Trokar für die Durchführung eines chirurgischen Instrumentes

摘要

The device has at least two force sensors (10, 17) for measuring force exerted by a laparoscopic type surgical instrument (15), on internal organs of a patient. The force sensor (10) is formed in roller shape with a central opening (11), and is laid between a trocar (9) and a guide (12). The instrument is moved by a robotic arm and the force sensor (17) is arranged between one end of the arm and the instrument.