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

Claim 6:
7. 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 the gripper includes:
a first part having a first grasping end formed at one end; and
a second part having a second grasping end formed at one end, and elastically connected to another end of the first part, and
wherein the one end of the first part and the one end of the second parts are closed when pressed by the opening and closing member, and are open when released by the opening and closing member.