SURGICAL ROBOT SYSTEM AND SURGICAL INSTRUMENT FOR IT Russian patent published in 2021 - IPC A61B17/00 

FIELD: medical equipment.

SUBSTANCE: group of inventions refers to surgical robotic system and its surgical instrument. Surgical instrument comprises mechanical structural assembly and pressure sensor assembly. Mechanical structural assembly comprises a tool shaft and an end effector. Tool shaft comprises a body and a connecting part extending from the distal end of the body. Connecting part comprises first connector and second connector, which are distributed radially. First connector is rigidly connected to the body of the tool shaft, and the second connector is rigidly attached to the end effector. Pressure sensor assembly comprises a sensitive element disposed between first connector and second connector, and the sensitive element is configured to sense the force exerted by the connecting portion on the sensing element to determine the Cartesian force obtained by the end effector. Surgical robotic system comprises a slave device. Slave device comprises a robotic arm and the above surgical instrument. Robotic arm has an end portion releasably connected to the surgical instrument, and is configured to bring the surgical instrument into motion to turn about a distant center of motion.

EFFECT: use of inventions makes it possible to simplify design of means of measuring contact force and also to improve measurement accuracy.

16 cl, 4 dwg