ROBOTIC SURGICAL SYSTEM Russian patent published in 2021 - IPC A61B34/37 

FIELD: medicine.

SUBSTANCE: invention refers to medicine, namely to robotic surgical systems. Surgical system comprises a driven assembly and a computing unit. Driven assembly comprises a robotic arm, a surgical instrument, a cannula and a sensor element. Robot arm is configured to bring the surgical instrument into motion to turn about a distant center of motion. Cannula is detachably connected to the end of the robotic arm, and the cannula axis extends through a remote center of motion. Surgical instrument is detachably connected to the end of the robotic hand and extends distally along the cannula. Sensor element is placed on the cannula and is configured to measure an axial deformation of the cannula. Computing unit is configured to determine, based on the principle of balance of torque, a radial force acting on the extremity of the surgical instrument, based on the force acting on the cannula, measured and determined by the sensor element.

EFFECT: providing tactile feedback with high accuracy.

15 cl, 9 dwg