Xingchi He,Iulian Iordachita,Marcin Balicki,Russell H. Taylor
申请号：
US14292361
公开号：
US09549781B2
申请日:
2014.05.30
申请国别(地区):
US
年份:
2017
代理人:
摘要：
A multi-force sensing instrument includes a tool that has a tool shaft having a distal end and a proximal end, a strain sensor arranged at a first position along the tool shaft, at least one of a second strain sensor or a torque-force sensor arranged at a second position along the tool shaft, the second position being more towards the proximal end of the tool shaft than the first position, and a signal processor configured to communicate with the strain sensor and the at least one of the second strain sensor or the torque-force sensor to receive detection signals therefrom. The signal processor is configured to process the signals to determine a magnitude and position of a lateral component of a force applied to the tool shaft when the position of the applied force is between the first and second positions.
