1P1-I07 躰腔鏡下外科手術ロボットのための光力覚センサー(手術支援ロボティクス・メカトロニクス)

概要

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The endoscopic surgical robot system in commerce can't feed back the contact force of the tip end of the surgical instrument. As the force measurement method, overcoat method has proposed using strain gauges. By the way, electric scalpel is used as one of essential tools. The electric scalpel uses high frequency electric current and gives electric noises to the strain gauge output. This paper proposes a force sensor which has to be constructed in a thin and narrow space for the overcoat sensing and to be free from the electric noises. In the force sensor, the fiber wiring traces are devised and light from the end of an optic fiber is injected to two ends of the other optic fibers which are attached on the force-deflection part. Experiments show that the sensor has sufficient possibility as the x and y direction force sensor.
一般社団法人日本機械学会の論文
2007-05-11