3310 低侵襲手術用触覚センサーの構造設計(J26-2 マイクロメカトロニクス(2),J26 マイクロメカトロニクス)

概要

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A design of the micro-scaled tactile sensor which consists of two springs for Minimal Invasive Surgery was investigated. The sensing principle is based on the concept of applying two springs of considerably different stiffness to soft tissue for compliance detection, which reading is independent on the applied displacement between the sensor and tissue. Finite Element Method (FEM) is used to study the effect of tip shape (sphere, cubic) and the distance (0.5, 0.6, 0.7, 0.8mm) between the tips for the sensor with spring constants of 4500N/m and 110N/m under tissue Young's modulus of 0.3, 0.5, 1.0MPa. The results showed the cubic tip shape possesses independent reading on the pushing distance rather than the spherical one. The distance between the two springs of larger than 0.7mm is necessary to avoid the cross-talk effect between two spring behaviors.
一般社団法人日本機械学会の論文
2007-09-07