Thin Diameter Optical Displacement Sensor for Grasping Force Sensing of Surgical Robot

Abstract

The purpose of this study is to realize a grasp force measurement of forceps for robotic surgery systems. Generally, surgical robot forceps is actuated by traction wire, and we have suggested a newly force sensing system by measuring the wire expansion utilizing micro displacement sensors. For measuring the elongation of the wire, the white‐light interference principle has been utilized on sensor system, and the sensor consists of a tip‐tilted optical fiber, a Fizeau interferometer and a sensor holder. In this report, displacement sensor has been successfully fabricated and mounted onto the wire to measure the elongation of the wire under tension and discussed the experimental results.