Abstract
For fine operations using surgical robot system, surgeons need the information of the contact force loaded on the tip of the surgical instrument. One of major problems in sensing the force is frictional disturbance between the trocar and the instrument. One of authors proposed a new method named overcoat method in which the whole instrument is supported by some force sensors. The overcoat method has two types of construction ways, trocar type and basic type. Trocar hole placed the abdomen in case of the trocar type is smaller than that of the basic type. So, at first, this paper tried to construct a force measuring system with the trocar type. The principle of the overcoat method was discussed concerning to the compensations of gravity and acceleration forces of the instrument in relations to the pose and motion of the instrument. The tried system of the trocar type measured the tip-loaded force in accuracy about 0.1N.
