2A1-M14 吸引管を用いた硬さ測定手法

概要

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Sensors for sensing image, hardness, or viscosity are needed for surgery robots because an operator cannot touch affected areas directly. Developing a special medical apparatus for sensing the affected areas is possible. However, if a regular medical apparatus has a sensing capability, the number of medical apparatuses is not increasing. It is an important advantage for endoscopic surgery. This paper proposes a novel method for sensing a hardness of a specimen by a suction tube. The suction tube is an important medical apparatus for endoscopic surgery because of aspirating blood, water, and cell tissue. We developed a suction tube which can sense inner pressure. The inner pressure is varied when the suction tube aspirates the specimen. Moreover, the inner pressure at the moment of aspirating the specimen is different by the hardness of the specimen. An experiment shows that the specimens made of different hardness jelly are discriminated by the method.
一般社団法人日本機械学会の論文
2009-05-25