CONNECTION STRUCTURE OF WHEEL AND SURGICAL INSTRUMENT

摘要

PURPOSE: A wheel connection structure and connection structure of surgical instrument are provided to improve the accuracy of sensing and to reduce volume and cost. CONSTITUTION: A wheel connection structure comprises drive wheels(30,50), a driven wheel, and a Y-matching sensor(35). The drive wheel receives the driving force from a surgical robot arm. The driven wheel is matched with the drive wheel. The Y-matching sensor is combined in the drive wheel or the driven wheel. The Y-matching sensor senses the electric change generating in the Y-matching of the driven wheel and drive wheel and senses connection state.