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MULTI-FORCE SENSING SURGICAL INSTRUMENT AND METHOD OF USE FOR ROBOTIC SURGICAL SYSTEMS
MULTI-FORCE SENSING SURGICAL INSTRUMENT AND METHOD OF USE FOR ROBOTIC SURGICAL SYSTEMS
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机译：机器人外科手术系统的多力传感手术器械及其使用方法
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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.
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