抄録
We have developed haptic sensing system including bidirectionality for the laparoscopic surgery. A forcepstype tactile sensor using acoustic reflection has been developed for the sensing system. The sensor ensures safety in electricity for body tissue and can be sterilized and deterged. Acoustic wave in the pipe is superposition of the input wave and two waves reflected at closed edge and projection generated by deformation due to contact with an object. By measuring the acoustic wave in the pipe, information of the deformation is derived. In this paper, theoretical analysis for the sensor output is conducted to discuss the measurement of amplitude or phase difference of the acoustic wave in the pipe.
