Force sensing surgical instrument and surgical robot

By setting a sensing structure in the force-sensing surgical instrument to decouple the force parameters and traction force of the end effector, the problem of feedback force deviation in minimally invasive surgical robots is solved, improving the accuracy and safety of the surgery.

CN120436800BActive Publication Date: 2026-07-24NANJING TUODAO MEDICAL TECHNOLOGY CO LTD
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Patent Information

Authority / Receiving Office
CN · China
Patent Type
Patents(China)
Current Assignee / Owner
NANJING TUODAO MEDICAL TECHNOLOGY CO LTD
Filing Date
2025-04-30
Publication Date
2026-07-24

AI Technical Summary

Technical Problem

In minimally invasive surgical robots, since the force source of the end effector is not limited to human tissue, the total force collected by the force sensor deviates from the actual clinical feedback force, affecting the accuracy and safety of the surgery.

Method used

In force-sensing surgical instruments, a first sensing structure is set to detect the force parameters of the end tool, and a second sensing structure is used to detect the tension force of the drive cable. This decouples the clinical feedback force, eliminates measurement interference of the tension force, and improves the accuracy of the feedback force.

Benefits of technology

By decoupling the force parameters and traction force of the end-effector, the accuracy of clinical feedback force is improved, thereby enhancing the precision and safety of the surgery.

✦ Generated by Eureka AI based on patent content.

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Abstract

The embodiment of the application provides a force sensing surgical instrument and a surgical robot. The force sensing surgical instrument is used for adjusting the posture of an end tool, and the force sensing surgical instrument comprises a driving box assembly and an instrument shaft. The driving box assembly comprises a driving structure and a driving cable connected with the driving structure; the instrument shaft is connected between the driving box assembly and the end tool, is provided with a guide structure extending in a first direction, and the driving cable passes through the guide structure and is connected with the end tool; the driving structure drives the driving cable to drive the end tool to adjust the posture or state; the instrument shaft is provided with a first sensing structure to detect a force parameter of the end tool, and the force parameter is used for representing the total force of the end tool; the driving box assembly is provided with a second sensing structure to detect the tension of the driving cable, and the force parameter and the tension are used to obtain a clinical feedback force, and the size of the clinical feedback force is used to represent the characteristics of different human tissues, so that the accuracy of the force sensing surgical instrument in determining the clinical feedback force is improved, and the surgical accuracy and safety are improved.
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