Patent ID: 11911060
Assignee: KOREA INSTITUTE OF SCIENCE AND TECHNOLOGY
Field: Medical technology (Instruments)
Classification: CPC A  B | IPC A  B

Claim 5:
6. 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 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 in an initial condition, the opening and closing member presses the gripper by the elastic force of the elastic member to close the gripper, and
in an operating condition, the opening and closing member releases the gripper by the contraction of the actuator to open the gripper.