抄録
Recently, much attention is paid on the laparoscopic surgery, that is a minimally invasive one and is performed through the incisions of about 10mm. Therefore it produces good effects on the patients in many aspects. But it has difficulty in performing surgery with less dexterity and perception. So far, some manipulators have been developed to assist the laparoscopic surgery. However the problem of measuring the force applied to organs still remains. Internal organ may be damaged without the sense of force. In order to prevent the accident, this paper proposes a method to detect the force more easily and exactly.
