Force Sensor for Laparoscopic Tool of RobIn Heart Robot

摘要

The design of a force sensor prototype as an equipment of a control system with force feedback to be used in the Rob In Heart [1,2, telemanipulator system is presented. The main problems with placing the sensor on the laparoscopic tool are discussed. The method of decoupling impact of the gripper actuation force from the measurement is described. Also, the results of computer FEM simulations are shown.