Yizhi JIANG,Yunle SHI,Yuyuan HE,Xiang ZHU,Shuai YUAN,Chao HE
申请号：
US16646779
公开号：
US20200289227A1
申请日:
2018.08.03
申请国别(地区):
US
年份:
2020
代理人:
摘要：
A surgical robot system includes a slave unit and a computing unit. The slave unit includes a robotic arm, a surgical instrument, a cannula and a sensing element. The robotic arm drives the surgical instrument to rotate about a remote center of motion (RCM). The cannula is detachably coupled to a terminal of the robotic arm and defines an axis passing through the RCM. The surgical instrument is detachably connected with the terminal of the robotic arm and extends distally through the cannula, and the sensing element is disposed on the cannula and senses an axial deformation of the cannula. The computing unit determines a radial force acting on the terminal of the surgical instrument, from a force on the cannula sensed by the sensing element, according to the principle of torque balance. This surgical robot system has force feedback capabilities and obtains the radial force acting on the terminal of the surgical instrument directly from a measurement with higher accuracy and not requiring any additional component, providing for reduced structural complexity of the surgical instrument.
