| 摘要 |
The present invention relates to a device and a method for measuring a contact force, which is power or torque, between surgical equipment and a target object. The power or the torque of the multi-DOF surgical equipment which is vertically and horizontally actuated on organs is measured based on the torque transmitted from a slider of a robot arm to the surgical equipment without directly attaching a sensor to the surgical equipment. [Reference numerals] (1) Guide clip;(10) Surgical equipment;(100) Main computer;(10s) Inertia measuring sensor;(11) Guide holder;(110) Control program;(1s) Sensor;(2) Slider;(200) Slave computer;(300) Motion controller;(400) Robot arm;(SW) Adhesive power calculating program |
