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DEVICE AND METHOD FOR MEASURING TORQUE OR POWER OF MULTI-DOF SURGICAL EQUIPMENT BY USING SLIDER OF ROBOT ARM
DEVICE AND METHOD FOR MEASURING TORQUE OR POWER OF MULTI-DOF SURGICAL EQUIPMENT BY USING SLIDER OF ROBOT ARM
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机译:利用机器人手臂的滑尺测量多自由度手术设备扭矩或功率的装置和方法
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摘要
The present invention relates to a device and a method for measuring a contact force, which is power or torque, between surgical equipment and a target object. The power or the torque of the multi-DOF surgical equipment which is vertically and horizontally actuated on organs is measured based on the torque transmitted from a slider of a robot arm to the surgical equipment without directly attaching a sensor to the surgical equipment.;COPYRIGHT KIPO 2014;[Reference numerals] (1) Guide clip;(10) Surgical equipment;(100) Main computer;(10s) Inertia measuring sensor;(11) Guide holder;(110) Control program;(1s) Sensor;(2) Slider;(200) Slave computer;(300) Motion controller;(400) Robot arm;(SW) Adhesive power calculating program
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