Abstract: The present invention provides a surgical robot system and a surgical instrument thereof, which can measure a contact force acting on a terminal end of the surgical instrument with enhance precision and accuracy. The surgical instrument includes a mechanical structure, a sleeve and a force sensor. The mechanical structure includes a shaft and an end effector connected to a terminal end of the shaft. The sleeve fixedly or detachably sleeves over the terminal end of the shaft. The force sensor includes a sensitive element and a peripheral measurement module connected thereto. The sensitive element is arranged on the sleeve and configured to acquire strain information of the sleeve.

Abstract: The application provides a surgical robot system, wherein the first tool arm and the first surgical instrument are configured to pull tissues and organs, the second tool arm and the second surgical instrument are configured to perform a surgical operation on tissues and organs, the control unit is configured to obtain a magnitude of a Cartesian force exerted by the tissues and organs on the first surgical instrument, and compare the magnitude of the Cartesian force exerted by the tissues and organs on the first surgical instrument with a preset force value; if the magnitude of the Cartesian force exerted by the tissues and organs on the first surgical instrument is less than the preset force value, the control unit controls the driving device to drive the first tool arm and the first surgical instrument according to the preset force value, to increase a traction force exerted by the first surgical instrument on the tissues and organs to the preset force value.