A robotic medical apparatus 10 with collision detection includes a kinematic chain including at least one stand unit 26, at least one articulation device 36,36', at least one positioning device and a positionable end effector 12. The apparatus further includes a calculating and controlling device to control the at least one positioning device. The robotic medical apparatus includes a measurement system 42 to determine a force and/or a torque. The force and/or the torque is essentially acting at one point in the kinematic chain. A measurement signal from the measurement system is transmittable to the calculating and controlling device. The calculating and controlling device is configured to determine the force and/or torque that is acting, and as a function of a current position and/or of a current kinematic state, to determine a nominal force and/or a nominal torque. As a function of the difference between the force that is acting and/or the torque that is acting and the nominal force and/or the nominal torque that has been determined, a collision of the robotic medical apparatus is detected.
Robotic Medical Apparatus With Collision Detection And Method For Collision Detection