing the balloon 4 opening and closing the instrument 13 cause. A moving of the balloon 4 along the longitudinal axis of the second leg 3b can be angling of the instrument 12 around an axis 16 cause. By turning the balloon 4 around the said longitudinal axis 3ba of the second leg 3b can the instrument 12 be rotated after bending around the axis 16 , By rotation of the angle element 3 relative to the handle 2 can before the operation the position of the axis 3ba be adjusted so that the ergonomic aspects are met. During the operation, this degree of freedom can be disabled. Because the axis 2a and the axis of the instrument shaft 11 are not coaxial, can be achieved by the rotation of the complete handle around the axis of the instrument shaft 11 a rotation about the longitudinal axis of the instrument shaft 11 be effected.

Since the input device can be realized with four active degrees of freedom, it can also be used to control an EndoWrist instrument.

A blocking of the degrees of freedom of the input device can be controlled or mechanical.

Claims (15)

An input device for a laparoscopic instrument, comprising an instrument connection, an elongated handle in the direction of a longitudinal axis, an angle element with a first and a second leg, which are at an angle to each other, wherein the angle is nonzero and not equal to 180 °, and an operating member operable in a first degree of freedom, wherein the first leg of the angle member is arranged such that a longitudinal direction of this first leg is coaxial with the longitudinal axis of the handle, and wherein the operating member is disposed on an end of the second leg remote from the first leg is, wherein the operating element is displaceable as a second degree of freedom in the direction of a longitudinal axis of the second leg, and wherein the operating element is rotatable as a third Freiheitsgrand about the longitudinal axis of the second leg, wherein by a movement in the degrees of freedom a movement of connectable to the instrument port laparoscopic instrument is effected. An input device according to the preceding claim, wherein the operating element is a balloon which is compressible as the first degree of freedom. Input device according to claim 1, wherein the operating element comprises two forceps handles, which are movable relative to each other as the first degree of freedom.  Input device according to one of the preceding claims, wherein the second leg of the angle element is rotatable as a fourth degree of freedom relative to the handle about the longitudinal axis of the handle. Input device according to one of the preceding claims, comprising a support structure with two coaxial bores, wherein the handle is arranged on at least part of its length between the two coaxial bores of the support structure so that its longitudinal axis passes through the bores. Input device according to one of the preceding claims, wherein the handle is rotatable as a fifth degree of freedom about its longitudinal axis relative to the support structure, Input device according to one of claims 4 to 6, further comprising a locking device with which the fourth degree of freedom can be blocked and / or a locking device with which the fifth degree of freedom can be blocked. Input device according to one of the preceding claims, wherein the angle of the angle element is 90 °. Having laparoscopic device an input device according to any one of the preceding claims and a laparoscopic instrument connected to the instrument port, wherein the laparoscopic instrument in degrees of freedom of the laparoscopic instrument can be operated in each case by operating the input device in the degrees of freedom of the input device. Laparoscopic device according to the preceding claim, wherein a pliers or scissors of the laparoscopic instrument can be opened or closed by operating the operating element in the first degree of freedom.  Laparoscopic device according to one of the two preceding claims, wherein by moving the operating element in the direction of a longitudinal axis of the second leg as a second degree of freedom, a manipulator of the laparoscopic instrument preferably scissors or forceps, relative to a longitudinal axis of the laparoscopic instrument or a longitudinal axis of an instrument shaft, the laparoscopic instrument carries, is angled. Laparoscopic device according to one of claims 9 to 11, wherein a manipulator of the laparoscopic instrument, preferably a pair of scissors or forceps, about a fixed axis relative to the manipulator is rotatable by rotating the control element about a longitudinal axis of the second leg as a third Freiheitsgrand. Laparoscopic device according to one of claims 9 to 12, comprising an elongated instrument shaft which is connected to the instrument port and at the end remote from the instrument port, the laparoscopic instrument is arranged, by moving the input device in the fourth or fifth degree of freedom, the laparoscopic instrument to a Longitudinal axis of the instrument shaft is rotatable. A laparoscopic device according to any one of claims 9 to 13, comprising at least one actuator for each of the degrees of freedom of the input device located on or in the input device, and at least one actuator for each degree of freedom of the laparoscopic instrument attached to or in the laparoscopic instrument is arranged, wherein each of the degree of freedom corresponding actuator of the input device is contacted with that actuator of the laparoscopic instrument, which corresponds to the degree of freedom of the laparoscopic instrument, which is moved by the corresponding degree of freedom of the input device. Laparoscopic device according to the preceding claim, wherein the actuators of the input device and the actuators of the laparoscopic Instrumentes are hydraulic actuators, and the actuators of the input device are each connected to the corresponding actuators of the laparoscopic instrument via hydraulic lines.

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