鉗子先端部のアスペクト比が及ぼす三軸荷重センサへの影響

抄録

Currently, it is desired to incorporate force feedback into medical robots. In this study, a three-axis load measurement sensor mounted on the tip of forceps was developed. The newly developed sensor electrodes are three-dimensionally arranged. From the simulation, the effect of aspect ratio on the load measurement was revealed. The aspect ratio was found to be little effect on the load calculation. As a result, by measuring the normal load applied to each zone, this sensor can calculate the normal load and shear load.