Patent ID: 9549781
Date: 2017-01-24
CPC Classifications: A61B,A61F,G01L

Claim:
1. A multi-force sensing instrument, comprising: a tool comprising a tool shaft having a distal end and a proximal end; a strain sensor arranged at a first position along said tool shaft; at least one of a second strain sensor or a torque-force sensor arranged at a second position along said tool shaft, said second position being more towards said proximal end of said tool shaft than said first position; and a signal processor configured to communicate with said strain sensor and said at least one of said second strain sensor or said torque-force sensor to receive detection signals therefrom, wherein said signal processor is configured to process said signals to determine a magnitude and position of a lateral component of a force applied to said tool shaft when said position of said applied force is between said first and second positions, and wherein said lateral component of said force is a component of said force that lies in a plane that is orthogonal to said tool shaft at said position at which said force is applied.