Goal of this project is to develop of an enhanced end effector for the IPR’s robotic surgery system. The developers of this tool are highschool students aged 15-19 from schools around Karlsruhe and Heidelberg. Working in three teams they cope with all of the electronic components, control units and the construction of the mechanical parts as well as with the requirements to hygiene and security of such a system planned to be used for surgery.The main components of this device are a linear axis driven by ultrasonic drives, a force torque sensor and a miniaturized PC running RTLinux. The whole sensor is being constructed to guarantee fail safeness. Thus it should not do any harm to the patient in case of malfunctions, for example in case of power failure. Furthermore it will be eligible for sterilization respectively coverage with sterilized film.The project startet in april, 2002 has been finished by march 2004. It was financed by the Alfried Krupp von Bohlen und Halbach-foundation.