Detection of Endoscope Grasping State during Insertion into Colonoscope Training Simulator Using an Ultra-Compact Tactile Sensor

Abstract

The purpose of this work is detection of the operating state at the grasp and calculated the grasping force and shear force by detecting the force applied to the grasp during endoscope manipulation. We have previously studied the measurement and presentation of the reaction force generated on the endoscope during insertion and removal into a colonoscope training simulator using a commercially available force gauge, however, there are some problems of size and the direction of force detection. In this work, we devised a method to solve these problems by using an ultra-compact MEMS tactile sensor developed.