The purpose of this study is to realize a grasp force measurement of forceps for robotic surgery systems. Generally, surgical robot forceps is actuated by traction wire, and we have suggested a newly force sensing system by measuring the wire expansion utilizing micro displacement sensors. For measuring the elongation of the wire, the white-light interference principle has been utilized on sensor system, and the sensor consists of a tip-tilted optical fiber, a Fizeau interferometer and a sensor holder. In this report, displacement sensor has been successfully fabricated and mounted onto the wire to measure the elongation of the wire under tension and discussed the experimental results.
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