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Title:
SURGICAL ROBOT SYSTEM AND SURGICAL INSTRUMENT THEREOF
Document Type and Number:
WIPO Patent Application WO/2019/174496
Kind Code:
A1
Abstract:
The present invention provides a surgical robot system and a surgical instrument thereof, which facilitate the improvement of the precision and accuracy of the contact force measurement at the end of the surgical instrument. The surgical instrument comprises a mechanical structure, a cannula and a force sensor; the mechanical structure includes an instrument rod and an end executor connected to the end of the instrument rod; the cannula is fixedly or detachably sleeved to the end of the instrument rod; the force sensor comprises sensitive elements and peripheral measuring modules connected to the sensitive elements, and the sensitive elements are disposed on the cannula for acquiring deformation information of the cannula; the peripheral measuring modules obtain the stress measured by the sensitive elements according to the deformation information acquired by the sensitive elements, and obtains, according to the stress measured by the sensitive elements, the positions of the sensitive elements and the sensitive shaft direction of the sensitive elements, the equivalent resultant force and the equivalent moment of force of the acting force applied by the instrument rod on the cannula, thereby obtaining the contact force of the end executor of the surgical instrument.

Inventors:
XIA YUHUI (CN)
HE CHAO (CN)
LI TAO (CN)
WANG JIAYIN (CN)
SHI YUNLEI (CN)
Application Number:
PCT/CN2019/077059
Publication Date:
September 19, 2019
Filing Date:
March 05, 2019
Export Citation:
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Assignee:
MICROPORT SHANGHAI MEDBOT CO LTD (CN)
International Classes:
A61B34/37
Domestic Patent References:
WO2009079301A12009-06-25
Foreign References:
CN108433814A2018-08-24
US20090157092A12009-06-18
CN101340850A2009-01-07
CN106618736A2017-05-10
CN101578494A2009-11-11
US8649847B12014-02-11
CN102151179A2011-08-17
CN106264719A2017-01-04
US8491574B22013-07-23
CN104764552A2015-07-08
Other References:
See also references of EP 3766449A4
Attorney, Agent or Firm:
SHANGHAI SAVVY INTELLECTUAL PROPERTY AGENCY (CN)
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