Fiber Sensor - embedded Compliant Surgical Forceps using a 3D Printer

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  • 3Dプリンタを用いた手術ロボット用光ファイバセンサ内蔵型柔軟鉗子の開発

Abstract

<p>We developed a forceps mechanism with embedded optical fiber sensor manufactured by a 3D printer to realise force sensing in robotic minimally invasive surgery. First, we improved our previous design of the forceps to integrate the sensor into the mechanism while manufacturing by a 3D printer. Then, we conducted temperature, position input and loading tests to verify that the proposed mechanism can properly measure the force.These evaluations showed a positive feasibility to be implemented in surgical robots in the future.</p>

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