A kind of palpation instrument and application method for robot assisted Minimally Invasive Surgery

The invention discloses a kind of for the palpation instrument of robot assisted Minimally Invasive Surgery and method of palpation, wherein, distinctor includes: outer cylinder, contained spring visiting core, is directly installed on the robotic arm of operating robot, it is used cooperatively with stereo endoscope, carries out internal soft tissue palpation.Specific palpation process are as follows: first control robotic arm and measure visiting core nature protruded length, then control driven machinery arm to palpation point final position to palpation point initial position, then measure visiting core protruded length at this time, and then calculate the hardness of palpation point；After being detected one by one to the palpation point being evenly distributed in palpation area, palpation area hardness distribution is obtained using two-dimensional interpolation technology, facilitates positioning of the doctor to lesion region.