SURGICAL ROBOT SYSTEM AND FORCE-FEEDBACK MEASURING METHOD THEREOF

摘要

PURPOSE: A surgical robot system and a force feedback measuring method thereof are provided to perform a safe operation by indirectly obtaining the information about the operation force of an instrument. CONSTITUTION: A surgical robot system includes a driving motor(120) and an instrument(130). A moving unit is arranged on a lower side of the driving motor and horizontally moves or rotates the driving motor. The moving unit is one of a sliding bearing, a wheel, and a rotation hinge. A load sensor(140) measures the force feedback applied from the driving motor. A controller(110) calculates the operation force of an effector of an instrument using the force feedback measurement value from the load sensor.