SENSORY PERCEPTION SURGICAL SYSTEM FOR ROBOT-ASSISTED LAPAROSCOPIC SURGERY

摘要

The present invention proposes a sensory perception system for robot-assisted laparoscopic surgery. The invention comprises an electrosurgical forceps coupled to a surgical tool and an impedance measurement circuit. The latter includes a measurement sensor for measuring a signal indicative of a magnitude corresponding to the value of contact impedance between the electrosurgical forceps and a patient's tissue; an oscillator for providing a power signal to the measurement sensor; and a first electrical circuit with resistors and a voltage limiter for protecting the measurement sensor and the oscillator. The sensor and the oscillator are connected to the forceps by means of a power cable of the surgical tool. A processor connected to the measurement circuit receives said measured signal and converts same into a force vector, the modulus of which is a function of the contact impedance being measured and the argument of which is a function of the trajectory being followed.