F-2-3 センサ付把持鉗子を用いた把持対象にかかる曲げモーメントの計測

• 錠者 拓杜

  電大

• 後藤 麟太郎

  電大

• 中井 亮仁

  東大

• 正宗 賢

  東大

• 土肥 健純

  電大

• 桑名 健太

  電大

書誌事項

タイトル別名

• F-2-3 Bending moment measurement using grasping forceps with sensors

抄録

In this work, we measured the bending moment using a grasping forceps with sensors. Grasping operations during the endoscopic surgery apply forces and moments to the grasped object. The forces and moments cause damage to the grasped object. Therefore, measurement of the forces and moments is necessary to prevent the damage by the over application. We have measured the forces by the grasping forceps with two MEMS (Micro Electro Mechanical Systems) triaxial force sensors and a potentiometer. In this paper, we measured the bending moment induced by rotating a rigid rod between the tips of the developed grasping forceps. Measured bending moment was linear to the rotation angle and 1.7 mN・m for 1° rotation.

収録刊行物

• IIP情報・知能・精密機器部門講演会講演論文集

  IIP情報・知能・精密機器部門講演会講演論文集 2014 (0), _F-2-3-1_-_F-2-3-2_, 2014

  一般社団法人 日本機械学会

キーワード

• Grasping forceps
• Bending moment measurement
• MEMS sensor

詳細情報

• CRID: 1390282680877702656
• NII論文ID: 110009939180
• DOI: 10.1299/jsmeiip.2014._f-2-3-1_
• ISSN: 24243140
• Web Site: https://www.jstage.jst.go.jp/article/jsmeiip/2014/0/2014__F-2-3-1_/_pdf
• 本文言語コード: ja
• データソース種別:
  • JaLC
  • Crossref
  • CiNii Articles
• 抄録ライセンスフラグ: 使用不可