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

FIELD: medical equipment.

SUBSTANCE: group of inventions relates to medicine, namely to surgical instruments and robotic surgical systems. The instrument is comprised of a mechanical structure, a sleeve and a force sensor. The mechanical structure is comprised of a rod and a working member connected with the contact end of the rod. The sleeve is rigidly or detachably put on the contact end of the rod. The force sensor comprises a sensitive element and a peripheral measuring module connected with the sensitive element. The sensitive element is located on the sleeve and is configured to receive information about deformation of the sleeve. The peripheral measuring module is configured to receive the voltage measured by the sensitive element based on the information about deformation and to receive both the equivalent resulting force and the equivalent resulting moment of the acting force applied by the rod to the sleeve based on the voltage measured by the sensitive element, the position of the sensitive element and the direction of the sensitivity axis of the sensitive element, thereby obtaining the contact force acting on the working member of the surgical instrument. The surgical system comprises a driven manipulator containing a robotic arm and a surgical instrument. The robotic arm comprises a contact end detachably connected with the surgical instrument. The robotic arm is configured to move the surgical instrument around a remote centre of movement.

EFFECT: increased accuracy of measuring the contact force at the contact end of the surgical instrument is achieved.

22 cl, 12 dwg