TENSOPLATFORM FOR ROBOT-SURGICAL COMPLEX Russian patent published in 2020 - IPC A61B34/37 B25J13/06 G01L5/1627 

FIELD: medicine.

SUBSTANCE: invention refers to medicine and can be used for measurement of forces applied to control elements of robot surgery system controller. Tensoplatform for a robot-surgical complex represents a three-dimensional structure and includes power platform (5), three pairs of tensounits (1) and a unit for processing, receiving and transmitting information from strain gauges. Power platform receives control action from operator's hand. Three pairs of tensounits are interconnected by fasteners. Each tensounit is equipped with two pairs of strain gauges. Tensounits in pairs are arranged parallel to each other and connected by fasteners so that measured force perceived by power platform is applied to each tensounit of pair with opposite directed vector, but exclusively along one axis. Two pairs of tensounits are located in parallel planes so that tensounits from first pair are parallel to tensounits from second pair, and the third pair is located either in the plane of location of one of the pairs of tensounits, or in the plane parallel to the above planes and located between them, wherein the third pair is turned by 90° relative to the other two pairs of tensounits. Each tensounits includes hole (4) in the center, which is made with possibility to minimize influence of bending moment on readings of strain gauges. Unit for processing, receiving and transmitting information (6) from strain gauges is located behind the power platform inside the three-dimensional structure. Power platform is located and fixed in center of tensoplatform equidistant from all strain gauges with possibility of transfer of force to each strain gage, and is rigidly connected to all three-dimensional structure so that to transmit effects from operator's hand without distortions. At least one of the pairs of tensounits is configured to be rigidly connected to the operator controller element to control the robot-surgical complex.

EFFECT: invention provides higher accuracy of measuring the force applied by the surgeon's hand during control of the controller on the entire displacement amplitude and at all angles, as well as high accuracy of measuring velocity and accelerating force application.

4 cl, 4 dwg