| 摘要 |
The present invention relates to a method of revising grip force of a needle gripper of an end effector and a sensor kit used for the same. As for the method of revising the grip force of the needle gripper of the end effector installed at an end of a robot arm of an interventional procedure robot, a sensor connector electrically connected to a pressure/force sensor installed between a pair of needle grippers is connected to a connector of the end effector, such that the grip force of the needle gripper changeable at a preset reference position of the needle gripper is accurately evaluated by the pressure/force sensor gripped between the needle gripper and revised. The sensor kit used for the method of revising the grip force includes a sensor connector installed at an upper portion of the end effector and connected to the connector of the end effector, a pressure/force sensor installed on a contact side surface of one gripper from the pair of needle grippers, and an electric wire part for connecting the sensor connector to the pressure/force sensor. The grip force of the needle gripper is simply evaluated at any time and any condition, such that a needle is stably used by gripping the needle with consistent grip force. In addition, according to the present invention, the sensor kit is freely detached from a front of the end effector and the needle gripper to be used separately and portably, thus simplicity and convenience are implemented for use. |
