Force measurement system

Abstract

A force measurement system (20), comprising: a force sensing assembly (26) and a measured force-bearing body, wherein the force sensing assembly (26) comprises at least three force sensing members (262), which are distributed in the circumferential direction and form an inner-side space; the measured force-bearing body has a force-bearing point (S), and the measured force-bearing body is coupled to the force sensing assembly (26) by means of the inner-side space; a single force sensing member (262) can only sense a force in one dimension, and the at least three force sensing members (262) at least sense forces in three dimensions; and the force measurement system (20) is configured to obtain, at least according to the forces in the three dimensions, a multi-dimensional force / moment acting on the force-bearing point (S). The force measurement system (20) can measure, at high precision, a multi-dimensional force / moment on a measured force-bearing body which is coupled to the force measurement system (20), thereby implementing the measurement of an extremely precise force far beyond the limit of human hand sensing; moreover, the volume of the system is relatively small, so that the force measurement system can be applied to a tip execution mechanism which has extremely harsh space limitations.

Description

Force measurement system Technical Field

[0001] The present invention relates to the technical field of surgical robots, and in particular to a force measuring system for surgical robots. Background Art

[0002] Multi-dimensional force sensors are widely used in robotics, aviation, aerospace, automobiles and other fields. Common multi-dimensional force sensors include six-dimensional force sensors, which can sense three-dimensional orthogonal forces and three-dimensional orthogonal moments. However, existing multi-dimensional sensors are expensive, especially multi-dimensional force sensors with high measurement accuracy, which are even more expensive. The peripheral actuators of cochlear implant surgical robots need to be equipped with multi-dimensional force sensors to sense multi-dimensional forces and moments to avoid damaging patients during surgery. The use of existing multi-dimensional force sensors in the peripheral actuators makes the cost of cochlear implant surgical robots too high, which is not conducive to their promotion and application. In addition, the existing multi-dimensional force sensors are large in size, which is not conducive to the miniaturization design of the peripheral actuators. Technical issues

[0003] Existing multi-dimensional force sensors are expensive and bulky, making them unsuitable for precise force measurement of small peripheral actuators. Cochlear implant surgery requires a high-precision multi-dimensional force sensing system to avoid intraoperative damage to the patient, a requirement that existing technology struggles to meet. Technical Solutions

[0004] In order to solve the above technical problems, the present invention provides a force measuring system.

[0005] In a first aspect, the present invention provides a force measurement system comprising: a force sensing assembly and a measured load-bearing body, the force sensing assembly comprising at least three force sensing elements, the at least three force sensing elements being circumferentially distributed and forming an inner space, the measured load-bearing body having a force point S, the measured load-bearing body being coupled to the force sensing assembly via the inner space. A single force sensing element is capable of sensing only one dimension of force, and the sensed forces of the at least three force sensing elements include f1, f2, and f3. The force measurement system is configured to obtain a multi-dimensional force / torque acting on the force point S based on at least the sensed forces f1, f2, and f3.

[0006] The force measurement system further includes a mounting base and a fixing frame, wherein the mounting base includes a mounting base body with a hollow interior, the mounting base body having an upper opening and a lower bottom wall, and a side wall of the mounting base body having three grooves for accommodating the force sensing element;

[0007] The fixing frame is used to provide fixed support for the force sensing assembly;

[0008] One end of the force sensing member is connected to the mounting seat, and the other end of the force sensing member is connected to the fixing frame. The measured force-bearing body extends through the mounting seat and the fixing frame, and the measured force-bearing body is coupled to the force sensing assembly through the bottom wall.

[0009] Specifically, the force sensing element is a strain gauge weighing sensor, which is used to sense the force in the Z-axis direction. The multi-dimensional force / torque includes at least three-dimensional force F x 、F y 、F z .

[0010] Furthermore, the force sensing direction of the force sensing element is parallel to the Z axis. The force sensing assembly includes three force sensing elements distributed along the circumference, namely the first force sensing element, the second force sensing element and the third force sensing element. The inner space has a center point O of the three force sensing elements. The three-dimensional coordinates of the center point O are (0, 0, 0). The three-dimensional coordinates of the force point S are (R x , R y , R z ); where R z Not 0, the multi-dimensional force / torque is specifically F x 、F y 、F z , τ x , τ y , and satisfy the following relations:

[0011] τ y =L rf f1 cos(θ1-90°) + f3 L rf cos(θ2-90°)

[0012] τ x =f2·L rf + f1·L rf ·cos(θ1) + f3·L rf cos(θ2)

[0013] F x = (τ y +F z ·R x ) / R z

[0014] F y = (F z ·R y -τ x ) / R z

[0015] F z =f1+f2+f3

[0016] Among them, Lrf θ represents the radius of the common circle of the three force sensing elements, θ1 represents the central angle between the first and second force sensing elements, and θ2 represents the central angle between the third and second force sensing elements. θ1 and θ2 have the same angle calculation starting point and the same angle calculation direction. Preferably, the three force sensing elements are evenly distributed along the circumference. Preferably, the line connecting the center point O and the center point of the second force sensing element coincides with the y-axis.

[0017] Furthermore, the force measurement system includes a damping factor and a gravity factor. The damping factor is m·fd, the gravity factor is m·g, and the force and torque acting on the force point S are F and EXT and τ EXT ,

[0018]

[0019]

[0020] m represents the mass of the associated component having a force acting on the force sensing position of at least one of the force sensing members, fd represents the damping coefficient, and g represents the acceleration due to gravity.

[0021] In a second aspect, the present invention further provides a distal actuator for use in a cochlear implant surgery robot, comprising the force measurement system of the first aspect. The force-bearing body to be measured is configured as a clamping member, which is driven to deliver the flexible electrode to a target position. The force point S is located at the end of the clamping member, and the force F acting on the force point S is EXT is the insertion force of the clamp.

[0022] Optionally, the clamping member includes a fixed portion and a movable portion. The fixed portion includes a first inclined section and a first connecting shaft connected to the upper end of the first inclined section. The bottom wall of the mounting base body is provided with a first hole. The first connecting shaft extends through the first hole. The first connecting shaft contacts the hole wall of the first hole to couple the clamping member to the force sensing assembly. The movable portion is arranged in parallel with the fixed portion. The movable portion includes a second inclined section and a second connecting shaft connected to the upper end of the second inclined section. The second connecting shaft extends through the bottom wall of the mounting base body. The bottom wall of the mounting base body is provided with a second hole. The second connecting shaft extends through the second hole. A gap is formed between the second connecting shaft and the hole wall of the second hole. The first and second inclined sections extend obliquely downward to protrude beyond the periphery of the force sensing assembly.

[0023] In a third aspect, the present invention further provides a distal actuator for use in a cochlear implant surgery robot, comprising the force measurement system of the first aspect. The force-bearing body is configured as a clamping member, which is driven to deliver a flexible electrode to a target position.

[0024] In a third aspect, the present invention further provides a cochlear implant surgery robot, comprising the peripheral actuator of the second aspect. Beneficial effects

[0025] The features and advantages of the present invention include: The force measurement system of the present invention utilizes at least three circumferentially arranged one-dimensional force sensors to achieve high-precision measurement of multi-dimensional forces and torques on a load-bearing body coupled to the force measurement system, enabling measurement of fine forces far exceeding the limits of human perception. Furthermore, the force measurement system is relatively small and can be applied to peripheral actuators with extremely stringent spatial constraints, resolving the problem that existing multi-dimensional force sensors cannot be directly applied to peripheral actuators due to their large size. Furthermore, one-dimensional force sensors are inexpensive and, therefore, can effectively reduce the cost of cochlear implant surgical robots. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] FIG1 is a schematic structural diagram of a distal actuator according to an embodiment of the present invention;

[0027] FIG2 is a schematic structural diagram of the clamping member and the force measuring system in FIG1 ;

[0028] FIG3 is an exploded schematic diagram of the clamping member and the force measuring system;

[0029] FIG4 is a schematic structural diagram of the clamping member and the force measuring system in FIG1 , wherein a portion of the mounting seat is removed;

[0030] Figures 5 to 7 are schematic diagrams of mechanical analysis;

[0031] Figure 8 is a schematic diagram of the structure of the distal actuator with part of the housing removed. Best Mode for Carrying Out the Invention

[0032] The force measuring system proposed in the present invention is described in further detail below in conjunction with the accompanying drawings and specific embodiments. According to the following description, the advantages and features of the present invention will become clearer. It should be noted that the drawings are in a very simplified form and use non-precise proportions, which are only used to conveniently and clearly assist in explaining the purpose of the embodiments of the present invention. In order to make the purpose, features and advantages of the present invention more obvious and easy to understand, please refer to the accompanying drawings. It should be noted that the structure, proportion, size, etc. illustrated in the drawings of this specification are only used to match the content disclosed in the specification, so that people familiar with this technology can understand and read them, and are not used to limit the limiting conditions for the implementation of the present invention, so they have no technical substantive significance. Any modification of the structure, change in the proportional relationship or adjustment of the size should still fall within the scope of the technical content disclosed in the present invention without affecting the efficacy and purpose that can be achieved by the present invention.

[0033] The present invention provides a cochlear implant surgical robot for assisting surgeons in inserting a flexible electrode assembly into a damaged portion of a patient's cochlea (e.g., the basal cochlea). Referring to FIG1 , the surgical robot comprises a support mechanism and a distal actuator 100 connected to the distal end of the support mechanism. The distal actuator 100 includes a clamp 10 and a force measurement system 20. The clamp 10 is used to deliver the flexible electrode, and the force measurement system 20 is used to detect multi-dimensional forces / torques applied to the clamp 10. Specifically, referring to FIG2 through FIG4 , the force measurement system 20 comprises a force sensing assembly 26 composed of a plurality of one-dimensional force sensors 262 (also referred to as force sensors). These force sensors 262 are circumferentially distributed and form an inner space. The clamp 10 extends through this inner space and couples with each of the force sensors 262 of the force sensing assembly 26, thereby measuring the multi-dimensional forces / torques acting on a force point S at the distal end of the clamp 10.

[0034] In some embodiments, the force-measuring directions of the multiple force sensors 262 are all parallel to one of the coordinate axes of the three-dimensional coordinate system, more specifically, parallel to the Z-axis, i.e., parallel to the vertical direction. In some embodiments, the force-measuring directions of at least two force sensors 262 in the force sensing assembly 26 are non-parallel. By converting the angle and the length of the lever arm, the multi-dimensional force / torque at the force point S at the end of the clamping member 10 can be obtained. In some embodiments, the multiple force sensors 262 can sense force in the Z-axis direction. In this case, the force-measuring direction of each force sensor 262 is the normal vector direction of the XY plane, i.e., the force-measuring direction is parallel to the Z-axis direction.

[0035] Continuing with Figures 2 to 4 , the force measurement system 20 further includes a mounting base 22 and a fixing frame 24. The force sensing assembly 26 is connected at both ends to the mounting base 22 and the fixing frame 24, respectively. The clamping member 10 extends upward, sequentially passing through the fixing frame 24 and the mounting base 22, and is coupled to each force sensing element 262 of the force sensing assembly 26 through the mounting base 22. The force sensing assembly 26 includes multiple force sensing elements 262, for example, three or four. In some embodiments, the force sensing assembly 26 includes at least three force sensing elements 262.

[0036] Specifically, the mounting base 22 includes a mounting base body 222. The interior of the mounting base body 222 is hollow to form an inner cavity 224. The side walls of the mounting base body 222 are provided with a plurality of grooves 225 with downward openings, and the grooves 225 are used to accommodate the force sensing member 262. The upper portion of the mounting base body 222 is open, and the lower portion is provided with a bottom wall 226. The middle portion of the bottom wall 226 is provided with a through hole for allowing the clamping member 10 to pass through, such as a first hole 227 and a second hole 228. The first hole 227 is tightly fitted with the clamping member 10, for example, the hole wall of the first hole 227 is in close contact with the clamping member 10, and the force or torque acting on the end of the clamping member 10 can be transmitted to the bottom wall 226 of the mounting base body 222, and then transmitted to the force sensing member 262 installed on the mounting base body 222.

[0037] Specifically, the mounting frame 24 includes an annular mounting frame body 242, within which a channel 243 is formed. The upper portion of the mounting frame body 242 is provided with several support portions 244 for accommodating force sensors 262. The lower side of the mounting frame body 242 is provided with two downwardly extending brackets 246, through which the distal actuator 100 is connected to the support mechanism of the surgical robot.

[0038] Referring to FIG3 , the force sensing assembly 26 includes three force sensing elements 262, which are distributed along a circumference. Each force sensing element measures force in a direction parallel to the vertical Z-axis. The three force sensing elements 262 are specifically a first force sensing element, a second force sensing element, and a third force sensing element. The top end of each force sensing element is fixedly disposed within a sidewall recess 225 of the mounting base body 222. The bottom end of each force sensing element is fixedly connected to the mounting base body 242 via a support portion 244. The clamping element 10 sequentially passes through the channel 243 of the mounting base body 242, the through-hole in the bottom wall 226 of the mounting base body 222, and the inner cavity 224 of the mounting base body 222 (since the three force sensing elements 262 in this embodiment are mounted on the mounting base body 222, the inner space enclosed by the three force sensing elements 262 is referred to herein as the inner cavity 224 of the mounting base body 222). The clamping element 10 then extends out of the upper opening of the mounting base body 222. As shown in Figures 5 and 6, the first, second, and third force sensors are distributed along a circumference, and the forces detected by them in the Z-axis direction are f1, f2, and f3, respectively. The inner space of the force sensing assembly 26 has a center point O of the three force sensors 262. When the three force sensors 262 are distributed along the circumference, the center point O serves as the center of the three force sensors 262. The line connecting the center point O and the center point of the second force sensor is used as the starting point for angle calculation. The center angle between the first and second force sensors is θ1, and the center angle between the third and second force sensors is θ2. The angles θ1 and θ2 are calculated in the same direction.

[0039] In a preferred embodiment, the three force sensors 262 are symmetrically distributed around the circumference, i.e., spaced 120° apart in pairs. For example, θ1 is 120° and θ2 is 240°. Correspondingly, the mounting base body 222 is provided with three grooves 225 spaced 120° apart along the circumference, and the fixing frame body 242 is provided with three support portions 244 spaced 120° apart along the circumference. Screw holes are provided at both ends of the force sensors 262. The upper and lower ends of the force sensors 262 are connected to the mounting base body 222 and the fixing frame body 242, respectively, via screws 27. In some embodiments, referring to FIG. 4 , a gasket 28 is provided between the upper side of the force sensor 262 and the upper wall of the groove 225, and a gasket 28 is provided between the lower side of the force sensor 262 and the support portion 244. The mounting base 22 and the fixing frame 24 do not directly contact each other; instead, the two are connected to form a single unit via screws 27, gaskets 28, and the force sensor 262. In some embodiments, the force sensing element 262 is specifically a strain gauge load cell, such as a tension and pressure sensor.

[0040] Continuing to refer to FIG3 , the clamping member 10 can be two and the two are mirror images of each other. Each clamping member 10 includes a fixed portion 11 and a movable portion 13, wherein the fixed portion 11 and the movable portion 13 are arranged in parallel, and a movable clamp 16 coupled to each fixed portion 11 and each movable portion 13, and the two movable clamps 16 can be used in conjunction. The movable portion 13 can move relative to the fixed portion 11 along the Z-axis direction, so that the two jaws of the movable clamp 16 can be opened and closed. Specifically, the two jaws of the movable clamp 16 are rotatably connected to the fixed portion 11 and the movable portion 13 respectively through pins. A static clamp seat is provided at the end of the fixed portion 11, which is provided with a hole for the pin to pass through. When the movable portion 13 moves relative to the fixed portion 11 along the Z-axis direction, the jaw connected to the movable portion 13 approaches or moves away from the jaw connected to the static clamp seat, thereby realizing the opening and closing of the movable clamp 16 and completing the pick-and-place function.

[0041] In some embodiments, the main body of the fixed portion 11 has a first inclined section and a first parallel section, wherein the first parallel section is parallel to the Z-axis, the first parallel section is connected to the lower end of the first inclined section, and the angle between the two is greater than 90°. The main body of the movable portion 13 has a second inclined section and a second parallel section, wherein the second parallel section is parallel to the Z-axis, the second parallel section is connected to the lower end of the second inclined section, and the angle between the two is greater than 90°. In some embodiments, the fixed portion 11 is provided with a groove parallel to itself, and at least part of the movable portion 13 is disposed in the groove, which helps to provide guidance or limitation for the movement of the movable portion 13 in the Z-axis direction. The movement of the movable portion 13 can control the opening and closing of the movable clamp 16.

[0042] The upper end of the first inclined section of the fixed portion 11 is provided with a first connecting shaft 12, and the first connecting shaft 12 extends through the first hole 227. The hole wall of the first hole 227 is in contact with the first connecting shaft 12, so that the force or torque located at the movable clamp 16 and the static clamp seat (i.e., the end of the clamping member) is transmitted to the bottom wall 226. The upper end of the second inclined section of the movable portion 13 is provided with a second connecting shaft 14, and the second connecting shaft 14 extends through the second hole 228. A gap is reserved between the hole wall of the second hole 228 and the second connecting shaft 14. Referring to Figure 4, in a preferred embodiment, the first inclined section and the second inclined section extend obliquely downward from the middle of the distal actuator 100 to the outer periphery protruding from the force measuring system 20, so that the person operating the surgical robot can check the clamping condition of the end of the clamping member 10. Specifically, the bottom ends of the first inclined section and the second inclined section are provided with the movable clamp 16, and the movable clamp 16 can be used to clamp the flexible electrode. When the operator uses the movable clamp 16 to move the flexible electrode, the line of sight will not be blocked by the force sensing component 26, so the posture and position of the flexible electrode can be easily observed.

[0043] 5 to 7 , the force measuring system 20 can identify the impact forces F in three different directions from the end of the clamping member 10 through three one-dimensional force sensing members 262. x 、F y 、F z and the torque τ in two dimensions x , τ y Assume that the insertion force acting on the flexible electrode at the end force point S of the clamping member 10 is F EXT , F EXT This will affect each individual force sensor 262. Each force sensor 262 measures the force in the Z-axis direction. The forces in the Z-axis direction detected by the three force sensors 262 are f1, f2, and f3, respectively. The central angle between the first and second force sensors is θ1, and the central angle between the third and second force sensors is θ2. θ1 and θ2 have the same starting edge and the same angle calculation direction. Furthermore, the effects of damping and gravity are taken into account. The damping factor in the calculation is m·fd, and the gravity factor is m·g. m is the mass of the associated component that exerts a force on the force sensing position of at least one of the force sensors, fd is the damping coefficient, and g is the acceleration of gravity, which is approximately 9.8 N / kg. In some embodiments, the associated components include a mounting base 22, a housing 102 fixed to the mounting base 22, all components of the clamp 10, and a linear motion mechanism 30 connected to the top of the clamp 10. In other embodiments, the associated components also include a portion of the flexible electrode clamped by the clamp 10. The center point O is the center point of the inner space of the three force sensing members 262. The radius of the common circle of the three force sensing members 262 is L. rf , that is, the length of the line connecting the center point of each force sensing element 262 and the center point O is Lrf Assume that the three-dimensional coordinates of the center point O are (0, 0, 0), and the three-dimensional coordinates of the force point S are (R x , R y , R z ), and R z Not 0.

[0044] First, calculate the F of the force point S based on f1, f2, and f3 z value.

[0045] F z =f1+f2+f3 (1)

[0046] Then calculate the two-dimensional torque value in the x and y directions, that is, τ x and τ y .

[0047] τ y =L rf f1 cos(θ1-90°) + f3 L rf ·cos(θ2-90°) (2)

[0048] τ x =f2·L rf +f1·L rf ·cos(θ1) + f3·L rf ·cos(θ2) (3)

[0049] According to the calculation rules of theoretical mechanics in physics, F can be calculated x 、F y :

[0050] F x = (τ y +F z ·R x ) / R z (4)

[0051] F y = (F z ·R y -τ x ) / Rz (5)

[0052] According to the above formula, the F of the force point S can be obtainedEXT and τ EXT：

[0053] (6)

[0054] (7)

[0055] As described above, the three one-dimensional force sensing elements 262 of the force measuring system 20 can identify the five-dimensional force / torque information from the end of the clamping member 10, namely 3D (F x 、F y 、F z ) and 2D (τ x , τ y ) of the torque value.

[0056] It should be noted that, in some embodiments, the three force sensing members 262 are evenly distributed along the circumference, that is, θ1 is 120° and θ2 is 240°.

[0057] In some embodiments, when the line connecting the center point O to the center point of the second force sensing element coincides with the y-axis, R x is 0. At this time, F x = τ y / R z When R x When R is 0, it is easy to calculate the five-dimensional force / torque at the end of the clamping member 10; x Furthermore, when three one-dimensional force sensing elements 262 are randomly arranged in the circumferential direction, the five-dimensional force / torque at the end of the clamping element 10 can also be obtained using the above calculation rules. This is also applicable when there are more than three force sensing elements 262, and will not be further described here.

[0058] Referring to FIG8 , the distal actuator 100 further includes a linear motion mechanism 30. This linear motion mechanism comprises a first motion portion 32 and a second motion portion 34. The first motion portion 32 is connected to the first connecting shaft 12, causing the first connecting shaft 12 to move up and down along the Z-axis, thereby driving movement of the fixed portion 11. The second motion portion 34 is connected to the second connecting shaft 14, causing the second connecting shaft 14 to move up and down along the Z-axis, thereby driving movement of the movable portion 13 and the movable clamp 16.

[0059] In a preferred embodiment, the distal actuator 100 is provided with two clamping members 10 and two linear motion mechanisms 30 , that is, each clamping member 10 is independently provided with a matching linear motion mechanism 30 , so that each clamping member 10 can be operated independently.

[0060] 1 , the distal actuator 100 includes a housing 102, which is secured to the mounting base 22 of the force measuring system 20. The linear motion mechanism 30 is located within the housing 102, which protects the linear motion mechanism 30. In some embodiments, the linear motion mechanism 30 is secured to the housing 102, i.e., the linear motion mechanism 30 is connected to the mounting base 22 of the force measuring system 20 via the housing 102.

[0061] It should be noted that the clamping member 10 mentioned in the present invention is a specific embodiment of the force-bearing body to be measured. The force-bearing body to be measured may also be other components requiring force measurement, such as the actuator on a surgical robot used to place brainstem electrodes or the actuator on a surgical robot used to place vascular stents.

[0062] The force measurement system of the present invention utilizes at least three circumferentially arranged one-dimensional force sensors to accurately measure multi-dimensional forces and torques on a load-bearing object coupled to the force measurement system. This enables precise force measurements far exceeding the human hand's sensitivity. Furthermore, the force measurement system's compact size allows for application in peripheral actuators with extremely stringent space constraints, resolving the issue of existing multi-dimensional force sensors, which are prohibitive due to their bulk.

[0063] Although the present invention has been described in detail through the above preferred embodiments, it should be understood that the above description is not intended to limit the present invention. After reading the above description, various modifications and substitutions of the present invention will become apparent to those skilled in the art. Therefore, the scope of protection of the present invention should be defined by the appended claims.

Claims

1. A force measuring system, characterized in that: include: A force sensing assembly, the force sensing assembly comprising at least three force sensing members, the at least three force sensing members being distributed circumferentially and forming an inner space; and A measured force-bearing body, the measured force-bearing body having a force-bearing point S, and the measured force-bearing body is coupled with the force sensing component through the inner space; Wherein, a single force sensing member can only sense a force of one dimension, the sensing forces of the at least three force sensing members include f1, f2 and f3, and the force measuring system is configured to obtain a multi-dimensional force / torque acting on the force point S at least according to the sensing forces f1, f2 and f3; The force measuring system further comprises a mounting seat and a fixing frame, wherein the mounting seat comprises a mounting seat body with a hollow interior, the mounting seat body is open at the top and provided with a bottom wall at the bottom, and the side wall of the mounting seat body is provided with three grooves for accommodating the force sensing element; The fixing frame is used to provide fixed support for the force sensing assembly; One end of the force sensing component is connected to the mounting seat, and the other end of the force sensing component is connected to the fixing frame. The measured force-bearing body extends through the mounting seat and the fixing frame, and the measured force-bearing body is coupled to the force sensing assembly through the bottom wall.

2. The force measuring system according to claim 1, characterized in that: The force sensing element is a strain gauge weighing sensor, and the force sensing element is used to sense the force in the Z-axis direction. The multi-dimensional force / torque includes at least a three-dimensional force F x 、F y 、F z .

3. The force measuring system according to claim 2, characterized in that: The force sensing direction of the force sensing member is parallel to the Z axis. The force sensing assembly includes three force sensing members distributed along the circumference, namely, the first force sensing member, the second force sensing member and the third force sensing member. The inner space has a center point O of the three force sensing members; the three-dimensional coordinates of the center point O are (0, 0, 0), and the three-dimensional coordinates of the force point S are (R x , R y , R z ); Among them, R z is not 0, the multidimensional force / torque is specifically F x 、F y 、F z , τ x , τ y , and satisfy the following relations: t y =L rf ·f1·cos(θ1-90°) + f3·L rf ·cos(θ2-90°); t x =f2·L rf +f1·L rf ·cos(θ1) + f3·L rf ·cos(θ2); F x = (τ y +F z ·R x ) / R z ; F y = (F z ·R y -τ x ) / R z ; <h2 style=";text-align:left;direction:ltr">F<h2 style=";text-align:left;direction:ltr"> z <h2 style=";text-align:left;direction:ltr"> =f1+f2+f3; Among them, L rf represents the radius of the common circle of the three force sensing members, θ1 represents the center angle between the first force sensing member and the second force sensing member, θ2 represents the center angle between the third force sensing member and the second force sensing member, and θ1 and θ2 have the same angle calculation starting edge and the same angle calculation direction.

4. The force measuring system according to claim 3, characterized in that: The force measurement system includes a damping factor and a gravity factor, wherein the damping factor is m·fd, the gravity factor is m·g, and the force and torque acting on the force point S are F EXT and τ EXT ,in, ； ； m represents the mass of the associated component having a force acting on the force sensing position of at least one of the force sensing members, fd represents the damping coefficient, and g represents the gravitational acceleration.

5. The force measuring system according to claim 3, characterized in that: The three force sensing components are evenly distributed along the circumference.

6. The force measuring system according to claim 3, characterized in that: A line connecting the center point O to the center point of the second force sensing component coincides with the y-axis.

7. The force measuring system according to claim 1, characterized in that: The force-bearing body to be measured is configured as a clamp, which is implemented to be driven to deliver the flexible electrode to a target position, the force point S is located at the end of the clamp, and the force acting on the force point S is the insertion force of the clamp.

8. The force measuring system according to claim 7, characterized in that: The clamping member includes a fixing portion, which includes a first inclined section and a first connecting shaft connected to the upper end of the first inclined section. The bottom wall of the mounting seat body is provided with a first hole, and the first connecting shaft extends through the first hole. The first connecting shaft contacts the hole wall of the first hole so that the clamping member is coupled to the force sensing assembly.

9. The force measuring system according to claim 8, characterized in that The clamping member includes a movable portion, the movable portion is arranged in parallel with the fixed portion, the movable portion includes a second inclined section and a second connecting shaft connected to the upper end of the second inclined section, the second connecting shaft extends through the bottom wall of the mounting seat body, the bottom wall of the mounting seat body is provided with a second hole, the second connecting shaft extends through the second hole, and there is a gap between the second connecting shaft and the hole wall of the second hole; The first inclined section and the second inclined section extend obliquely downward to protrude from the outer periphery of the force sensing assembly.

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