KR101413406B1 - Device for measureing a environment interaction torque, surgical robot and surgical robot system with the same - Google Patents

Abstract

According to an embodiment of the present invention, a contact torque measurement device includes: an instrument which performs operation of burning or cutting biological tissue through electrical operation with three degrees of freedom in rotational (ROLL, PITCH, YAW) motions based on the X, Y and Z axes with respect to a support point or an RCM point; a cannular which is inserted into a human body to guide the instrument into the human body; and a docking clamp which fixates and supports the cannular to a slider which performs a translation motion and has a strain gauge sensor to measure a torque due to a contact force generated in a contact point with the cannular when the instrument invades into a human body. The present invention can improve the accuracy of operation by accurately receiving an interaction generated while the surgical robot and human organ are in contact when a surgeon conducts minimal invasive surgery by measuring a torque generated by a contact force at the end of the instrument with the strain gauge sensor attached to the docking clamp when the docking clamp which is to fixate the cannular, through which the instrument is inserted, is inclined while performing a rotational motion (ROLL, PITCH) based on the X-axis or Y-axis with respect to the support point.

Description

TECHNICAL FIELD [0001] The present invention relates to a contact torque measuring device, a surgical robot, and a surgical robot system having the same. BACKGROUND ART [0002]

The present invention relates to a contact torque measuring device, a surgical robot, and a surgical robot system including the same, which can precisely measure an interaction force generated when a surgical robot used in minimally invasive surgery and internal organs of a human body come into contact with each other, .

Generally, in a minimally invasive surgery, a surgeon inserts a surgical tool and a robot arm having an endoscopic camera into a patient's body, and observes the three-dimensional image while sitting on a master console, remotely Manipulate and perform the operation.

However, the surgical robot currently in commercial use has been developed so that surgery can be performed reliably only on the video feedback captured by the laparoscopic CCD camera. As a result, There are many difficulties in distinguishing the tissues such as blood vessels, nerves, and cancer cells and performing the surgery. Therefore, force feedback, which can accurately measure the force generated by the contact between the surgical robot and organs inside the human body, is becoming an important factor for improving the accuracy of surgery.

In order to measure the force generated during the interaction between the gripper of the surgical robot arm and the surrounding environment to meet this demand, a surgical tool tip, a trocar attached to the other arm or a robot arm Measuring methods in sliders have been proposed.

As an example of a method of measuring force at the tip of a surgical tool, a fiber Bragg grating (FBG) optical sensor is disclosed in US Patent Application Publication No. 2010-0250000 "Optic Fiber Connection for a Force Sensing Instrument" A technique of measuring the deformation of the strain at the end of an instrument has been disclosed. In other words, according to the above prior art, the force of interaction with the surrounding environment is directly measured through the deformation of the optical sensor formed at the end of the instrument.

In addition, US Patent Application Publication No. 2010-0313679 entitled " Modular Force Sensor "discloses a modular force sensor comprising a strain gauge or the like attached to a distal tube link portion near the end of an instrument device And then directly measuring the contact force with the surrounding environment through deformation of the sensor.

A technique for directly measuring the contact force acting on the end of the instrument using a strain gauge is disclosed in US Patent Application Publication No. 2009-0248038, "Force and Torque Sensing in a Surgical Robot Setup Arm" published on October 1, 2009 .

In this way, most of the methods for measuring the force near the tip of the surgical tool use a method of directly measuring the force by attaching a sensor directly to the contact surface inside the gripper. By attaching a sensor to the gripper surface of the surgical tool, The method has the following problems. Above all, a high current is flowed to the tip of the surgical tool for ablation in the surgical procedure. There is a possibility that the sensor may be damaged due to such a high current, and the sensor may be damaged in the process of disinfection by high temperature and high pressure. In addition, since the surgical tool is a consumable item that must be discarded if it is used more than a predetermined number of times, there is a problem that the sensor must be disposed of every time the surgical tool is discarded when the sensor is attached to the surgical tool.

In order to overcome the problem of the method of directly measuring the contact torque near the end of the surgical tool as described above, a method of measuring the contact torque between the inside of the human body and the surgical tool after attaching a sensor to the outside of the human body, Lt; / RTI >

For example, S. Shimachi et al. According to the "Adapter for contact force sensing of the da Vinci® robot" in J. of Medical Robotics and Computer Assisted Surgery, vol.4, 2008, an indirect method using the overcoat method occurs at the end of the instrument The contact force is measured. According to the above prior art, an axial-force-free joint for an axial force effect independent from the new attachment position of the force sensor and the torque supplied from the slave arm is disclosed. More specifically, the da Vinci robot is composed of a floating frame and a base frame, and a Z-axis force sensor and an acceleration sensor are supported from the base frame in the floating frame. The X and Y axis force sensors are attached between the inner pipe and the overcoat pipe. The inner pipe is connected to the floating frame through a universal joint such that no force is applied to the X and Y axes. The AFF joints are provided between the floating frame and the base frame in parallel with the Z axis, and the X axis rotation motion is converted into the Z axis rotation motion by the pulley. According to the above prior art, the force sensors of the three axes and the Z-axis acceleration sensor are attached to the slider and the generation of the axial force is prevented so that the torque sensor is not required. However, And insulation of the X, Y axis sensors formed on the overcoat pipe may be a problem.

As another example, N. Zemiti et al., The 9th Int. Symp. According to Experimental Robotics, 2006, "A Force Controlled Laparoscopic Surgical Robot without Distal Force Sensing" has been disclosed in the art of measuring the force generated at the end of the instrument by attaching a six-axis force / torque sensor to the trocar. The instrument is located inside the passive guidance, and the passive guidance is attached to the top of the six-axis force / torque sensor. The lower part of this sensor is placed on the conventional trocar. According to the above prior art, the force generated at the end of the instrument can be indirectly measured by attaching the sensor to the trocar. However, there is a problem that the trocar is sensitive to the movement of the human peritoneum,

In order to solve the above problems, the present invention has been made to solve the above-mentioned problems, and it is an object of the present invention to provide a cannula for insertion of an instrument so that a surgical robot, When the docking clamps for fixing the docking clamps are inclined with respect to the supporting point in the ROLL and PITCH motion about the X axis or Y axis, the torque generated by the contact force at the end of the instrument is docked A contact torque measuring device, a surgical robot, and a surgical robot system including the same, which can measure a strain using a strain gauge sensor attached to a clamp.

According to an embodiment of the present invention to achieve the above object, there is provided a method of driving a robot, which has three degrees of freedom (ROLL, PITCH, YAW) motion based on X, Y, An instrument for performing surgery to burn or cut tissue; A cannula for insertion into the body for guiding the instrument into the body; And a strain gauge sensor having a support for fixing the cannula to a slider for performing translational motion and measuring a torque due to a contact force generated at a contact portion with the cannula when the instrument is infiltrated into the body A contact torque measuring device is provided.

Preferably, the docking clamp comprises: a plurality of footplates extending in the direction of movement of the slider and having an inner surface for supporting the cannula and an outer surface to which the strain gauge sensor is attached; an outer shape of the cannula along the perimeter of the cannula A plurality of fixing anchor footsteps including a body for connecting the footstep and the body, a plurality of main bodies to which the fixing anchor footstrap is fastened, and a lower portion fastened to the slider, And a plurality of support portions fastened to the main body and fixing the main body to the slider.

More preferably, the fixing anchor footrest is separable from the main body so that fixing anchor footrests of different shapes and sizes can be fastened to the main body.

In addition, the main body is detachable from the receiving portion, and the main body having different shapes and sizes can be fastened to the receiving portion.

In addition, the receiving portion may be fastened to or separated from the main body without being separated from the slider.

The fixing anchor footrest, the main body, or the receiving portion may be formed of a plurality of pieces.

The column structure is connected to one end of the foot plate, which is not the center of the foot plate.

Further, a fillet is formed at a portion where the column structure and the foot plate are connected.

Further, according to another embodiment of the present invention, there is provided a contact torque measuring device as set forth in any one of claims 1 to 8, At least one slider for sliding the instrument in a depth direction when the instrument performs translational motion to invade a patient's skin; And a plurality of shafts for moving the instrument to a surgical site and providing a surgical radius within a predetermined range.

Preferably, the surgical robot has a Degree of Freedom.

Further, the instrument coupled to the surgical robot has a cone-shaped surgical radius.

According to another embodiment of the present invention, there is provided a master device for receiving a manipulation of a doctor at the time of surgery to generate a command at a spatially separated position; A slave device for controlling the motion controller after receiving the command from the master device; And a surgical robot according to claim 9, wherein the surgical robot performs surgery according to a control signal of the motion controller.

Preferably, the motion controller controls each motor attached to the surgical robot according to an instruction received from the slave device, reads encoder signals attached to the motors, and supplies electric power to the motors .

According to another embodiment of the present invention, there is provided a method comprising: performing an ROLL or PITCH motion around an X-axis or a Y-axis around an anchor point or RCM point; Applying torque to a contact surface between the instrument and the cannula due to a contact force with a biomimetic tissue generated at an end of the instrument as the instrument rotates; The torque due to the contact force with the cannula being transmitted to the docking clamp; And measuring a direction and a magnitude of the torque by using a strain gauge sensor formed on a plurality of stepped portions of the docking clamp.

The present invention is based on the fact that when a docking clamp for fixing a cannula into which an instrument is inserted is tilted while performing a ROLL or PITCH motion with respect to the X axis or Y axis about a supporting point, By measuring the torque using a strain gauge sensor attached to the docking clamp, the surgeon can precisely feed back the interaction force generated by the contact between the surgical robot and the internal organs of the human body during minimally invasive surgery, The accuracy can be further improved.

1 is a view illustrating a surgical robot system according to a preferred embodiment of the present invention.
2 is a view showing a surgical robot according to a preferred embodiment of the present invention.
3 is an enlarged view of a contact torque measuring apparatus according to a preferred embodiment of the present invention.
4 is a view showing a shape of a docking clamp according to a preferred embodiment of the present invention.
5 is an exploded perspective view of a docking clamp according to a preferred embodiment of the present invention.
FIG. 6 is a simulation result of the strain rate in the Z axis direction generated on the inner and outer surfaces of the footplate when a force is applied to the end of the instrument in the +/- X axis directions according to a preferred embodiment of the present invention.

The following detailed description of the invention refers to the accompanying drawings, which illustrate, by way of illustration, specific embodiments in which the invention may be practiced. These embodiments are described in sufficient detail to enable those skilled in the art to practice the invention. It should be understood that the various embodiments of the present invention are different, but need not be mutually exclusive. For example, certain features, structures, and characteristics described herein may be implemented in other embodiments without departing from the spirit and scope of the invention in connection with an embodiment. It is also to be understood that the position or arrangement of the individual components within each disclosed embodiment may be varied without departing from the spirit and scope of the invention. The following detailed description is, therefore, not to be taken in a limiting sense, and the scope of the present invention is to be limited only by the appended claims, along with the full scope of equivalents to which such claims are entitled, if properly explained. In the drawings, like reference numerals refer to the same or similar functions throughout the several views.

Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the accompanying drawings, so that those skilled in the art can easily carry out the present invention.

1 is a view illustrating a surgical robot system according to a preferred embodiment of the present invention.

Referring to FIG. 1, a surgical robot system according to an embodiment of the present invention may include a master device 100, a slave device 200, and a surgical robot 300.

The master device 100 receives a manipulation of a doctor at the time of operation at a position spaced apart from the slave device 200 and the surgical robot 300 to generate a command related to driving the surgical robot 300, To the device (200). The slave device 200 controls the motion controller 210 formed inside or outside the slave device 200 after receiving the command from the master device 100 to drive the surgical robot 300 . The surgical robot 300 attaches the instrument 320 to the robot arm and performs surgery by invading the surgical site of the patient according to a doctor's instruction. The surgical robot 300 will be described in detail with reference to FIG.

Meanwhile, the motion controller 210 controls each motor attached to the surgical robot 300 according to a command received from the slave device 200, reads an encoder signal attached to each motor, And supplies electric power to the motor while communicating with the slave device 200. According to an embodiment of the present invention, the motion controller 210 may be a program module at least a part of which can communicate with the slave device 200. Such program modules may be included in the slave device 200 in the form of an operating system, an application program module, and other program modules, and may be physically stored on various known storage devices. These program modules may also be stored in a remote storage device capable of communicating with the slave device 200. [ These program modules include, but are not limited to, routines, subroutines, programs, objects, components, data structures, etc. that perform particular tasks or implement particular abstract data types as described below in accordance with the present invention.

Meanwhile, the master device 100, the slave device 200, or the surgical robot 300 may communicate with each other through the wired / wireless communication network 400. For example, the wired communication network includes a home line network (HomePNA), a power line communication (PLC), a wired LAN (local area network: IEEE 802.3), and an optical cable. Such as Bluetooth, infrared communication, Zigbee, Ultra Wide Band, WLAN, CDMA, WCDMA, or Global System for Mobile communications (GSM) ). Of course, the wired / wireless communication network 400 according to an embodiment of the present invention can perform communication with the slave device 200 using any of various well-known short range communication methods regardless of the above example.

2 is a view showing a surgical robot according to a preferred embodiment of the present invention.

Referring to FIG. 2, the surgical robot 300 according to an embodiment of the present invention receives signals from the slave device 200 and controls the operation of the instrument 320. The surgical robot 300 is provided with a plurality of joints, and the joints may be connected to each other by various kinds of joints. More specifically, the surgical robot 300 is configured such that the first to fourth shafts 301, 302, 303 and 304 are connected in turn to form joints, and the fourth shaft 304 is connected to the slider 350 . The first shaft 301 and the second shaft 302 are connected to the first joint 305 and the second shaft 302 and the third shaft 303 are connected to the second joint 306, The fourth shaft 304 and the fourth shaft 304 may be connected to the first passive joint 307 and the fourth shaft 304 and the slider 350 may be connected to the second passive joint 308. [

As shown in FIG. 2, the four-degree-of-freedom of the surgical robot 300 may include the first and second joints 305 and 306, The three degrees of freedom can be formed by the movement of the docking clamp 340 of the instrument 320 by the movement of the first passive joint 307 or 308 or the slider 350. More specifically, the first shaft 301 and the second shaft 302 can rotate in the θ direction by the first joint 305, and the second shaft 302 and the third shaft 303 can rotate And can be rotated in the phi direction by the second joint 306. The third shaft 303 and the fourth shaft 304 can be moved in the X axis direction by the first passive joint 307. The slider 350 slides in the Z axis direction as shown by r, can do. Therefore, the instrument 320 coupled to the surgical robot 300 may have a surgical radius such as a cone shape.

If the point at which the instrument 320 of the surgical robot 300 is inserted through the human body is a fulcrum point or a remote center of motion (RCM) point, the instrument 320 ) Can be made in all directions of the X, Y, and Z axes. That is, the instrument 320 may have three degrees of freedom (ROLL, PITCH, YAW) based on the X, Y, and Z axes based on the support point or the RCM point.

In the present invention, the docking clamp 340 for fixing the cannula 330 for inserting the instrument 320 into the human body rotates about the X-axis or the Y-axis about the support point or the RCM point , PITCH) motion of the docking clamp (340). More specifically, when the instrument 320 performs a pivotal motion with two degrees of freedom except for the YAW motion, a contact torque is applied at the tip by interaction with the biomimetic tissue. The biomimetic tissue is compressed by the f _TIP force at the end of the instrument 320, resulting in a reaction force f _e . The reaction force f _e at this time acts as a torque for applying a deformation to the docking clamp 340.

Therefore, a precise operation can be performed when a strain gage sensor 347 is attached to the docking clamp 340 and the torque applied to the docking clamp 340 is measured and fed back to a doctor.

3 is an enlarged view of a contact torque measuring apparatus according to a preferred embodiment of the present invention.

Referring to FIG. 3, a contact torque measuring apparatus 310 according to an embodiment of the present invention may include an instrument 320, a cannula 330, and a docking clamp 340. The instrument 320 can be inserted into a cannula 330 that functions as a guide for insertion into a human body and the cannula 330 is supported by a docking clamp 340. The docking clamp 340 is connected to at least one slider 350 for translating in the Z-axis direction.

The instrument 320 is a general surgical tool for performing invasive surgery. The currently commercialized instrument 320 performs the task of burning or cutting biotissue through electrocautery with multi-degrees of freedom motion. To this end, the instrument 320 is formed to have a durability that can withstand the high currents that are produced in a very small size and generated during the electrocution.

The cannula 330 is a tube inserted into the body, and is a medical instrument for passing liquid or air. It is used for the purpose of inserting the tube liquid into the thoracic cavity or the abdominal cavity, inserting the tube liquid into the blood vessel, collecting blood (collecting the blood), inserting it into the organ when performing a chiropractor, and breathing. The instrument 320 may be inserted into the cannula 330 and invaded into the body.

The docking clamp 340 fixes and supports the cannula 330 with the slider 350. A strain gage sensor 347 is attached to a predetermined portion of the docking clamp 340 so that the contact torque generated when the instrument 320 is infiltrated into the body is transmitted between the cannula 330 and the docking clamp 340 The contact force is measured. The detailed structure of the docking clamp 340 and the measuring method of the contact torque will be described in more detail with reference to FIGS. 4 and 5. FIG.

The slider 350 slides the instrument 320 in the Z-axis direction shown in FIG. 2 when the instrument 320 performs translational motion to invade the patient's skin. According to an embodiment of the present invention, a total of three sliders 350 are stacked. However, according to the selection of a person skilled in the art with knowledge of the present invention, the number of the sliders 350 It can be adjusted.

The instrument 320, the cannula 330 and the docking clamp 340 constitute a contact torque measuring device 310 for measuring a contact torque generated due to the rotational motion of the instrument 320. A method of measuring the contact torque through the contact torque measuring device 310 will now be described. When the instrument 320 performs a ROLL or PITCH motion around the X-axis or the Y-axis around the support point or the RCM point, As the instrument 320 is tilted, the cannula 330 receives a torque due to a contact force with the biomimetic tissue generated at an end of the instrument 320. In order to support the cannula 330, The torque due to the contact force is transmitted to the docking clamp 340 fixed to the slider 350. At this time, the torque is measured using a strain gage sensor 347 formed on the docking clamp 340.

FIG. 4 is a view showing a shape of a docking clamp according to a preferred embodiment of the present invention, and FIG. 5 is an exploded perspective view of a docking clamp according to a preferred embodiment of the present invention.

Referring to FIGS. 4 and 5, FIG. 4 (a) is a view of the docking clamp 340 from above, and FIG. 4 (b) is a view of the docking clamp 340 from below. The docking clamp 340 according to an embodiment of the present invention includes a plurality of foot plates 341 having an inner surface extending in the Z-axis direction to support the cannula 330 and an outer surface to which the strain gauge sensor 347 is attached, A body 342 formed to correspond to the outer shape of the cannula 330 along the circumference of the cannula 330 and a support beam 343 connecting the foot plate 341 and the body 342 A plurality of main bodies 345 to which the anchor foot plates 344 for fixing are fastened and a lower portion are fastened and fixed to the slider 350 and an upper portion is fastened to the main body 345 And a plurality of receiving portions 346 for fixing the main body 345 to the slider 350.

The docking clamp 340 is formed such that the fixing anchor footrest 344 can be separated from the main body 345 so that various types of cannulas 330 can be supported, The fixing anchor footrest 344 corresponding to the shape and size of the fixing anchor footrest 344 may be selected and coupled to the main body 345. The main body 345 may be separated from the receiving portion 346 and the main body 345 having a different shape and size may be selected depending on the shape and size of the cannula 330, Can be used in combination. Meanwhile, since the receiving portion 346 is fixedly coupled to the slider 350, it is difficult to separate the receiving portion 346 from the slider 350. Accordingly, the receiving portion 346 can be coupled with the main body 345 having various shapes and sizes without being separated from the slider 350, and can be formed to easily engage with the fixing anchor footstock 344.

Further, the fixing anchor footrest 344, the main body 345, and the receiving portion 346 may be formed of a plurality of pieces as shown and may be formed to facilitate mutual assembly.

The docking clamp 340 preferably includes the cannula 330 and the foot plate 341 in order to increase the deformation of the foot plate 341 caused by the torque applied to the foot plate 341, Can be minimized. The pillar structure 343 to which the footplate 341 and the body 342 are connected is connected to one end of the footplate 341 that is not the center of the footplate 341 to maximize the force concentrated on the pillar structure 343, It is possible to guarantee accuracy. Since the pillar structure 343 is a portion where torque is concentrated, a fillet is formed at a connection portion with the footplate 341 for structural stability to prevent the connection between the pillar structure 343 and the footplate 341 from being broken . Since the strain is reduced as the diameter of the fillet increases, it should be selected in consideration of the ease with which the sensor is attached.

Meanwhile, the strain gage sensor 347 may be formed immediately in front of the fillet where the column structure 343 and the foot plate 341 are in contact with each other. The inner surface of the footplate 341 is in contact with the cannula 330 and the outer surface of the footplate 341 is in contact with the strain gage sensor 347. The strain gage sensor 347 may be attached to the footrest 341 through various known attachment methods.

The method of measuring the torque acting on the footrest 341 using the strain gauge sensor 347 is based on the strain rate depending on the direction of the force acting. That is, when a force in the + X axis direction acts, the strain rate in the docking clamp 340 on the left side is larger than the strain rate in the right docking clamp 340, and conversely, when a force in the -X axis direction acts, The deformation rate at the docking clamp 340 is larger than the deformation rate at the left docking clamp 340.

FIG. 6 is a simulation result of the strain rate in the Z axis direction generated on the inner and outer surfaces of the footplate when a force is applied to the end of the instrument in the +/- X axis directions according to a preferred embodiment of the present invention.

6A is a simulation result of the Z-axis deformation rate occurring on the inner and outer surfaces of the foot plate 341 when a force in the + X axis direction is applied, and FIG. And the Z-axis deformation rate generated on the inner and outer surfaces of the footrests 341 at the time of installation. it can be confirmed that a compressive force is generated on the inner surface of the right foot plate 341 and a tensile force is generated on the outer surface due to the force in the + X axis direction in Fig. It can be confirmed that a tensile force is generated on the outer surface of the anchor foot plate 344 on the inner surface thereof with the compressive force.

Here, the thinner the fixing anchor foot plate 344 and the less the pillars in the pillar structure 343, the greater the deformation rate, but the permanent deformation due to the elastic deformation occurs. In this contradiction, the optimal thickness and fillet were determined by various simulations using the Recurdyn program, which is a multibody dynamics simulation, with 1.6 mm and 1.0 mm, respectively. As a result, when the instrument 320 rotates around the supporting point, the cannula 330 deforms the foot plate 341 of the docking clamp 340 and measures the contact with the human body tissue The force can be estimated.

While the present invention has been particularly shown and described with reference to exemplary embodiments thereof, it is to be understood that the invention is not limited to the disclosed exemplary embodiments, but, on the contrary, Those skilled in the art will appreciate that various modifications, additions and substitutions are possible, without departing from the scope and spirit of the invention as disclosed in the accompanying claims.

Therefore, the spirit of the present invention should not be construed as being limited to the above-described embodiments, and all of the equivalents or equivalents of the claims, as well as the following claims, .

100: Master device
200: Slave device
210: Motion controller
300: Surgical robot
301: 1st shaft
302: Second shaft
303: Third shaft
304: fourth shaft
305: First joint
306: second joint
307: first passive joint
308: second passive joint
310: Contact torque measuring device
320: Instrumentation
330: Cannula
340: Docking clamp
341: Scaffolding
342: Body
343: Column structure
344: Fixing anchor footrest
345:
346:
347: Strain gage sensor
350: Slider
400: wired / wireless communication network

Claims (12)

delete An instrument for performing an operation of burning or cutting a living tissue through electric cauterization with three degrees of freedom of rotation (ROLL, PITCH, YAW) motion based on X, Y and Z axes based on a support point or an RCM point;
A cannula for insertion into the body for guiding the instrument into the body; And
And a strain gauge sensor having a support for fixing the cannula to a slider for performing translational motion and measuring a torque due to a contact force generated at a contact portion with the cannula when the instrument is infiltrated into the body, ,
Wherein the docking clamp comprises:
A plurality of scaffolds extending in a direction of movement of the slider and having an inner surface supporting the cannula and an outer surface to which the strain gauge sensor is attached, a body formed to conform to the contour of the cannula along the circumference of the cannula, A plurality of fixing anchor footrests including a post structure for connecting the body to each other,
A plurality of main bodies to which the fixing anchor footrests are fastened, and
And a plurality of receiving portions fastened and fixed to the slider and an upper portion fastened to the body to fasten the body to the slider.
3. The method of claim 2,
Wherein the fixing anchor footrest is detachable from the main body so that fixing anchor footrests of different shapes and sizes can be fastened to the main body.
3. The method of claim 2,
Wherein the main body is detachable from the receiving portion so that the main body having different shapes and sizes can be fastened to the receiving portion.
3. The method of claim 2,
Wherein the receiving portion is fastened to and detachable from the main body without being separated from the slider.
3. The method of claim 2,
Wherein the fixing anchor footrest, the main body, or the receiving portion is formed of a plurality of pieces.
3. The method of claim 2,
Wherein the post structure is connected to one end of the foot plate, which is not the center of the foot plate.
3. The method of claim 2,
And a fillet is formed at a portion where the column structure and the footplate are connected to each other.
A contact torque measuring device according to any one of claims 2 to 8,
At least one slider for sliding the instrument in a depth direction when the instrument performs translational motion to invade a patient's skin; And
And a plurality of shafts for moving the instrument to a surgical site to provide a surgical radius within a predetermined range.
10. The method of claim 9,
Wherein the surgical robot has a degree of freedom (Degree of Freedom).
10. The method of claim 9,
Wherein the instrument coupled to the surgical robot has a cone-shaped surgical radius.
Performing an ROLL or PITCH motion around the X-axis or the Y-axis around the support point or the RCM point;
Applying torque to a contact surface between the instrument and the cannula due to a contact force with a biomimetic tissue generated at an end of the instrument as the instrument rotates;
The torque due to the contact force with the cannula being transmitted to the docking clamp; And
And measuring a direction and a magnitude of the torque using a strain gauge sensor formed on a plurality of stepped portions of the docking clamp.

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