抄録
This paper proposes a novel force sensing device for laparoscopic instruments using air flow rate, which has the advantages of MRI-compatibility, easy fabrication/sterilization and compactness, compared to conventional devices. The proposed force sensor works with air flows through pipelines to its sensing part. Forces acting on the sensing part can be sensed by measuring the air flow rates because the impedance of the air flow channels varies depending on the applied forces. Based on this principle, a prototype of 3-axis force sensor embedded in a laparoscopic forceps was developed. Effectiveness and feasibility of the measurement principle was verified through a primary experiment using the prototype.
