A tool driver for use in robotic surgery includes a base configured to couple to a distal end of a robotic arm, and a tool carriage slidingly engaged with the base and configured to receive a surgical tool. In one variation, the tool carriage may include a plurality of linear axis drives configured to actuate one or more articulated movements of the surgical tool. In another variation, the tool carriage may include a plurality of rotary axis drives configured to actuate one or more articulated movements of the surgical tool. Various sensors, such as a capacitive load cell for measuring axial load, a position sensor for measuring linear position of the guide based on the rotational positions of gears in a gear transmission, and/or a capacitive torque sensor based on differential capacitance, may be included in the tool driver.

A tool driver for use in robotic surgery includes a base configured to couple to a distal end of a robotic arm, and a tool carriage slidingly engaged with the base and configured to receive a surgical tool. In one variation, the tool carriage may include a plurality of linear axis drives configured to actuate one or more articulated movements of the surgical tool. In another variation, the tool carriage may include a plurality of rotary axis drives configured to actuate one or more articulated movements of the surgical tool. Various sensors, such as a capacitive load cell for measuring axial load, a position sensor for measuring linear position of the guide based on the rotational positions of gears in a gear transmission, and/or a capacitive torque sensor based on differential capacitance, may be included in the tool driver.

A torque meter includes a casing and a part is configured to move in the casing in translation in a longitudinal direction under the effect of an axial thrust representative of the torque to be measured. The torque meter further includes a bearing surface connected to the casing via at least one of the ends thereof. The bearing surface extends at least partially in a plane that is substantially perpendicular to the longitudinal direction. One longitudinal end of the movable part is configured to be brought into contact with the bearing surface so that a longitudinal displacement of the movable part leads to a deformation of the bearing surface. The torque meter also has a device configured to measure the deformation of the bearing surface.

A power transmission apparatus includes a shaft, a driving plate, a first driven plate, and a sensor device. The driving plate is disposed on the shaft and rotates with the shaft. The driving plate includes a first block that has a driving surface on it. The first driven plate is disposed on the shaft and capable of moving along the shaft. The first driven plate includes a second block that has a driven surface corresponding to the driving surface. The sensor device is disposed close to the first driven plate for detecting the movement of the first driven plate along the shaft. When the shaft rotates together with the driving plate, the driving surface compels the driven surface to rotate and simultaneously move away from the driving plate along the shaft, and the movement along the shaft is detected by the sensor device.

Provided is a torque sensor that includes: a bearing that is provided with an inner ring and an outer ring that are supported so as to be relatively movable only in the direction of rotation about a predetermined axis; a connecting member that is provided with fixing sections that are respectively fixed to the inner ring and the outer ring and a strain generation section that connects between the fixing sections; and a strain sensor that is disposed on the connecting member so as to be capable of detecting a strain at least in the circumferential direction.

An embodiment can provide a torque sensor comprising: a housing; a rotor that is arranged inside the housing; a stator that is arranged on an outer side of the rotor; a circuit board that is arranged in the housing; a Hall-effect sensor that is arranged on the circuit board; and a collector that is arranged adjacent to the Hall-effect sensor, wherein the collector includes a body portion and an extension portion extending from the body portion, the body portion is arranged to be spaced apart from the housing, and the extension portion is directly in contact with the housing.

Provided is a torque sensor that includes: a bearing that is provided with an inner ring and an outer ring that are supported so as to be relatively movable only in the direction of rotation about a predetermined axis; a connecting member that is provided with fixing sections that are respectively fixed to the inner ring and the outer ring and a strain generation section that connects between the fixing sections; and a strain sensor that is disposed on the connecting member so as to be capable of detecting a strain at least in the circumferential direction.

An inner support member, a detection deformable body, and a ring-shaped outer support member are disposed sequentially from the inside to the outside around a Z axis as a central axis. Inner surfaces in the vicinity of inner support points of the detection deformable body connect to outer surfaces of the inner support member via inner connecting members, and outer surfaces in the vicinity of outer support points of the detection deformable body connect to inner surfaces of the outer support member via outer connecting members. When a torque acts in the clockwise direction on the outer support member (130) while the inner support member is fixed, detection parts are displaced outwardly, and detection parts are displaced inwardly. These displacements are detected electrically as changes in capacitance values of four capacitor elements including opposing electrodes.

The present invention relates to a power transmission apparatus capable of measuring torque and a power generation apparatus using the same, and more particularly, to a power transmission apparatus capable of measuring torque and a power generation apparatus using the same which includes a disk-shaped outer body that receives power from the outside, an inner body that is coupled to the inside of the outer body, and at least one load cell formed between the outer body and the inner body.

A system for determining a torque applied between two rotating members, including a test body having an inner bushing and an outer bushing concentrically connected by a deformable structure, and a device for determining an angle between the bushings which is a function of the applied torque, the deformable structure comprising a set of branches angularly distributed between the bushings, each of said branches extending in a direction between an inner end and an outer end, said direction forming an angle with the diametral direction passing through said inner end, each of the branches having a foot section extending from the inner end to said direction and a head section extending from the direction to the outer end, the sections forming a convex bend for the foot section and a concave bend for the head section.