APPARATUS AND METHOD WITH AXIS TRANSLATION AND ROLLING FORCE SENSING UNIT

A surgical instrument includes a support structure, a shaft, a shaft translation carriage including a shaft rolling carrier, a shaft rolling drive set, and a force sensor unit. The shaft includes a proximal end and a distal end, and an axis of the shaft is defined by the proximal end and the distal end. The shaft is coupled to the support structure by a shaft rolling carrier. The shaft rolling drive group is configured to rotate the shaft about an axis of the shaft, and includes a shaft rolling driver, a shaft rolling drive receiver, and a shaft rolling drive coupling. When the shaft translates along the axis of the shaft, the shaft rolling drive receiver translates along the axis of the shaft relative to the shaft rolling drive. The force sensor unit is configured to generate a signal associated with an amount of force applied to the shaft along an axis of the shaft. 一种外科器械，其包括支撑结构、轴、包括轴滚动载体的轴平移托架、轴滚动驱动组和力传感器单元。轴包括近端和远端，并且轴的轴线由近端和远端限定。轴通过轴滚动载体联接到支撑结构。轴滚动驱动组被配置为使轴围绕轴的轴线旋转，并且包括轴滚动驱动器、轴滚动驱动接收器和轴滚动驱动联轴器。当轴沿着轴的轴线