公开(公告)号：US20210068858A1

公开(公告)日：2021-03-11

申请号：US17006446

申请日：2020-08-28

Applicant: KOREA INSTITUTE OF SCIENCE AND TECHNOLOGY

Inventor： Donghyun HWANG ,  Sungwoo PARK ,  Namseon JANG ,  Yong Seok IHN ,  Jinwoo JEONG ,  Keehoon KIM ,  Sang Rok OH ,  Sungwook YANG ,  Sehyuk YIM

IPC: A61B17/30

Abstract: Provided is a forceps driving apparatus including 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 other 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.