MEDICAL GRIPPING DEVICE
    1.
    发明申请

    公开(公告)号:US20210282795A1

    公开(公告)日:2021-09-16

    申请号:US17258075

    申请日:2019-06-07

    Abstract: A medical gripping device includes a housing, a gripping mechanism at one end of the housing, an operation unit, and a reaction force actuator and a gripping actuator installed in the housing. The operation unit is operated by a gripping operation of an operator, and the reaction force actuator applies an operation reaction force to the operation unit. The gripping actuator causes the gripping mechanism to perform a gripping operation. A control unit controls a force and a position that are output by the gripping actuator in an operation of the gripping mechanism in accordance with an operation with respect to the operation unit, and controls a force and a position that are output by the reaction force actuator in an operation of applying the operation reaction force to the operation unit in accordance with a reaction from a gripped object with respect to the gripping mechanism.

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