1P1-D03 鉗子先端部に搭載する三軸荷重測定センサの基本設計

• 中山 昇

  信州大

• 小林 尚平

  信州大

• 春日 翔平

  信州大

書誌事項

タイトル別名

• 1P1-D03 Basic design of three axis load measurement sensor to be mounted on forceps tip

抄録

Robot assisted surgery has become a popular procedure in American. However, gripping force is not measured and force feedback system has not been established. Therefore there is a need for sensors capable of measuring the gripping force. In this study, three axis load measurement sensor to be mounted on forceps tip was developed. From the simulation, the effect of the taper angle on the load measurements was revealed. Taper angle θ=π/4rad is the most suitable angle for measurement of normal and shearing load. As a result, measuring normal load applied to each zone, this sensor can calculate normal load and shearing load.

収録刊行物

• ロボティクス・メカトロニクス講演会講演概要集

  ロボティクス・メカトロニクス講演会講演概要集 2015 (0), _1P1-D03_1-_1P1-D03_4, 2015

  一般社団法人 日本機械学会

キーワード

• Haptic device
• Endoscopic surgery
• Sensor
• Surgical instrument
• Robot assisted Surgery

詳細情報

• CRID: 1390001205940617472
• NII論文ID: 110010053126
• DOI: 10.1299/jsmermd.2015._1p1-d03_1
• ISSN: 24243124
• Web Site: https://www.jstage.jst.go.jp/article/jsmermd/2015/0/2015__1P1-D03_1/_pdf
• 本文言語コード: ja
• データソース種別:
  • JaLC
  • Crossref
  • CiNii Articles
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