Detection of Grasping State by Ultra-small Tactile Sensor for Data Processing of Endoscope Operations

Abstract

The operation of medical instruments, such as endoscopy, relies heavily on the physician's senses, and simulators and remote control should be accompanied by the presentation of force sensation. For accurate force presentation, it is necessary to convert the grasping sensation into data with vector force sensing which does not disturb operation. In this study, we have adopted our ultra-small tactile sensor which can detect both normal and shear forces to measure force during grasping and twisting of the tube model.