| 摘要 |
<p>The invention relates to an instrument for surgery, in particular minimally invasive surgery, which instrument comprises an operating element, and an elongate frame whichcomprises at least one working element which can move with respect to the frame, wherein the instrument comprises means for feeding back a force which is exerted on the working element (4) of the instrument to the operating element, which means comprise at least a first force sensor for measuring the force which is exerted on the working element, a control unit and a first actuator which is coupled to the operating element, the control unit controlling at least the first actuator on the basis of a signal which originates from the first force sensor, wherein the instrument comprises a first position sensor for measuring a position of the working element with respect to the frame, wherein the instrument comprises a second force sensorm for measuring a force which is exerted on the operating element and a second position sensor for determining a position of the operating element, and wherein the instrument has a connecting rod or the like which is coupled to the working element in order to drive the working element, the connecting rod or the like being driven by a second actuator which is also controlled by the control unit.</p> |
