Force sensing by string vibration for 5 mm forceps with a flexible joint

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  • 弦振動を利用した径5mm柔軟関節鉗子の力センシング

Abstract

<p>In minimally invasive surgery, force sensing for surgical robots is highly desired. To solve this problem, we have proposed a force sensing method using string vibration for wire-driven forceps. The purpose of this study is to apply this method to a 5 mm forceps with a flexible joint. A flexible joint forceps is expected to have smaller friction. However, its maximum wire tension is limited due to its mechanical strength. To extend the measurable range of the wire tension, wire tension amplification mechanism is proposed. Force sensing experiments were conducted using the developed forceps. The results confirmed the effectiveness of the contact force sensing in two axial directions.</p>

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