抄録
In surgical robot systems, surgeons need to receive information regarding the contact forces on the tips of surgical instruments. For the detection of this contact force, one of the authors has proposed a new method, in which the instrument is supported by sensors positioned on the overcoat pipe. In this report, a device is designed to have actual surgical instrument drivers, and tested on its performances. As the results, the error magnitude of force measurement in various operational situations is about 0.1N or less. Another one device also is made to show grasp force of forceps to human fingers, and is cleared to have resolution about 1N.
