SURGICAL INSTRUMENT DEVICE
First Claim
1. A surgical instrument device comprising:
- a surgical instrument portion which is used in a surgical operation;
a surgical instrument device body which holds the surgical instrument portion;
a force transmitting member which is formed in a shaft shape, of which one end portion in an axial direction is connected to the surgical instrument portion and the other end portion in the axial direction is supported by the surgical instrument device body, and which transmits a force between the surgical instrument portion and the surgical instrument device body;
a distance change detecting unit which detects a change in distance between two points away from each other in the axial direction on the force transmitting member based on a distance when no load is applied to the surgical instrument portion; and
a force calculating unit which calculates a force applied from the surgical instrument portion or the surgical instrument device body to the force transmitting member based on the change in distance detected by the distance change detecting unit.
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0 Petitions
Accused Products
Abstract
A surgical instrument device includes a surgical instrument portion which is used in a surgical operation, a slave arm which holds the surgical instrument, a driving rod which is formed in a shaft shape, of which one end portion in the axial direction is connected to the surgical instrument and the other end portion in the axial direction is supported by the slave arm, and which transmits a force between the surgical instrument and the slave arm, a distance change detecting unit which detects a change in distance between two points in the axial direction of the driving rod based on a distance when no load is applied to the surgical instrument, and a force calculating unit which calculates a force applied from the surgical instrument or the slave arm to the driving rod based on the change in distance detected by the distance change detecting unit.
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Citations
13 Claims
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1. A surgical instrument device comprising:
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a surgical instrument portion which is used in a surgical operation; a surgical instrument device body which holds the surgical instrument portion; a force transmitting member which is formed in a shaft shape, of which one end portion in an axial direction is connected to the surgical instrument portion and the other end portion in the axial direction is supported by the surgical instrument device body, and which transmits a force between the surgical instrument portion and the surgical instrument device body; a distance change detecting unit which detects a change in distance between two points away from each other in the axial direction on the force transmitting member based on a distance when no load is applied to the surgical instrument portion; and a force calculating unit which calculates a force applied from the surgical instrument portion or the surgical instrument device body to the force transmitting member based on the change in distance detected by the distance change detecting unit. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13)
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Specification