Apparatus for measuring force or torque of multi-DOFs gripper device on a slider of robot arms and method of the same

摘要

to an apparatus and method for measuring the contact force between the surgical tool and the contact object ( force or torque ), the as , specifically, the degree of freedom surgical tools without directly attaching the sensor to the surgical instruments to measure the force or torque acting in the vertical and horizontal directions with respect to the long-term , the torque transmitted to the robotic surgical tool of the slider arm to an apparatus and method for measuring the contact force over . ;