用于手术机器人抓取力传感的细直径光学位移传感器

IF 0.5 4区工程技术 Q4 ENGINEERING, ELECTRICAL & ELECTRONIC

Electronics and Communications in Japan Pub Date : 2023-10-09 DOI:10.1002/ecj.12431

Jiayuan Dong, Kazutaka Sato, Shuichi Morizane, Masaru Ueki, Atsushi Takenaka, Sang-Seok Lee, Tadao Matsunaga

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引用次数: 0

摘要

本研究的目的是实现机器人手术系统中钳的抓握力测量。一般来说，手术机器人钳是由牵引丝驱动的，我们提出了一种利用微位移传感器测量牵引丝膨胀的力传感系统。为了测量导线的伸长，在传感器系统中利用了白光干涉原理，该传感器由尖端倾斜光纤、菲索干涉仪和传感器支架组成。本文成功地制作了位移传感器，并将其安装在金属丝上，测量金属丝在拉伸作用下的伸长，并对实验结果进行了讨论。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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Thin diameter optical displacement sensor for grasping force sensing of surgical robot

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.

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来源期刊

Electronics and Communications in Japan 工程技术-工程：电子与电气

CiteScore

0.60

自引率

0.00%

发文量

审稿时长

6-12 weeks

期刊介绍： Electronics and Communications in Japan (ECJ) publishes papers translated from the Transactions of the Institute of Electrical Engineers of Japan 12 times per year as an official journal of the Institute of Electrical Engineers of Japan (IEEJ). ECJ aims to provide world-class researches in highly diverse and sophisticated areas of Electrical and Electronic Engineering as well as in related disciplines with emphasis on electronic circuits, controls and communications. ECJ focuses on the following fields: - Electronic theory and circuits, - Control theory, - Communications, - Cryptography, - Biomedical fields, - Surveillance, - Robotics, - Sensors and actuators, - Micromachines, - Image analysis and signal analysis, - New materials. For works related to the science, technology, and applications of electric power, please refer to the sister journal Electrical Engineering in Japan (EEJ).