| 摘要 |
FIELD: medicine. ^ SUBSTANCE: group of invention refers to medical systems of minimal invasive intervention. The system comprises a manipulator (10) with an actuator (12) which is provided with a force/ torsion sensor (30) with 6 degrees of freedom (6-DOF). To retain the instrument (14), the manipulator comprises a first end (16) fixed on the actuator, and a second end (20) arranged behind an external rotation centre (23). A method for evaluating force of said system involves position determination of the instrument relatively to the rotation centre, 6-DOF measurement of the force/torsion moment sensor applied to the actuator by the first end of the instrument, and calculation of force applied to the second end of the instrument on the basis of the specific position and measured force and torsion. ^ EFFECT: provided accuracy and cost effectiveness of evaluation of contact force on the instrument end. ^ 22 cl, 8 dwg |
