Surgical instrument
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United States of America Patent
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Nov 27, 2007
Grant Date -
Jan 27, 2005
app pub date -
Sep 3, 2002
filing date -
Sep 3, 2001
priority date (Note) -
In Force
status (Latency Note)
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Abstract
The invention relates to an instrument for surgery, in particular minimally invasive surgery. The instrument includes means for feeding back a force which is exerted on the working element of the instrument to the operating element. These means include at least a first force sensor for measuring the force which is exerted on the working element, a control unit and a first actuator. On the basis of a signal which originates from the first force sensor, the control unit controls at least the first actuator in order to control the operating element. Furthermore, the means preferably include a first position sensor for measuring a position of the working element with respect to the frame. The control unit advantageously determines an impedance which the working element is subject to as a result of the presence of a tissue or the like, on the basis of which impedance the control unit controls at least the first actuator.
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