US 11,911,060 B2
Forceps driver apparatus
Donghyun Hwang, Seoul (KR); Sungwoo Park, Seoul (KR); Namseon Jang, Seoul (KR); Yong Seok Ihn, Seoul (KR); Jinwoo Jeong, Seoul (KR); Keehoon Kim, Seoul (KR); Sang Rok Oh, Seoul (KR); Sungwook Yang, Seoul (KR); and Sehyuk Yim, Seoul (KR)
Assigned to Korea Institute of Science and Technology, Seoul (KR)
Filed by KOREA INSTITUTE OF SCIENCE AND TECHNOLOGY, Seoul (KR)
Filed on Aug. 28, 2020, as Appl. No. 17/006,446.
Claims priority of application No. 10-2019-0109865 (KR), filed on Sep. 5, 2019.
Prior Publication US 2021/0068858 A1, Mar. 11, 2021
Int. Cl. A61B 17/30 (2006.01); B25J 7/00 (2006.01); B25J 9/16 (2006.01); B25J 13/08 (2006.01); A61B 17/00 (2006.01); A61B 90/00 (2016.01)
CPC A61B 17/30 (2013.01) [B25J 7/00 (2013.01); B25J 9/161 (2013.01); B25J 9/1633 (2013.01); B25J 13/085 (2013.01); A61B 2017/00398 (2013.01); A61B 2090/064 (2016.02)] 11 Claims
OG exemplary drawing
 
1. A forceps driving apparatus, comprising:
a body;
a gripper installed to be received in the body, and formed to be open and closed;
an opening and closing member rotatably installed in the body to press or release two sides of the gripper by rotation;
an elastic member connected to one side of the opening and closing member to provide an elastic force to the opening and closing member;
an actuator connected to the another side of the opening and closing member to rotate the opening and closing member by contraction or extension; and
a force sensing module to measure a gripping force of the gripper during the rotation of the opening and closing member;
wherein the force sensing module includes:
a sensor to measure a force transmitted when the opening and closing member presses or releases the two sides of the gripper; and
a printed circuit board (PCB) to supply the sensor with power, and receive and output information associated with the force measured by the sensor.