▎ 摘　　要

NOVELTY - The system has an instrument end comprising a double electrode structure. A first electrode (1) adopts a subcutaneous electrode, and forms an electrolyte solution interface. A second electrode (2) adopts an insulated dry electrode. An input end of the first electrode is connected to a signal processing module. An output end of the second electrode is connected to the signal processing module. The output end of the signal processing module is connected with a main end controller. The signal processing module feeds back position information to the main end controller. A sensor (3) and the instrument end are connected with each other by four steel wires. The instrument end is connected with a soft tissue. The main end controller effectively combines the obtained position information with force information to obtain a touch force feedback. Layers are arranged, where the layer is a patch substrate layer. USE - Biological impedance based surgical robot touch force feedback system for use in a medical appliance field. ADVANTAGE - The system allows the doctor to utilize the operation control main end controller, and obtains the position information and the force information of the end of the instrument during the operation, thus improving force haptic feedback effect. The insulating shielding layer is manufactured by the flexible glass, high hardness and high air tightness, thus preventing the electrode from being moisture and leakage. The steel wire layer is selected from the graphene, and prevents electromagnetic interference. The mechanical arm of the surgical robot obtains touch force feedback, thus enhancing surgical operation of the surgeon, and hence improving safety and precision of surgical robot operation. The current loop is formed by integrating the force sensor shaft close to end of instrument, and adds double electrodes on the end executor of the mechanical arm so as to improve integration degree in an effective manner. DESCRIPTION OF DRAWING(S) - The drawing shows a schematic block diagram of a biological impedance based surgical robot touch force feedback system. (Drawing includes non-English language text). 1First electrode 2Second electrode 3Sensor