抄録
In this work, we measured the bending moment using a grasping forceps with sensors. Grasping operations during the endoscopic surgery apply forces and moments to the grasped object. The forces and moments cause damage to the grasped object. Therefore, measurement of the forces and moments is necessary to prevent the damage by the over application. We have measured the forces by the grasping forceps with two MEMS (Micro Electro Mechanical Systems) triaxial force sensors and a potentiometer. In this paper, we measured the bending moment induced by rotating a rigid rod between the tips of the developed grasping forceps. Measured bending moment was linear to the rotation angle and 1.7 mN・m for 1° rotation.
